From 45b4fdeedf5ed22fb8c1904dad64e12375170c41 Mon Sep 17 00:00:00 2001 From: Osenberg-Y Date: Tue, 7 Aug 2018 17:35:42 +0800 Subject: [PATCH] Remove frame rate 60 --- doc/en/spec_control_api.md | 2 +- doc/zh-Hans/spec_control_api.md | 2 +- samples/tutorials/control/framerate.cc | 2 +- src/internal/channels.cc | 2 +- src/public/utils.cc | 3 --- wrappers/python/samples/mynteye.py | 2 +- wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch | 2 +- 7 files changed, 6 insertions(+), 9 deletions(-) diff --git a/doc/en/spec_control_api.md b/doc/en/spec_control_api.md index 475bf06..46d2366 100644 --- a/doc/en/spec_control_api.md +++ b/doc/en/spec_control_api.md @@ -14,7 +14,7 @@ There are two control modes, one is through UVC standard protocol, the other is | Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note | | :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- | -| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} | +| Frame rate | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55} | | IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} | | Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure | | Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure | diff --git a/doc/zh-Hans/spec_control_api.md b/doc/zh-Hans/spec_control_api.md index 6301461..9c3bea1 100644 --- a/doc/zh-Hans/spec_control_api.md +++ b/doc/zh-Hans/spec_control_api.md @@ -16,7 +16,7 @@ | 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 说明 | | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----- | -| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} | +| 图像帧率 | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55} | | IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} | | 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 | | 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 | diff --git a/samples/tutorials/control/framerate.cc b/samples/tutorials/control/framerate.cc index 55cfd30..1d05755 100644 --- a/samples/tutorials/control/framerate.cc +++ b/samples/tutorials/control/framerate.cc @@ -30,7 +30,7 @@ int main(int argc, char *argv[]) { // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't // succeed. - // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60 + // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55 api->SetOptionValue(Option::FRAME_RATE, 25); // IMU_FREQUENCY values: 100, 200, 250, 333, 500 api->SetOptionValue(Option::IMU_FREQUENCY, 500); diff --git a/src/internal/channels.cc b/src/internal/channels.cc index c6d1ba6..e8eb253 100644 --- a/src/internal/channels.cc +++ b/src/internal/channels.cc @@ -224,7 +224,7 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) { } break; case Option::FRAME_RATE: { if (!in_range() || - !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60})) + !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55})) break; XuCamCtrlSet(option, value); } break; diff --git a/src/public/utils.cc b/src/public/utils.cc index ad8b97a..4fc9202 100644 --- a/src/public/utils.cc +++ b/src/public/utils.cc @@ -100,9 +100,6 @@ float get_real_exposure_time( case 55: real_max = 16.325; break; - case 60: - real_max = 15; - break; default: LOG(ERROR) << "Invalid frame rate: " << frame_rate; return exposure_time; diff --git a/wrappers/python/samples/mynteye.py b/wrappers/python/samples/mynteye.py index 1e70f75..608787b 100644 --- a/wrappers/python/samples/mynteye.py +++ b/wrappers/python/samples/mynteye.py @@ -99,7 +99,7 @@ def main(): # set_option_value def set_rate(frame_rate=25, imu_frequency=500): # pylint: disable=unused-variable - # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60 + # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55 api.set_option_value(mynteye.FRAME_RATE, frame_rate) # IMU_FREQUENCY values: 100, 200, 250, 333, 500 api.set_option_value(mynteye.IMU_FREQUENCY, imu_frequency) diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch index 83e1e70..3654689 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch @@ -54,7 +54,7 @@ - +