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Fix the conflict

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This commit is contained in:
kalman
2018-11-24 16:43:38 +08:00
parent 210ddba1ba 0fc1196b52
commit 1811f20a14
264 changed files with 29737 additions and 970 deletions
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4
tools/CMakeLists.txt
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@@ -49,6 +49,10 @@ message(STATUS "Found mynteye: ${mynteye_VERSION}")
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
if(mynteye_WITH_GLOG)
include(${PRO_DIR}/cmake/DetectGLog.cmake)
endif()
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
# targets

6
tools/dataset/CMakeLists.txt
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@@ -31,3 +31,9 @@ make_executable(record
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
make_executable(record2
SRCS record2.cc dataset.cc
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)

36
tools/dataset/dataset.cc
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@@ -12,16 +12,20 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include "dataset/dataset.h"
#ifdef WITH_OPENCV2
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#else
#include <opencv2/imgcodecs/imgcodecs.hpp>
#endif
#include <iomanip>
#include <limits>
#include <stdexcept>
#include <utility>
#include "mynteye/files.h"
#include "mynteye/logger.h"
#include "mynteye/util/files.h"
#define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
@@ -113,6 +117,34 @@ void Dataset::SaveMotionData(const device::MotionData &data) {
*/
}
void Dataset::SaveStreamData(
const Stream &stream, const api::StreamData &data) {
auto &&writer = GetStreamWriter(stream);
auto seq = stream_counts_[stream];
writer->ofs << seq << ", " << data.img->frame_id << ", "
<< data.img->timestamp << ", " << data.img->exposure_time
<< std::endl;
if (!data.frame.empty()) {
std::stringstream ss;
ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
<< std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
cv::imwrite(ss.str(), data.frame);
}
++stream_counts_[stream];
}
void Dataset::SaveMotionData(const api::MotionData &data) {
auto &&writer = GetMotionWriter();
auto seq = motion_count_;
writer->ofs << seq << ", " << data.imu->frame_id << ", "
<< data.imu->timestamp << ", " << data.imu->accel[0] << ", "
<< data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
<< data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
<< data.imu->gyro[2] << ", " << data.imu->temperature
<< std::endl;
++motion_count_;
}
Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
try {
return stream_writers_.at(stream);

6
tools/dataset/dataset.h
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@@ -20,8 +20,9 @@
#include <memory>
#include <string>
#include "mynteye/callbacks.h"
#include "mynteye/mynteye.h"
#include "mynteye/api/api.h"
#include "mynteye/device/callbacks.h"
MYNTEYE_BEGIN_NAMESPACE
@@ -43,6 +44,9 @@ class Dataset {
void SaveStreamData(const Stream &stream, const device::StreamData &data);
void SaveMotionData(const device::MotionData &data);
void SaveStreamData(const Stream &stream, const api::StreamData &data);
void SaveMotionData(const api::MotionData &data);
private:
writer_t GetStreamWriter(const Stream &stream);
writer_t GetMotionWriter();

35
tools/dataset/record.cc
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@@ -14,30 +14,25 @@
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "mynteye/glog_init.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"
#include "mynteye/times.h"
#include "mynteye/logger.h"
#include "mynteye/api/api.h"
#include "mynteye/util/times.h"
#include "dataset/dataset.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
auto &&device = device::select();
if (!device)
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
device->InitResolution(Resolution::RES_1280x400);
device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
device->LogOptionInfos();
api->InitResolution(Resolution::RES_1280x400);
api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
api->LogOptionInfos();
// Enable this will cache the motion datas until you get them.
device->EnableMotionDatas();
device->Start(Source::ALL);
api->EnableMotionDatas();
api->Start(Source::ALL);
const char *outdir;
if (argc >= 2) {
@@ -53,13 +48,13 @@ int main(int argc, char *argv[]) {
std::size_t imu_count = 0;
auto &&time_beg = times::now();
while (true) {
device->WaitForStreams();
api->WaitForStreams();
auto &&left_datas = device->GetStreamDatas(Stream::LEFT);
auto &&right_datas = device->GetStreamDatas(Stream::RIGHT);
auto &&left_datas = api->GetStreamDatas(Stream::LEFT);
auto &&right_datas = api->GetStreamDatas(Stream::RIGHT);
img_count += left_datas.size();
auto &&motion_datas = device->GetMotionDatas();
auto &&motion_datas = api->GetMotionDatas();
imu_count += motion_datas.size();
auto &&left_frame = left_datas.back().frame;
@@ -123,7 +118,7 @@ int main(int argc, char *argv[]) {
std::cout << " to " << outdir << std::endl;
auto &&time_end = times::now();
device->Stop(Source::ALL);
api->Stop(Source::ALL);
float elapsed_ms =
times::count<times::microseconds>(time_end - time_beg) * 0.001f;

128
tools/dataset/record2.cc Normal file
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@@ -0,0 +1,128 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "mynteye/logger.h"
#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
#include "mynteye/util/times.h"
#include "dataset/dataset.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
auto &&device = device::select();
if (!device)
return 1;
/*
{ // auto-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 0);
device->SetOptionValue(Option::MAX_GAIN, 40); // [0.48]
device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120); // [0,240]
device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200); // [0,255]
}
{ // manual-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 1);
device->SetOptionValue(Option::GAIN, 20); // [0.48]
device->SetOptionValue(Option::BRIGHTNESS, 20); // [0,240]
device->SetOptionValue(Option::CONTRAST, 20); // [0,255]
}
device->SetOptionValue(Option::IR_CONTROL, 80);
device->SetOptionValue(Option::FRAME_RATE, 25);
device->SetOptionValue(Option::IMU_FREQUENCY, 500);
*/
device->InitResolution(Resolution::RES_1280x400);
device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
device->LogOptionInfos();
// Enable this will cache the motion datas until you get them.
device->EnableMotionDatas();
device->Start(Source::ALL);
const char *outdir;
if (argc >= 2) {
outdir = argv[1];
} else {
outdir = "./dataset";
}
tools::Dataset dataset(outdir);
cv::namedWindow("frame");
std::size_t img_count = 0;
std::size_t imu_count = 0;
auto &&time_beg = times::now();
while (true) {
device->WaitForStreams();
auto &&left_datas = device->GetStreamDatas(Stream::LEFT);
auto &&right_datas = device->GetStreamDatas(Stream::RIGHT);
img_count += left_datas.size();
auto &&motion_datas = device->GetMotionDatas();
imu_count += motion_datas.size();
auto &&left_frame = left_datas.back().frame;
auto &&right_frame = right_datas.back().frame;
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC1, left_frame->data());
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC1,
right_frame->data());
cv::Mat img;
cv::hconcat(left_img, right_img, img);
cv::imshow("frame", img);
{ // save
for (auto &&left : left_datas) {
dataset.SaveStreamData(Stream::LEFT, left);
}
for (auto &&right : right_datas) {
dataset.SaveStreamData(Stream::RIGHT, right);
}
for (auto &&motion : motion_datas) {
dataset.SaveMotionData(motion);
}
std::cout << "\rSaved " << img_count << " imgs"
<< ", " << imu_count << " imus" << std::flush;
}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
std::cout << " to " << outdir << std::endl;
auto &&time_end = times::now();
device->Stop(Source::ALL);
float elapsed_ms =
times::count<times::microseconds>(time_end - time_beg) * 0.001f;
LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
<< ", end: " << times::to_local_string(time_end)
<< ", cost: " << elapsed_ms << "ms";
LOG(INFO) << "Img count: " << img_count
<< ", fps: " << (1000.f * img_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
return 0;
}

8
tools/writer/config/device.info
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@@ -1,10 +1,10 @@
%YAML:1.0
---
device_name: MYNT-EYE-S1000
device_name: MYNT-EYE-S210A
serial_number: "0386322C0009070E"
firmware_version: "2.0"
hardware_version: "2.0"
spec_version: "1.0"
firmware_version: "1.0"
hardware_version: "1.0"
spec_version: "1.1"
lens_type: "0000"
imu_type: "0000"
nominal_baseline: 120

2
tools/writer/config/img.params
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@@ -43,7 +43,7 @@ in_right_map:
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_left_to_right:
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,

18
tools/writer/config/imu.params
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@@ -1,15 +1,15 @@
%YAML:1.0
---
in_accel:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0.0, 0.0, 0.0 ]
noise: [ 0.016925432397973516, 0.016735310195561025, 0.017452487504590969 ]
bias: [ 0.00019031356589714596, 0.00016996777864587261, 0.00054490537096493644 ]
in_gyro:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
noise: [ 0.0010848026158819934, 0.0012466367883501759, 0.0011003229919806443 ]
bias: [ 0.000023404834136742844, 0.000023596771567764949, 0.000014970418056326829 ]
ex_left_to_imu:
rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
translation: [ 0., 0., 0. ]
rotation: [ -0.0064662, -0.99994994, -0.00763565, 0.99997909, -0.00646566, -0.00009558, 0.0000462, -0.00763611, 0.99997084 ]
translation: [ 0.00533646, -0.04302922, 0.02303124 ]

7
tools/writer/device_info_writer.cc
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@@ -11,10 +11,9 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/glog_init.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"
#include "mynteye/logger.h"
#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
#include "writer/device_writer.h"

27
tools/writer/device_writer.cc
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@@ -13,17 +13,14 @@
// limitations under the License.
#include "writer/device_writer.h"
#include <opencv2/core/core.hpp>
#include <map>
#include <vector>
#include "mynteye/device.h"
#include "mynteye/files.h"
#include "mynteye/logger.h"
#include "mynteye/types.h"
#include <opencv2/core/core.hpp>
#include "internal/types.h"
#include "mynteye/logger.h"
#include "mynteye/device/device.h"
#include "mynteye/util/files.h"
MYNTEYE_BEGIN_NAMESPACE
@@ -75,7 +72,7 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
LOG(INFO) << "Write img params success";
// LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
// LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
LOG(INFO) << "Extrinsics left to right: {" << params.ex_left_to_right
LOG(INFO) << "Extrinsics left to right: {" << params.ex_right_to_left
<< "}";
return true;
} else {
@@ -202,7 +199,7 @@ bool DeviceWriter::SaveImgParams(
if (params.in_left_map.size() == params.in_right_map.size()) {
fs << "version" << info.spec_version.to_string() << "in_left_map"
<< params.in_left_map << "in_right_map" << params.in_right_map
<< "ex_left_to_right" << params.ex_left_to_right;
<< "ex_right_to_left" << params.ex_right_to_left;
fs.release();
return true;
} else {
@@ -329,8 +326,8 @@ DeviceWriter::dev_info_t DeviceWriter::LoadDeviceInfo(
LOG(FATAL) << "Failed to load file: " << filepath;
}
DeviceInfo info;
info.lens_type = Type(fs["lens_type"].string());
info.imu_type = Type(fs["imu_type"].string());
info.lens_type = Type(std::string(fs["lens_type"]));
info.imu_type = Type(std::string(fs["imu_type"]));
fs["nominal_baseline"] >> info.nominal_baseline;
fs.release();
return info;
@@ -369,25 +366,25 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
w, h, m, M1, D1, &params.in_left_map[Resolution::RES_752x480]);
to_intrinsics(
w, h, m, M2, D2, &params.in_right_map[Resolution::RES_752x480]);
to_extrinsics(R, T, &params.ex_left_to_right);
to_extrinsics(R, T, &params.ex_right_to_left);
} else {
fs["in_left"][0] >> params.in_left_map[Resolution::RES_752x480];
fs["in_right"][0] >> params.in_right_map[Resolution::RES_752x480];
fs["ex_left_to_right"] >> params.ex_left_to_right;
fs["ex_right_to_left"] >> params.ex_right_to_left;
}
} else {
// TODO(Kalman): Is there a more reasonable way?
if (static_cast<std::string>(fs["version"]) == "1.0") {
fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];
fs["ex_left_to_right"] >> params.ex_left_to_right;
fs["ex_right_to_left"] >> params.ex_right_to_left;
}
if (static_cast<std::string>(fs["version"]) == "1.1") {
fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_1280x400];
fs["in_left_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_1280x400];
fs["in_right_map"][1] >> params.in_right_map[Resolution::RES_2560x800];
fs["ex_left_to_right"] >> params.ex_left_to_right;
fs["ex_right_to_left"] >> params.ex_right_to_left;
}
}
fs.release();

5
tools/writer/device_writer.h
View File

@@ -19,9 +19,8 @@
#include <string>
#include "mynteye/mynteye.h"
#include "internal/channels.h"
#include "internal/types.h"
#include "mynteye/device/channels.h"
#include "mynteye/device/types.h"
MYNTEYE_BEGIN_NAMESPACE

7
tools/writer/img_params_writer.cc
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@@ -11,10 +11,9 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/glog_init.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"
#include "mynteye/logger.h"
#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
#include "writer/device_writer.h"

7
tools/writer/imu_params_writer.cc
View File

@@ -11,10 +11,9 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/glog_init.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"
#include "mynteye/logger.h"
#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
#include "writer/device_writer.h"

7
tools/writer/save_all_infos.cc
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@@ -11,10 +11,9 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/glog_init.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"
#include "mynteye/logger.h"
#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
#include "writer/device_writer.h"