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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

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This commit is contained in:
TinyOh 2019-01-14 20:08:41 +08:00
commit 456613a030
5 changed files with 28 additions and 14 deletions
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4
src/mynteye/api/processor/depth_processor.cc
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@ -29,7 +29,7 @@ DepthProcessor::DepthProcessor(
std::int32_t proc_period) std::int32_t proc_period)
: Processor(std::move(proc_period)), : Processor(std::move(proc_period)),
calib_infos_(calib_infos) { calib_infos_(calib_infos) {
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__;
} }
DepthProcessor::~DepthProcessor() { DepthProcessor::~DepthProcessor() {
@ -51,7 +51,7 @@ bool DepthProcessor::OnProcess(
ObjMat *output = Object::Cast<ObjMat>(out); ObjMat *output = Object::Cast<ObjMat>(out);
int rows = input->value.rows; int rows = input->value.rows;
int cols = input->value.cols; int cols = input->value.cols;
// std::cout << calib_infos_->T_mul_f << std::endl; std::cout << calib_infos_->T_mul_f << std::endl;
// 0.0793434 // 0.0793434
cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U); cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U);
for (int i = 0; i < rows; i++) { for (int i = 0; i < rows; i++) {

2
src/mynteye/api/processor/points_processor.cc
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@ -57,7 +57,7 @@ PointsProcessor::PointsProcessor(
std::int32_t proc_period) std::int32_t proc_period)
: Processor(std::move(proc_period)), : Processor(std::move(proc_period)),
calib_infos_(calib_infos) { calib_infos_(calib_infos) {
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__;
} }
PointsProcessor::~PointsProcessor() { PointsProcessor::~PointsProcessor() {

8
src/mynteye/api/processor/rectify_processor.cc
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@ -339,6 +339,13 @@ void RectifyProcessor::InitParams(
generateCameraFromIntrinsicsEquidistant(in_left); generateCameraFromIntrinsicsEquidistant(in_left);
camodocal::CameraPtr camera_odo_ptr_right = camodocal::CameraPtr camera_odo_ptr_right =
generateCameraFromIntrinsicsEquidistant(in_right); generateCameraFromIntrinsicsEquidistant(in_right);
auto calib_infos_temp =
stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right,
in_left,
in_right,
ex_right_to_left);
*calib_infos = *calib_infos_temp;
auto calib_info_tmp = stereoRectify(camera_odo_ptr_left, auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right, camera_odo_ptr_right,
in_left, in_left,
@ -380,7 +387,6 @@ RectifyProcessor::RectifyProcessor(
std::int32_t proc_period) std::int32_t proc_period)
: Processor(std::move(proc_period)), : Processor(std::move(proc_period)),
calib_model(CalibrationModel::UNKNOW) { calib_model(CalibrationModel::UNKNOW) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
calib_infos = std::make_shared<struct camera_calib_info_pair>(); calib_infos = std::make_shared<struct camera_calib_info_pair>();
InitParams( InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left), *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),

16
tools/dataset/dataset.cc
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@ -95,15 +95,13 @@ void Dataset::SaveMotionData(const device::MotionData &data) {
auto &&writer = GetMotionWriter(); auto &&writer = GetMotionWriter();
// auto seq = data.imu->serial_number; // auto seq = data.imu->serial_number;
auto seq = motion_count_; auto seq = motion_count_;
if (data.imu->flag == 1 || data.imu->flag == 2) { writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", " << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
<< data.imu->timestamp << ", " << data.imu->accel[0] << ", " << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
<< data.imu->accel[1] << ", " << data.imu->accel[2] << ", " << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
<< data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", " << data.imu->gyro[2] << ", " << data.imu->temperature
<< data.imu->gyro[2] << ", " << data.imu->temperature << std::endl;
<< std::endl; ++motion_count_;
++motion_count_;
}
/* /*
if(motion_count_ != seq) { if(motion_count_ != seq) {
LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_ LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_

12
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -310,7 +310,7 @@
- 'image_transport/compressedDepth' - 'image_transport/compressedDepth'
</rosparam> </rosparam>
</group> </group>
<group ns="$(arg right_rect_topic)"> <group ns="$(arg left_mono_topic)">
<rosparam param="disable_pub_plugins"> <rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth' - 'image_transport/compressedDepth'
</rosparam> </rosparam>
@ -320,6 +320,16 @@
- 'image_transport/compressedDepth' - 'image_transport/compressedDepth'
</rosparam> </rosparam>
</group> </group>
<group ns="$(arg right_mono_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg right_rect_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg disparity_topic)"> <group ns="$(arg disparity_topic)">
<rosparam param="disable_pub_plugins"> <rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth' - 'image_transport/compressedDepth'