Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

CMakeLists.txt

@@ -128,22 +128,25 @@ if(WITH_GLOG)
   )
 endif()
 
-## camodocal
+## camera_models
 
 if(WITH_CAM_MODELS)
   set(EIGEN_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty)
   message(STATUS "EIGEN_INCLUDE_DIR: ${EIGEN_INCLUDE_DIR}")
 
   include_directories(
+    include
+    ${CMAKE_CURRENT_BINARY_DIR}/include
     ${EIGEN_INCLUDE_DIR}
-    src/mynteye/api/camodocal/include
+    src/mynteye/api/camera_models
   )
 
-  add_library(camodocal STATIC
-    src/mynteye/api/camodocal/src/camera_models/Camera.cc
-    src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc
-    src/mynteye/api/camodocal/src/gpl/gpl.cc
+  add_library(camera_models STATIC
+    src/mynteye/api/camera_models/camera.cc
+    src/mynteye/api/camera_models/equidistant_camera.cc
+    src/mynteye/api/camera_models/gpl.cc
   )
+
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
 endif()
 
@@ -252,7 +255,7 @@ if(OS_MAC)
   target_link_libraries(${MYNTEYE_NAME} PUBLIC ${OSX_EXTRA_LIBS} )
 endif()
 if(WITH_CAM_MODELS)
-  target_link_libraries(${MYNTEYE_NAME} PRIVATE camodocal)
+  target_link_libraries(${MYNTEYE_NAME} PRIVATE camera_models)
 endif()
 target_link_threads(${MYNTEYE_NAME})
 

Makefile

@@ -25,16 +25,11 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 # Options
 #
 #   SUDO: sudo command
-#   CAM_MODELS: cmake build with -DWITH_CAM_MODELS=ON
 #
 # e.g. make [TARGET] SUDO=
-# e.g. make [TARGET] CAM_MODELS=1
 
 SUDO ?= sudo
-
-CAM_MODELS ?=
-
-CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
+CMAKE_BUILD_EXTRA_OPTIONS ?=
 
 .DEFAULT_GOAL := all
 

cmake/Option.cmake

@@ -23,7 +23,7 @@ include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
 option(WITH_API "Build with API layer, need OpenCV" ON)
 option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
 
-option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" OFF)
+option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" ON)
 
 # 3rdparty components
 

samples/tutorials/data/get_img_params.cc

@@ -48,8 +48,10 @@ int main(int argc, char *argv[]) {
 
   auto info = api->GetCameraROSMsgInfoPair();
 
-  if (info && !info->isEmpty())
-    std::cout << "ROSMsgInfoPair:"<< std::endl << *info << std::endl;
+  if (info && !info->isEmpty()) {
+    LOG(INFO) << "ROSMsgInfoPair:";
+    LOG(INFO) << *info;
+  }
 
   return 0;
 }

src/mynteye/api/api.cc

@@ -90,7 +90,10 @@ bool dir_exists(const std::string &p) {
 
 std::vector<std::string> get_plugin_paths() {
   std::string info_path = utils::get_sdk_install_dir();
-  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
+  if (info_path.empty()) return {};
+
+  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye"
+                   MYNTEYE_OS_SEP "build.info");
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
@@ -332,17 +335,7 @@ std::string API::GetInfo(const Info &info) const {
 }
 
 std::string API::GetSDKVersion() const {
-  std::string info_path =
-      utils::get_sdk_install_dir();
-  info_path.append(MYNTEYE_OS_SEP "share" \
-      MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
-
-  cv::FileStorage fs(info_path, cv::FileStorage::READ);
-  if (!fs.isOpened()) {
-    LOG(WARNING) << "build.info not found: " << info_path;
-    return "null";
-  }
-  return fs["MYNTEYE_VERSION"];
+  return MYNTEYE_API_VERSION_STR;
 }
 
 IntrinsicsPinhole API::GetIntrinsics(const Stream &stream) const {

src/mynteye/api/camera_models/camera.cc

@@ -12,9 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include <opencv2/calib3d/calib3d.hpp>
-#include "camodocal/camera_models/Camera.h"
 
-namespace camodocal {
+#include "camera.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 Camera::Parameters::Parameters(ModelType modelType)
     : m_modelType(modelType), m_imageWidth(0), m_imageHeight(0) {
@@ -208,4 +211,7 @@ void Camera::projectPoints(
     imagePoints.push_back(cv::Point2f(p(0), p(1)));
   }
 }
-}
+
+}  // namespace models
+
+MYNTEYE_END_NAMESPACE

src/mynteye/api/camera_models/camera.h

@@ -11,15 +11,19 @@
 // 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.
-#ifndef SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_
-#define SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_
+#ifndef MYNTEYE_CAMERA_MODELS_CAMERA_H_
+#define MYNTEYE_CAMERA_MODELS_CAMERA_H_
 
 #include <vector>
 #include <memory>
 #include "eigen3/Eigen/Dense"
 #include <opencv2/core/core.hpp>
 
-namespace camodocal {
+#include "mynteye/mynteye.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 class Camera {
  public:
@@ -134,5 +138,7 @@ typedef std::shared_ptr<Camera> CameraPtr;
 typedef std::shared_ptr<const Camera> CameraConstPtr;
 }
 
-#endif  // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_CAMERA_MODELS_CAMERA_H_
 

src/mynteye/api/camera_models/equidistant_camera.cc

@@ -16,15 +16,19 @@
 #include <cstdint>
 #include <cmath>
 #include <cstdio>
-#include "camodocal/camera_models/EquidistantCamera.h"
+
 #include "eigen3/Eigen/Dense"
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/core/eigen.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
-#include "camodocal/gpl/gpl.h"
-// #include "mynteye/logger.h"
 
-namespace camodocal {
+#include "equidistant_camera.h"
+#include "gpl.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
+
 #define PI M_PI
 #define PI_2 1.5707963
 float ApproxAtan2(float y, float x)
@@ -652,4 +656,7 @@ void EquidistantCamera::backprojectSymmetric(
     }
   }
 }
-}  // namespace camodocal
+
+}  // namespace models
+
+MYNTEYE_END_NAMESPACE

src/mynteye/api/camera_models/equidistant_camera.h

@@ -11,14 +11,17 @@
 // 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.
-#ifndef SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_EQUIDISTANTCAMERA_H_
-#define SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_EQUIDISTANTCAMERA_H_
+#ifndef MYNTEYE_CAMERA_MODELS_EQUIDISTANT_CAMERA_H_
+#define MYNTEYE_CAMERA_MODELS_EQUIDISTANT_CAMERA_H_
 
 #include <string>
-#include "Camera.h"
 #include <opencv2/core/core.hpp>
 
-namespace camodocal {
+#include "camera.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 /**
  * J. Kannala, and S. Brandt, A Generic Camera Model and Calibration Method
@@ -227,5 +230,7 @@ void EquidistantCamera::spaceToPlane(
 }
 }
 
-#endif  // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_EQUIDISTANTCAMERA_H_
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_CAMERA_MODELS_EQUIDISTANT_CAMERA_H_
 

src/mynteye/api/camera_models/gpl.cc

@@ -11,7 +11,7 @@
 // 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 "camodocal/gpl/gpl.h"
+#include "gpl.h"
 
 #include <set>
 #ifdef _WIN32
@@ -56,7 +56,9 @@ const double WGS84_ECCSQ = 0.00669437999013;
 #define fminf(x, y) (((x) < (y)) ? (x) : (y))
 #endif
 
-namespace camodocal {
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 double hypot3(double x, double y, double z) {
   return sqrt(square(x) + square(y) + square(z));
@@ -524,5 +526,6 @@ char UTMLetterDesignator(double latitude) {
   return letterDesignator;
 }
 
-}  // namespace camodocal
+}  // namespace models
 
+MYNTEYE_END_NAMESPACE

src/mynteye/api/camera_models/gpl.h

@@ -11,15 +11,19 @@
 // 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.
-#ifndef SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_
-#define SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_
+#ifndef MYNTEYE_CAMERA_MODELS_GPL_H_
+#define MYNTEYE_CAMERA_MODELS_GPL_H_
 
 #include <vector>
 #include <algorithm>
 #include <cmath>
 #include <opencv2/core/core.hpp>
 
-namespace camodocal {
+#include "mynteye/mynteye.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 template <class T>
 const T clamp(const T &v, const T &a, const T &b) {
@@ -105,5 +109,7 @@ void UTMtoLL(
     double &latitude, double &longitude);  // NOLINT
 }
 
-#endif  // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_CAMERA_MODELS_GPL_H_
 

src/mynteye/api/processor/rectify_processor.cc

@@ -37,8 +37,8 @@ cv::Mat RectifyProcessor::rectifyrad(const cv::Mat& R) {
   return R.clone();
 }
 
-void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
-    camodocal::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
+void RectifyProcessor::stereoRectify(models::CameraPtr leftOdo,
+    models::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
     const CvMat* D1, const CvMat* D2, CvSize imageSize,
     const CvMat* matR, const CvMat* matT,
     CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
@@ -249,8 +249,8 @@ struct CameraROSMsgInfo RectifyProcessor::getCalibMatData(
 }
 
 std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
-    camodocal::CameraPtr leftOdo,
-    camodocal::CameraPtr rightOdo,
+    models::CameraPtr leftOdo,
+    models::CameraPtr rightOdo,
     mynteye::IntrinsicsEquidistant in_left,
     mynteye::IntrinsicsEquidistant in_right,
     mynteye::Extrinsics ex_right_to_left) {
@@ -330,10 +330,10 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
   return std::make_shared<struct CameraROSMsgInfoPair>(info_pair);
 }
 
-camodocal::CameraPtr RectifyProcessor::generateCameraFromIntrinsicsEquidistant(
+models::CameraPtr RectifyProcessor::generateCameraFromIntrinsicsEquidistant(
     const mynteye::IntrinsicsEquidistant & in) {
-  camodocal::EquidistantCameraPtr camera(
-      new camodocal::EquidistantCamera("KANNALA_BRANDT",
+  models::EquidistantCameraPtr camera(
+      new models::EquidistantCamera("KANNALA_BRANDT",
                                        in.width,
                                        in.height,
                                        in.coeffs[0],
@@ -354,9 +354,9 @@ void RectifyProcessor::InitParams(
   calib_model = CalibrationModel::KANNALA_BRANDT;
   in_left.ResizeIntrinsics();
   in_right.ResizeIntrinsics();
-  camodocal::CameraPtr camera_odo_ptr_left =
+  models::CameraPtr camera_odo_ptr_left =
       generateCameraFromIntrinsicsEquidistant(in_left);
-  camodocal::CameraPtr camera_odo_ptr_right =
+  models::CameraPtr camera_odo_ptr_right =
       generateCameraFromIntrinsicsEquidistant(in_right);
   auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
         camera_odo_ptr_right,

src/mynteye/api/processor/rectify_processor.h

@@ -23,11 +23,13 @@
 #include "mynteye/types.h"
 #include "mynteye/api/processor.h"
 #include "mynteye/device/device.h"
-#include <camodocal/camera_models/EquidistantCamera.h>
-#include <opencv2/core/eigen.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/opencv.hpp>
+
+#include "equidistant_camera.h"
+
 #include <opencv2/core/core.hpp>
+#include <opencv2/core/eigen.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -76,8 +78,8 @@ class RectifyProcessor : public Processor {
 
   cv::Mat rectifyrad(const cv::Mat& R);
 
-  void stereoRectify(camodocal::CameraPtr leftOdo,
-      camodocal::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
+  void stereoRectify(models::CameraPtr leftOdo,
+      models::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
       const CvMat* D1, const CvMat* D2, CvSize imageSize,
       const CvMat* matR, const CvMat* matT,
       CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
@@ -93,13 +95,13 @@ class RectifyProcessor : public Processor {
       const mynteye::IntrinsicsEquidistant& in);
 
   std::shared_ptr<struct CameraROSMsgInfoPair> stereoRectify(
-      camodocal::CameraPtr leftOdo,
-      camodocal::CameraPtr rightOdo,
+      models::CameraPtr leftOdo,
+      models::CameraPtr rightOdo,
       mynteye::IntrinsicsEquidistant in_left,
       mynteye::IntrinsicsEquidistant in_right,
       mynteye::Extrinsics ex_right_to_left);
 
-  camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
+  models::CameraPtr generateCameraFromIntrinsicsEquidistant(
       const mynteye::IntrinsicsEquidistant & in);
 
   CalibrationModel calib_model;

src/mynteye/api/synthetic.cc

@@ -65,7 +65,7 @@ void Synthetic::InitCalibInfo() {
   } else {
     calib_default_tag_ = true;
     calib_model_ = CalibrationModel::PINHOLE;
-    LOG(INFO) << "camera calib model: unknow ,use default pinhole data";
+    LOG(INFO) << "camera calib model: unknow, use default pinhole data";
     intr_left_ = getDefaultIntrinsics();
     intr_right_ = getDefaultIntrinsics();
     extr_ =  getDefaultExtrinsics();

src/mynteye/types.cc

@@ -313,13 +313,14 @@ std::ostream &operator<<(std::ostream &os, const Extrinsics &ex) {
 }
 
 std::ostream &operator<<(std::ostream &os, const OptionInfo &info) {
-  return os << "min: " << info.min << ", max: " << info.max
+  return os << FULL_PRECISION << "min: " << info.min << ", max: " << info.max
             << ", def: " << info.def;
 }
 
 std::ostream &operator<<(std::ostream &os, const CameraROSMsgInfo &info) {
-  os << "width: " << info.width << ", height: " << info.height << std::endl
-      << "distortion_model: " << info.distortion_model;
+  os << FULL_PRECISION << "width: " << info.width << ", height: "
+    << info.height << std::endl << "distortion_model: "
+    << info.distortion_model;
   os << std::endl << "D: ";
   for (size_t i = 0; i < 5; i++)
     os << info.D[i] << ",";

wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard.yaml

@@ -1,5 +1,5 @@
 # standard/gain range: [0,48]
-sstandard/gain: -1
+standard/gain: -1
 # standard/gain: 24
 
 # standard/brightness range: [0,240]

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

@@ -843,7 +843,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     //   return;
 
     auto &&in = api_->GetIntrinsicsBase(Stream::LEFT);
-
+    in -> ResizeIntrinsics();
     sensor_msgs::PointCloud2 msg;
     msg.header.seq = seq;
     msg.header.stamp = stamp;