Merge branch 'develop' into release/v2.4.2

samples/util_cv_painter.cc

@@ -116,18 +116,48 @@ cv::Rect CVPainter::DrawImuData(
   int sign = 1;
   if (gravity == BOTTOM_LEFT || gravity == BOTTOM_RIGHT)
     sign = -1;
-
+  static auto fmt_time = NewFormat(0, 2);
-  Clear(ss) << "stamp: " << data.timestamp
+  Clear(ss) << "stamp: " << fmt_time << (0.001f * data.timestamp)
             << ", temp: " << fmt_temp << data.temperature;
   cv::Rect rect_i = DrawText(img, ss.str(), gravity, 5);
 
-  Clear(ss) << "accel(x,y,z): " << fmt_imu << data.accel[0] << "," << fmt_imu
+  static double accel1_s = 0.0;
-            << data.accel[1] << "," << fmt_imu << data.accel[2];
+  static double accel2_s = 0.0;
+  static double accel3_s = 0.0;
+
+  if (data.accel[0] > 0.000001 ||
+      data.accel[1] > 0.000001 ||
+      data.accel[2] > 0.000001 ||
+      data.accel[0] < -0.000001 ||
+      data.accel[1] < -0.000001 ||
+      data.accel[2] < -0.000001) {
+    accel1_s = data.accel[0];
+    accel2_s = data.accel[1];
+    accel3_s = data.accel[2];
+  }
+
+  Clear(ss) << "accel(x,y,z): " << fmt_imu << accel1_s << "," << fmt_imu
+            << accel2_s << "," << fmt_imu << accel3_s;
   cv::Rect rect_a =
       DrawText(img, ss.str(), gravity, 5, 0, sign * (5 + rect_i.height));
 
-  Clear(ss) << "gyro(x,y,z): " << fmt_imu << data.gyro[0] << "," << fmt_imu
+  static double gyro1_s = 0.0;
-            << data.gyro[1] << "," << fmt_imu << data.gyro[2];
+  static double gyro2_s = 0.0;
+  static double gyro3_s = 0.0;
+
+  if (data.gyro[0] > 0.01 ||
+      data.gyro[1] > 0.01 ||
+      data.gyro[2] > 0.01 ||
+      data.gyro[0] < -0.01 ||
+      data.gyro[1] < -0.01 ||
+      data.gyro[2] < -0.01 ) {
+    gyro1_s = data.gyro[0];
+    gyro2_s = data.gyro[1];
+    gyro3_s = data.gyro[2];
+  }
+
+  Clear(ss) << "gyro(x,y,z): " << fmt_imu << gyro1_s << "," << fmt_imu
+            << gyro2_s << "," << fmt_imu << gyro3_s;
   cv::Rect rect_g = DrawText(
       img, ss.str(), gravity, 5, 0,
       sign * (10 + rect_i.height + rect_a.height));

src/mynteye/device/utils.cc

@@ -89,10 +89,16 @@ MYNTEYE_NAMESPACE::StreamRequest select_request(
     *ok = false;
     return {};
   }
+  auto requests_display = requests;
+  if (Model::STANDARD == device->GetModel()) {
+    for (std::size_t i = 0; i < n; i++) {
+      requests_display[i].fps = 25;
+    }
+  }
 
   LOG(INFO) << "MYNT EYE requests:";
   for (std::size_t i = 0; i < n; i++) {
-    auto &&request = requests[i];
+    auto &&request = requests_display[i];
     LOG(INFO) << "  index: " << i
               << ", request: " << request;
   }

src/mynteye/types.cc

@@ -190,13 +190,8 @@ std::size_t bytes_per_pixel(const Format &value) {
 }
 
 std::ostream &operator<<(std::ostream &os, const StreamRequest &request) {
-  if (request.fps == 0) {
+  return os << "width: " << request.width << ", height: " << request.height
-    return os << "width: " << request.width << ", height: " << request.height
-      << ", format: " << request.format;
-  } else {
-    return os << "width: " << request.width << ", height: " << request.height
       << ", format: " << request.format << ", fps: " << request.fps;
-  }
 }
 
 const char *to_string(const CalibrationModel &model) {

wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_fusion.launch

@@ -77,6 +77,8 @@
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/slam/vins_fusion.yaml" command="load" />
 
       <param name="gravity" value="$(arg gravity)" />
+
+      <param name="ros_output_framerate_cut"     value="2" />
     </node>
 
     <!-- disable compressed depth plugin for image topics -->

wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz

@@ -58,7 +58,7 @@ Visualization Manager:
     - Class: rviz/Group
       Displays:
         - Class: rviz/Image
-          Enabled: false
+          Enabled: true
           Image Topic: /mynteye/left/image_raw
           Max Value: 1
           Median window: 5
@@ -68,7 +68,7 @@ Visualization Manager:
           Queue Size: 1
           Transport Hint: raw
           Unreliable: false
-          Value: false
+          Value: true
         - Class: rviz/Image
           Enabled: false
           Image Topic: /mynteye/right/image_raw
@@ -114,7 +114,7 @@ Visualization Manager:
     - Class: rviz/Group
       Displays:
         - Class: rviz/Image
-          Enabled: true
+          Enabled: false
           Image Topic: /mynteye/disparity/image_raw
           Max Value: 1
           Median window: 5
@@ -124,7 +124,7 @@ Visualization Manager:
           Queue Size: 1
           Transport Hint: raw
           Unreliable: false
-          Value: true
+          Value: false
         - Class: rviz/Image
           Enabled: true
           Image Topic: /mynteye/disparity/image_norm
@@ -154,7 +154,7 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 1.98300004
+        Max Value: 2.1099999
         Min Value: 0
         Value: true
       Axis: X
@@ -223,7 +223,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.80799317
+      Distance: 2.23245931
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -238,10 +238,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.520203829
+      Pitch: 0.180204123
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.3935833
+      Yaw: 3.14358234
     Saved: ~
 Window Geometry:
   Depth:
@@ -259,7 +259,7 @@ Window Geometry:
     collapsed: false
   LeftRect:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Right:
     collapsed: false
   RightRect:
@@ -272,6 +272,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1855
+  Width: 2309
   X: 65
   Y: 24

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -58,6 +58,9 @@ inline double compute_time(const double end, const double start) {
 class ROSWrapperNodelet : public nodelet::Nodelet {
  public:
   ROSWrapperNodelet() {
+    skip_tag = -1;
+    skip_tmp_left_tag = 0;
+    skip_tmp_right_tag = 0;
     unit_hard_time *= 10;
   }
 
@@ -408,6 +411,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
     }
 
+    int ros_output_framerate = -1;
+    private_nh_.getParamCached("ros_output_framerate_cut", ros_output_framerate);
+    if (ros_output_framerate > 0 && ros_output_framerate < 7) {
+      skip_tag = ros_output_framerate;
+    }
+
     // services
 
     const std::string DEVICE_INFO_SERVICE = "get_info";
@@ -672,6 +681,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
               // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
               ros::Time stamp = checkUpTimeStamp(
                   data.img->timestamp, Stream::LEFT);
+              if (skip_tag > 0) {
+                if (skip_tmp_left_tag == 0) {
+                  skip_tmp_left_tag = skip_tag;
+                } else {
+                  skip_tmp_left_tag--;
+                  return;
+                }
+              }
               publishCamera(Stream::LEFT, data, left_count_, stamp);
               publishMono(Stream::LEFT, data, left_count_, stamp);
               NODELET_DEBUG_STREAM(
@@ -696,6 +713,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
               // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
               ros::Time stamp = checkUpTimeStamp(
                   data.img->timestamp, Stream::RIGHT);
+              if (skip_tag > 0) {
+                if (skip_tmp_right_tag == 0) {
+                  skip_tmp_right_tag = skip_tag;
+                } else {
+                  skip_tmp_right_tag--;
+                  return;
+                }
+              }
               publishCamera(Stream::RIGHT, data, right_count_, stamp);
               publishMono(Stream::RIGHT, data, right_count_, stamp);
               NODELET_DEBUG_STREAM(
@@ -1603,6 +1628,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   int frame_rate_;
   bool is_intrinsics_enable_;
   std::vector<ImuData> imu_align_;
+  int skip_tag;
+  int skip_tmp_left_tag;
+  int skip_tmp_right_tag;
 
   std::uint64_t unit_hard_time = std::numeric_limits<std::uint32_t>::max();
 };