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feat(correspondence): support keep imu sequence

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This commit is contained in:
John Zhao
2019-03-06 15:55:32 +08:00
parent ad64476ee6
commit 3cc158231a
5 changed files with 122 additions and 9 deletions
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57
samples/tutorials/data/get_imu_correspondence.cc
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@@ -18,6 +18,10 @@
#include "util/cv_painter.h"
// #define CHECK_ACCEL_THEN_GYRO
#define SEQ_FIRST 1 // accel
#define SEQ_SECOND 2 // gyro
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
@@ -40,6 +44,11 @@ int main(int argc, char *argv[]) {
std::uint64_t prev_img_stamp = 0;
std::uint64_t prev_imu_stamp = 0;
#ifdef CHECK_ACCEL_THEN_GYRO
std::uint8_t prev_imu_flag = 0;
std::uint64_t imu_count = 0;
std::uint64_t imu_disorder_count = 0;
#endif
while (true) {
api->WaitForStreams();
@@ -56,14 +65,49 @@ int main(int argc, char *argv[]) {
auto &&motion_datas = api->GetMotionDatas();
LOG(INFO) << "Imu count: " << motion_datas.size();
for (auto &&data : motion_datas) {
for (size_t i = 0, n = motion_datas.size() - 1; i <= n; ++i) {
auto data = motion_datas[i];
auto imu_flag = data.imu->flag;
auto imu_stamp = data.imu->timestamp;
LOG(INFO) << "Imu timestamp: " << imu_stamp
std::stringstream ss;
if (imu_flag == 0) { // accel + gyro
ss << "Imu";
} else if (imu_flag == 1) { // accel
ss << "Accel";
} else if (imu_flag == 2) { // gyro
ss << "Gyro";
}
ss << " timestamp: " << imu_stamp
<< ", diff_prev=" << (imu_stamp - prev_imu_stamp)
<< ", diff_img=" << (1.f + imu_stamp - img_stamp);
<< ", diff_img=" << (1.0f + imu_stamp - img_stamp);
#ifdef CHECK_ACCEL_THEN_GYRO
if (imu_flag > 0) {
bool ok = false;
if (i == 0) { // first
ok = (imu_flag == SEQ_FIRST);
} else if (i == n) { // last
ok = (imu_flag == SEQ_SECOND);
} else {
if (imu_flag == SEQ_FIRST) {
ok = (prev_imu_flag == SEQ_SECOND);
} else if (imu_flag == SEQ_SECOND) {
ok = (prev_imu_flag == SEQ_FIRST);
}
}
ss << (ok ? " ✓" : " x");
if (!ok) ++imu_disorder_count;
prev_imu_flag = imu_flag;
}
#endif
LOG(INFO) << ss.str();
prev_imu_stamp = imu_stamp;
}
LOG(INFO);
#ifdef CHECK_ACCEL_THEN_GYRO
imu_count += motion_datas.size();
#endif
/*
painter.DrawImgData(img, *left_data.img);
@@ -81,5 +125,12 @@ int main(int argc, char *argv[]) {
}
api->Stop(Source::ALL);
#ifdef CHECK_ACCEL_THEN_GYRO
if (imu_disorder_count > 0) {
LOG(INFO) << "accel_then_gyro, disorder_count: " << imu_disorder_count
<< "/" << imu_count;
}
#endif
return 0;
}