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fix(type): fix conflict

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This commit is contained in:
kalman
2019-02-28 15:04:21 +08:00
parent c24e2806b3 c35d338248
commit 559a812c65
10 changed files with 230 additions and 72 deletions
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22
src/mynteye/api/api.cc
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@@ -26,6 +26,7 @@
#include "mynteye/api/dl.h"
#include "mynteye/api/plugin.h"
#include "mynteye/api/synthetic.h"
#include "mynteye/api/version_checker.h"
#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
@@ -222,7 +223,10 @@ API::~API() {
std::shared_ptr<API> API::Create(int argc, char *argv[]) {
auto &&device = device::select();
if (!device) return nullptr;
return Create(argc, argv, device);
auto api = Create(argc, argv, device);
if (api && checkFirmwareVersion(api))
return api;
return nullptr;
}
std::shared_ptr<API> API::Create(
@@ -261,7 +265,7 @@ std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
}
} else {
LOG(ERROR) <<"no device!";
api = std::make_shared<API>(device, CalibrationModel::UNKNOW);
return nullptr;
}
return api;
}
@@ -324,6 +328,20 @@ std::shared_ptr<DeviceInfo> API::GetInfo() const {
}
std::string API::GetInfo(const Info &info) const {
if (info == Info::SDK_VERSION) {
std::string info_path =
utils::get_sdk_install_dir();
info_path.append(MYNTEYE_OS_SEP "share" \
MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
cv::FileStorage fs(info_path, cv::FileStorage::READ);
if (!fs.isOpened()) {
LOG(WARNING) << "build.info not found: " << info_path;
return "null";
}
return fs["MYNTEYE_VERSION"];
}
return device_->GetInfo(info);
}

98
src/mynteye/api/synthetic.cc
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@@ -511,66 +511,60 @@ bool Synthetic::IsStreamEnabledSynthetic(const Stream &stream) const {
void Synthetic::InitProcessors() {
std::shared_ptr<Processor> rectify_processor = nullptr;
#ifdef WITH_CAM_MODELS
std::shared_ptr<RectifyProcessor> rectify_processor_imp = nullptr;
#endif
cv::Mat Q;
if (calib_model_ == CalibrationModel::PINHOLE) {
auto &&rectify_processor_ocv =
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
Q = rectify_processor_ocv->Q;
rectify_processor = rectify_processor_ocv;
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
rectify_processor_imp =
std::make_shared<RectifyProcessor>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_imp;
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
auto &&rectify_processor_ocv =
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_ocv;
}
std::shared_ptr<Processor> points_processor = nullptr;
std::shared_ptr<Processor> depth_processor = nullptr;
auto &&disparity_processor =
std::make_shared<DisparityProcessor>(DisparityComputingMethod::SGBM,
DISPARITY_PROC_PERIOD);
auto &&disparitynormalized_processor =
std::make_shared<DisparityNormalizedProcessor>(
DISPARITY_NORM_PROC_PERIOD);
std::shared_ptr<Processor> points_processor = nullptr;
if (calib_model_ == CalibrationModel::PINHOLE) {
auto root_processor =
std::make_shared<RootProcessor>(ROOT_PROC_PERIOD);
if (calib_model_ == CalibrationModel::PINHOLE) {
// PINHOLE
auto &&rectify_processor_ocv =
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_ocv;
points_processor = std::make_shared<PointsProcessorOCV>(
Q, POINTS_PROC_PERIOD);
rectify_processor_ocv->Q, POINTS_PROC_PERIOD);
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
root_processor->AddChild(rectify_processor);
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(points_processor);
points_processor->AddChild(depth_processor);
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
// KANNALA_BRANDT
auto rectify_processor_imp =
std::make_shared<RectifyProcessor>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_imp;
points_processor = std::make_shared<PointsProcessor>(
rectify_processor_imp -> getCalibInfoPair(),
POINTS_PROC_PERIOD);
#endif
} else {
points_processor = std::make_shared<PointsProcessorOCV>(
Q, POINTS_PROC_PERIOD);
}
std::shared_ptr<Processor> depth_processor = nullptr;
if (calib_model_ == CalibrationModel::PINHOLE) {
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
depth_processor = std::make_shared<DepthProcessor>(
rectify_processor_imp -> getCalibInfoPair(),
DEPTH_PROC_PERIOD);
root_processor->AddChild(rectify_processor);
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(depth_processor);
depth_processor->AddChild(points_processor);
#endif
} else {
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
// UNKNOW
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
return;
}
auto root_processor =
std::make_shared<RootProcessor>(ROOT_PROC_PERIOD);
root_processor->AddChild(rectify_processor);
rectify_processor->addTargetStreams(
{Stream::LEFT_RECTIFIED, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
@@ -618,25 +612,7 @@ void Synthetic::InitProcessors() {
depth_processor->SetPostProcessCallback(
std::bind(&Synthetic::OnDepthPostProcess, this, _1));
if (calib_model_ == CalibrationModel::PINHOLE) {
// PINHOLE
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(points_processor);
points_processor->AddChild(depth_processor);
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
// KANNALA_BRANDT
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(depth_processor);
depth_processor->AddChild(points_processor);
} else {
// UNKNOW
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
processor_ = rectify_processor;
processor_ = root_processor;
}
void Synthetic::ProcessNativeStream(

136
src/mynteye/api/version_checker.cc Normal file
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@@ -0,0 +1,136 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/api/version_checker.h"
#include "mynteye/device/utils.h"
#include "mynteye/logger.h"
#include "mynteye/types.h"
MYNTEYE_BEGIN_NAMESPACE
typedef struct {
const std::string device_type;
const std::string sdk_version;
const std::string firmware_version;
const std::string status;
}firmware_version_match_table_unit;
const char* ERRO_DESCRIPTION_F =
"Please update the firmware at first";
const char* ERRO_DESCRIPTION_S =
"Please update the SDK at first";
const char* WARN_DESCRIPTION_F =
"We suggest that you should update the firmware";
const char* WARN_DESCRIPTION_S =
"We suggest that you should update the SDK";
const char* PASS_DESCRIPTION = "pass";
/** firmware/sdk version matched table */
/**----device type-----sdk version---firmware version-----pass tag-----*/
static const firmware_version_match_table_unit FSVM_TABLE[] ={
/** S1030 */
{"MYNT-EYE-S1030", ">2.3.0", ">2.2.0", PASS_DESCRIPTION},
{"MYNT-EYE-S1030", ">2.3.0", "2.2.0", WARN_DESCRIPTION_F},
{"MYNT-EYE-S1030", ">2.3.0", "<2.2.0", ERRO_DESCRIPTION_F},
{"MYNT-EYE-S1030", "<2.3.1", "<2.2.0", WARN_DESCRIPTION_S},
/** S2100 */
{"MYNT-EYE-S2100", ">2.3.0", "1.0", PASS_DESCRIPTION},
{"MYNT-EYE-S2100", "<2.3.1", "1.0", ERRO_DESCRIPTION_S},
/** S210A */
{"MYNT-EYE-S210A", ">2.3.0", "1.0", PASS_DESCRIPTION},
{"MYNT-EYE-S210A", "<2.3.1", "1.0", ERRO_DESCRIPTION_S},
};
void getVersion(const std::string &str, char *version) {
std::string st1("");
int j = 0;
for (size_t i = 0; i < str.size(); i++) {
if (str[i] == '.') {
version[j++] = atoi(st1.c_str());
st1 = "";
} else {
st1 += str[i];
}
}
version[j++] = atoi(st1.c_str());
}
bool conditionMatch(const std::string& condition, const std::string& target) {
char version[4] = {0};
char version_c[4] = {0};
getVersion(target, version);
int tag_c = 0;
std::string condition_c;
if (condition[0] == '>') {
tag_c = 1;
condition_c = condition.substr(1);
} else if (condition[0] == '<') {
tag_c = -1;
condition_c = condition.substr(1);
} else {
tag_c = 0;
condition_c = condition;
}
getVersion(condition_c, version_c);
int tag_big = memcmp(version, version_c, 4);
if (tag_big * tag_c > 0 || (tag_big == 0 && tag_c == 0)) return true;
return false;
}
enum STATUS_UNIT {
ST_PASS,
ST_ERRO_F,
ST_ERRO_S,
ST_NOT_PASS
};
STATUS_UNIT checkUnit(const std::string& sdkv,
const std::string& devn,
const std::string& firmv,
const firmware_version_match_table_unit& condition) {
if (condition.device_type == devn &&
conditionMatch(condition.sdk_version, sdkv) &&
conditionMatch(condition.firmware_version, firmv)) {
if (condition.status == ERRO_DESCRIPTION_F) return ST_ERRO_F;
if (condition.status == ERRO_DESCRIPTION_S) return ST_ERRO_S;
if (condition.status == WARN_DESCRIPTION_F ||
condition.status == WARN_DESCRIPTION_S) {
LOG(WARNING) << condition.status;
}
return ST_PASS;
}
return ST_NOT_PASS;
}
bool checkFirmwareVersion(const std::shared_ptr<API> api) {
auto sdkv = api->GetInfo(Info::SDK_VERSION);
auto devn = api->GetInfo(Info::DEVICE_NAME);
auto firmv = api->GetInfo(Info::FIRMWARE_VERSION);
for (size_t i =0;
i < sizeof(FSVM_TABLE)/sizeof(firmware_version_match_table_unit);
i++) {
auto res = checkUnit(sdkv, devn, firmv, FSVM_TABLE[i]);
if (res == ST_PASS) {
return true;
} else if (res == ST_ERRO_S || res == ST_ERRO_F) {
LOG(ERROR) << FSVM_TABLE[i].status;
return false;
}
}
LOG(ERROR) << ERRO_DESCRIPTION_S;
return false;
}
MYNTEYE_END_NAMESPACE

25
src/mynteye/api/version_checker.h Normal file
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@@ -0,0 +1,25 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_API_VERSION_CHECKER_H_
#define MYNTEYE_API_VERSION_CHECKER_H_
#pragma once
#include <string>
#include "mynteye/api/api.h"
MYNTEYE_BEGIN_NAMESPACE
bool checkFirmwareVersion(const std::shared_ptr<API> api);
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_API_VERSION_CHECKER_H_