From 25e5a0beada0ccc43b9cddb583d01b2fd57f9ef1 Mon Sep 17 00:00:00 2001
From: TinyO <tinysilk@hotmail.com>
Date: Fri, 27 Sep 2019 09:17:35 +0800
Subject: [PATCH] fix(imu): repair 2.0 firmware and s1/s2 logic if.

---
 src/mynteye/device/channel/channels.cc |  6 ++++--
 src/mynteye/device/config.cc           | 23 -----------------------
 2 files changed, 4 insertions(+), 25 deletions(-)

diff --git a/src/mynteye/device/channel/channels.cc b/src/mynteye/device/channel/channels.cc
index 00f2523..e789bdf 100644
--- a/src/mynteye/device/channel/channels.cc
+++ b/src/mynteye/device/channel/channels.cc
@@ -378,7 +378,8 @@ void Channels::SetImuCallback(imu_callback_t callback) {
 }
 
 void Channels::DoImuTrack() {
-  if (dev_info_->firmware_version >= Version(2, 0)) {
+  if (dev_info_->firmware_version >= Version(2, 0) &&
+      strstr(dev_info_->name.c_str(), "S2") != nullptr ) {
     return DoImuTrack2();
   } else {
     return DoImuTrack1();
@@ -498,7 +499,8 @@ void Channels::StartImuTracking(imu_callback_t callback) {
                 << ", sleep " << (IMU_TRACK_PERIOD - time_elapsed_ms) << " ms";
       }
     };
-    if (dev_info_->firmware_version >= Version(2, 0)) {
+    if (dev_info_->firmware_version >= Version(2, 0) &&
+        strstr(dev_info_->name.c_str(), "S2") != nullptr ) {
       while (!imu_track_stop_) {
         auto &&time_beg = times::now();
         DoImuTrack2();
diff --git a/src/mynteye/device/config.cc b/src/mynteye/device/config.cc
index 7857138..413f3da 100644
--- a/src/mynteye/device/config.cc
+++ b/src/mynteye/device/config.cc
@@ -162,27 +162,4 @@ std::shared_ptr<Extrinsics> getDefaultExtrinsics() {
   return res;
 }
 
-// sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
-// sgbm_matcher->setPreFilterCap(63);
-// sgbm_matcher->setBlockSize(sgbmWinSize);
-// sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
-// sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
-// sgbm_matcher->setMinDisparity(0);
-// sgbm_matcher->setNumDisparities(numberOfDisparities);
-// sgbm_matcher->setUniquenessRatio(10);
-// sgbm_matcher->setSpeckleWindowSize(100);
-// sgbm_matcher->setSpeckleRange(32);
-// sgbm_matcher->setDisp12MaxDiff(1);
-
-// bm_matcher = cv::StereoBM::create(0, 3);
-// bm_matcher->setPreFilterSize(9);
-// bm_matcher->setPreFilterCap(31);
-// bm_matcher->setBlockSize(15);
-// bm_matcher->setMinDisparity(0);
-// bm_matcher->setNumDisparities(64);
-// bm_matcher->setUniquenessRatio(60);
-// bm_matcher->setTextureThreshold(10);
-// bm_matcher->setSpeckleWindowSize(100);
-// bm_matcher->setSpeckleRange(4);
-
 MYNTEYE_END_NAMESPACE