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feat(src): added S200B device support

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This commit is contained in:
Osenberg
2019-08-07 18:42:37 +08:00
parent acabe04a92
commit 37b98e0d33
25 changed files with 289 additions and 52 deletions
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10
src/mynteye/api/api.cc
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@@ -592,16 +592,6 @@ bool API::ConfigDisparityFromFile(const std::string& config_file) {
bool API::IsDefaultIntrinsics() {
if (device_ != nullptr) {
return device_->CheckImageParams();
if (device_->CheckImageParams()) {
LOG(WARNING) << "Default intrinsics are currently being used.";
LOG(FATAL) << "Image params not found, but we need it to process the "
"images. Please `make tools` and use `img_params_writer` "
"to write the image params. If you update the SDK from "
"1.x, the `SN*.conf` is the file contains them. Besides, "
"you could also calibrate them by yourself. Read the guide "
"doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
"to learn more.";
}
}
return false;

44
src/mynteye/device/channel/channels.cc
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@@ -96,6 +96,9 @@ int XuHalfDuplexId(Option option) {
case Option::ERASE_CHIP:
return 1;
break;
case Option::SYNC_TIMESTAMP:
return 2;
break;
default:
LOG(FATAL) << "No half duplex id for " << option;
}
@@ -206,6 +209,9 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
case Option::ERASE_CHIP:
LOG(WARNING) << option << " get value useless";
return -1;
case Option::SYNC_TIMESTAMP:
LOG(WARNING) << option << " get value useless";
return -1;
default:
LOG(ERROR) << "Unsupported option " << option;
}
@@ -292,11 +298,49 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
case Option::ERASE_CHIP:
LOG(WARNING) << option << " set value useless";
break;
case Option::SYNC_TIMESTAMP:
XuCamCtrlSet(option, value);
break;
default:
LOG(ERROR) << "Unsupported option " << option;
}
}
bool Channels::SetControlValue(const Option &option, std::uint64_t value) {
switch (option) {
case Option::GAIN:
case Option::BRIGHTNESS:
case Option::CONTRAST:
case Option::FRAME_RATE:
case Option::IMU_FREQUENCY:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
case Option::ACCELEROMETER_LOW_PASS_FILTER:
case Option::GYROSCOPE_LOW_PASS_FILTER:
case Option::EXPOSURE_MODE:
case Option::MAX_GAIN:
case Option::MAX_EXPOSURE_TIME:
case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL:
case Option::HDR_MODE:
case Option::MIN_EXPOSURE_TIME:
case Option::IIC_ADDRESS_SETTING:
case Option::ZERO_DRIFT_CALIBRATION:
LOG(WARNING) << option << " refer to function SetControlValue(const Option &option, std::int32_t value)";
break;
case Option::ERASE_CHIP:
LOG(WARNING) << option << " set value useless";
break;
case Option::SYNC_TIMESTAMP:
return XuHalfDuplexSet(option, XU_SYNC_TIMESTAMP);
break;
default:
LOG(ERROR) << "Unsupported option " << option;
}
return false;
}
bool Channels::RunControlAction(const Option &option) const {
switch (option) {
case Option::ZERO_DRIFT_CALIBRATION:

2
src/mynteye/device/channel/channels.h
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@@ -50,6 +50,7 @@ class MYNTEYE_API Channels {
typedef enum XuCmd {
XU_CMD_ZDC = 0xE6, // zero drift calibration
XU_CMD_ERASE = 0xDE, // erase chip
XU_SYNC_TIMESTAMP = 0x200, // sync timestamp
XU_CMD_LAST
} xu_cmd_t;
@@ -72,6 +73,7 @@ class MYNTEYE_API Channels {
std::int32_t GetControlValue(const Option &option) const;
void SetControlValue(const Option &option, std::int32_t value);
bool SetControlValue(const Option &option, std::uint64_t value);
bool RunControlAction(const Option &option) const;

28
src/mynteye/device/config.cc
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@@ -18,13 +18,15 @@ MYNTEYE_BEGIN_NAMESPACE
const std::map<Model, StreamSupports> stream_supports_map = {
{Model::STANDARD, {Stream::LEFT, Stream::RIGHT}},
{Model::STANDARD2, {Stream::LEFT, Stream::RIGHT}},
{Model::STANDARD210A, {Stream::LEFT, Stream::RIGHT}}
{Model::STANDARD210A, {Stream::LEFT, Stream::RIGHT}},
{Model::STANDARD200B, {Stream::LEFT, Stream::RIGHT}},
};
const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
{Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}},
{Model::STANDARD2, {Capabilities::STEREO_COLOR, Capabilities::IMU}},
{Model::STANDARD210A, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
{Model::STANDARD210A, {Capabilities::STEREO_COLOR, Capabilities::IMU}},
{Model::STANDARD200B, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
};
const std::map<Model, OptionSupports> option_supports_map = {
@@ -54,7 +56,14 @@ const std::map<Model, OptionSupports> option_supports_map = {
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
Option::ACCELEROMETER_LOW_PASS_FILTER, Option::GYROSCOPE_LOW_PASS_FILTER,
Option::IIC_ADDRESS_SETTING, Option::ERASE_CHIP}
}
},
{Model::STANDARD200B, {
Option::BRIGHTNESS,
Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::MIN_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::ACCELEROMETER_RANGE,
Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
Option::GYROSCOPE_LOW_PASS_FILTER, Option::ERASE_CHIP, Option::SYNC_TIMESTAMP}
},
};
const std::map<Model, std::map<Capabilities, StreamRequests>>
@@ -86,7 +95,18 @@ stream_requests_map = {
{2560, 800, Format::BGR888, 20},
{2560, 800, Format::BGR888, 30}}
}}
}
},
{Model::STANDARD200B,
{{Capabilities::STEREO_COLOR, {
{1280, 400, Format::YUYV, 10},
{1280, 400, Format::YUYV, 20},
{1280, 400, Format::YUYV, 30},
{1280, 400, Format::YUYV, 60},
{2560, 800, Format::YUYV, 10},
{2560, 800, Format::YUYV, 20},
{2560, 800, Format::YUYV, 30}}
}}
},
};
/**

21
src/mynteye/device/device.cc
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@@ -111,12 +111,23 @@ std::shared_ptr<Device> Device::Create(
if (model.generation == '1') {
return std::make_shared<StandardDevice>(device);
} else if (model.generation == '2') {
if (model.custom_code == '0') {
return std::make_shared<Standard2Device>(Model::STANDARD2, device);
} else if (model.custom_code == 'A') {
return std::make_shared<Standard2Device>(Model::STANDARD210A, device);
if (model.baseline_code == '1') {
if (model.custom_code == '0') {
return std::make_shared<Standard2Device>(Model::STANDARD2, device);
} else if (model.custom_code == 'A') {
return std::make_shared<Standard2Device>(
Model::STANDARD210A, device);
} else {
LOG(FATAL) << "No such custom code now";
}
} else if (model.baseline_code == '0') {
if (model.custom_code == 'B') {
return std::make_shared<Standard2Device>(Model::STANDARD200B, device);
} else {
LOG(FATAL) << "No such custom code now";
}
} else {
LOG(FATAL) << "No such custom code now";
LOG(FATAL) << "No such baseline now";
}
} else {
LOG(FATAL) << "No such generation now";

3
src/mynteye/device/standard2/device_s2.cc
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@@ -26,7 +26,8 @@ Standard2Device::Standard2Device(const Model &model,
std::make_shared<Standard2StreamsAdapter>(model),
std::make_shared<Standard2ChannelsAdapter>(model)) {
VLOG(2) << __func__;
CHECK(model == Model::STANDARD2 || model == Model::STANDARD210A);
CHECK(model == Model::STANDARD2 || model == Model::STANDARD210A ||
model == Model::STANDARD200B);
}
Standard2Device::~Standard2Device() {

1
src/mynteye/device/standard2/streams_adapter_s2.cc
View File

@@ -227,6 +227,7 @@ Standard2StreamsAdapter::GetUnpackImgPixelsMap() {
{Stream::RIGHT, s210a::unpack_right_img_pixels}
};
case Model::STANDARD2:
case Model::STANDARD200B:
default:
return {
{Stream::LEFT, unpack_left_img_pixels},

2
src/mynteye/types.cc
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@@ -31,6 +31,7 @@ const char *to_string(const Model &value) {
CASE(STANDARD)
CASE(STANDARD2)
CASE(STANDARD210A)
CASE(STANDARD200B)
default:
CHECK(is_valid(value));
return "Model::UNKNOWN";
@@ -125,6 +126,7 @@ const char *to_string(const Option &value) {
CASE(IIC_ADDRESS_SETTING)
CASE(ZERO_DRIFT_CALIBRATION)
CASE(ERASE_CHIP)
CASE(SYNC_TIMESTAMP)
default:
CHECK(is_valid(value));
return "Option::UNKNOWN";