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Could set params of device

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This commit is contained in:
John Zhao 2018-04-13 21:55:32 +08:00
parent 41a7ec6708
commit 1888145885
2 changed files with 45 additions and 27 deletions
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55
src/device/device.cc
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@ -4,6 +4,7 @@
#include <algorithm> #include <algorithm>
#include <stdexcept> #include <stdexcept>
#include <utility>
#include "device/device_s.h" #include "device/device_s.h"
#include "internal/channels.h" #include "internal/channels.h"
@ -49,7 +50,7 @@ Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
channels_(std::make_shared<Channels>(device)), channels_(std::make_shared<Channels>(device)),
motions_(std::make_shared<Motions>(channels_)) { motions_(std::make_shared<Motions>(channels_)) {
VLOG(2) << __func__; VLOG(2) << __func__;
ReadDeviceInfo(); ReadAllInfos();
} }
Device::~Device() { Device::~Device() {
@ -158,6 +159,14 @@ ImgExtrinsics Device::GetImgExtrinsics() const {
return img_extrinsics_; return img_extrinsics_;
} }
void Device::SetImgIntrinsics(const ImgIntrinsics &in) {
img_intrinsics_ = std::move(in);
}
void Device::SetImgExtrinsics(const ImgExtrinsics &ex) {
img_extrinsics_ = std::move(ex);
}
ImuIntrinsics Device::GetImuIntrinsics() const { ImuIntrinsics Device::GetImuIntrinsics() const {
return imu_intrinsics_; return imu_intrinsics_;
} }
@ -166,6 +175,14 @@ ImuExtrinsics Device::GetImuExtrinsics() const {
return imu_extrinsics_; return imu_extrinsics_;
} }
void Device::SetImuIntrinsics(const ImuIntrinsics &in) {
imu_intrinsics_ = std::move(in);
}
void Device::SetImuExtrinsics(const ImuExtrinsics &ex) {
imu_extrinsics_ = std::move(ex);
}
void Device::LogOptionInfos() const { void Device::LogOptionInfos() const {
channels_->LogControlInfos(); channels_->LogControlInfos();
} }
@ -398,13 +415,15 @@ void Device::StopMotionTracking() {
motion_tracking_ = false; motion_tracking_ = false;
} }
void Device::ReadDeviceInfo() { void Device::ReadAllInfos() {
device_info_ = std::make_shared<DeviceInfo>(); device_info_ = std::make_shared<DeviceInfo>();
CHECK_NOTNULL(channels_); CHECK_NOTNULL(channels_);
Channels::img_params_t img_params; Channels::img_params_t img_params;
Channels::imu_params_t imu_params; Channels::imu_params_t imu_params;
channels_->GetFiles(device_info_.get(), &img_params, &imu_params); if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
// LOG(FATAL) << "Read device infos failed :(";
}
device_info_->name = uvc::get_name(*device_); device_info_->name = uvc::get_name(*device_);
img_intrinsics_ = img_params.in; img_intrinsics_ = img_params.in;
@ -413,28 +432,24 @@ void Device::ReadDeviceInfo() {
imu_extrinsics_ = imu_params.ex; imu_extrinsics_ = imu_params.ex;
} }
void Device::WriteImgIntrinsics(const ImgIntrinsics &intrinsics) { void Device::WriteImgParams(
const ImgIntrinsics &intrinsics, const ImgExtrinsics &extrinsics) {
CHECK_NOTNULL(channels_); CHECK_NOTNULL(channels_);
Channels::img_params_t img_params{intrinsics, img_extrinsics_}; Channels::img_params_t img_params{intrinsics, extrinsics};
channels_->SetFiles(nullptr, &img_params, nullptr); if (channels_->SetFiles(nullptr, &img_params, nullptr)) {
img_intrinsics_ = intrinsics;
img_extrinsics_ = extrinsics;
}
} }
void Device::WriteImgExtrinsics(const ImgExtrinsics &extrinsics) { void Device::WriteImuParams(
const ImuIntrinsics &intrinsics, const ImuExtrinsics &extrinsics) {
CHECK_NOTNULL(channels_); CHECK_NOTNULL(channels_);
Channels::img_params_t img_params{img_intrinsics_, extrinsics}; Channels::imu_params_t imu_params{intrinsics, extrinsics};
channels_->SetFiles(nullptr, &img_params, nullptr); if (channels_->SetFiles(nullptr, nullptr, &imu_params)) {
imu_intrinsics_ = intrinsics;
imu_extrinsics_ = extrinsics;
} }
void Device::WriteImuIntrinsics(const ImuIntrinsics &intrinsics) {
CHECK_NOTNULL(channels_);
Channels::imu_params_t imu_params{intrinsics, imu_extrinsics_};
channels_->SetFiles(nullptr, nullptr, &imu_params);
}
void Device::WriteImuExtrinsics(const ImuExtrinsics &extrinsics) {
CHECK_NOTNULL(channels_);
Channels::imu_params_t imu_params{imu_intrinsics_, extrinsics};
channels_->SetFiles(nullptr, nullptr, &imu_params);
} }
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE

15
src/device/device.h
View File

@ -59,9 +59,13 @@ class Device {
ImgIntrinsics GetImgIntrinsics() const; ImgIntrinsics GetImgIntrinsics() const;
ImgExtrinsics GetImgExtrinsics() const; ImgExtrinsics GetImgExtrinsics() const;
void SetImgIntrinsics(const ImgIntrinsics &in);
void SetImgExtrinsics(const ImgExtrinsics &ex);
ImuIntrinsics GetImuIntrinsics() const; ImuIntrinsics GetImuIntrinsics() const;
ImuExtrinsics GetImuExtrinsics() const; ImuExtrinsics GetImuExtrinsics() const;
void SetImuIntrinsics(const ImuIntrinsics &in);
void SetImuExtrinsics(const ImuExtrinsics &ex);
void LogOptionInfos() const; void LogOptionInfos() const;
OptionInfo GetOptionInfo(const Option &option) const; OptionInfo GetOptionInfo(const Option &option) const;
@ -134,13 +138,12 @@ class Device {
std::shared_ptr<Motions> motions_; std::shared_ptr<Motions> motions_;
void ReadDeviceInfo(); void ReadAllInfos();
void WriteImgIntrinsics(const ImgIntrinsics &intrinsics); void WriteImgParams(
void WriteImgExtrinsics(const ImgExtrinsics &extrinsics); const ImgIntrinsics &intrinsics, const ImgExtrinsics &extrinsics);
void WriteImuParams(
void WriteImuIntrinsics(const ImuIntrinsics &intrinsics); const ImuIntrinsics &intrinsics, const ImuExtrinsics &extrinsics);
void WriteImuExtrinsics(const ImuExtrinsics &extrinsics);
// friend DeviceWriter; // friend DeviceWriter;
}; };