tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix(ros):fix conflicts

Browse Source
This commit is contained in:
kalman 2018-12-25 20:37:00 +08:00
commit 56c4d50c93
5 changed files with 88 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@ -14,7 +14,7 @@
cmake_minimum_required(VERSION 3.0) cmake_minimum_required(VERSION 3.0)
project(mynteye VERSION 2.2.2 LANGUAGES C CXX) project(mynteye VERSION 2.2.3 LANGUAGES C CXX)
include(cmake/Common.cmake) include(cmake/Common.cmake)

12
README.md
View File

@ -1,6 +1,6 @@
# MYNT® EYE S SDK # MYNT® EYE S SDK
[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK) [![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.3-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
## Overview ## Overview
@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
## Documentations ## Documentations
* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec. * [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
* en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683636/mynt-eye-s-sdk-apidoc-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683637/mynt-eye-s-sdk-apidoc-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/) * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708507/mynt-eye-s-sdk-apidoc-2.2.3-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708508/mynt-eye-s-sdk-apidoc-2.2.3-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.3-en/mynt-eye-s-sdk-apidoc-2.2.3-en/index.html)
* zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683638/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683639/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/index.html) * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708509/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708510/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans/index.html)
* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK. * [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
* en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683625/mynt-eye-s-sdk-guide-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683626/mynt-eye-s-sdk-guide-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/) * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708524/mynt-eye-s-sdk-guide-2.2.3-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708525/mynt-eye-s-sdk-guide-2.2.3-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
* zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683627/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683628/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/index.html) * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708528/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708529/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.3-zh-Hans/mynt-eye-s-sdk-guide-2.2.3-zh-Hans/index.html)
> Supported languages: `en`, `zh-Hans`. > Supported languages: `en`, `zh-Hans`.
@ -29,7 +29,7 @@ Please follow the guide doc to install the SDK on different platforms.
[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download [MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.2`. Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.3`.
## Usage ## Usage

2
doc/en/api.doxyfile
View File

@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
# could be handy for archiving the generated documentation or if some version # could be handy for archiving the generated documentation or if some version
# control system is used. # control system is used.
PROJECT_NUMBER = 2.2.2 PROJECT_NUMBER = 2.2.3
# Using the PROJECT_BRIEF tag one can provide an optional one line description # Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a # for a project that appears at the top of each page and should give viewer a

2
doc/zh-Hans/api.doxyfile
View File

@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
# could be handy for archiving the generated documentation or if some version # could be handy for archiving the generated documentation or if some version
# control system is used. # control system is used.
PROJECT_NUMBER = 2.2.2 PROJECT_NUMBER = 2.2.3
# Using the PROJECT_BRIEF tag one can provide an optional one line description # Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a # for a project that appears at the top of each page and should give viewer a

88
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -88,9 +88,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} }
} }
ros::Time hardTimeToSoftTime(double _hard_time) { ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {
static bool isInited = false; static bool isInited = false;
static double soft_time_begin(0), hard_time_begin(0); static double soft_time_begin(0);
static std::uint64_t hard_time_begin(0);
if (false == isInited) { if (false == isInited) {
soft_time_begin = ros::Time::now().toSec(); soft_time_begin = ros::Time::now().toSec();
@ -99,7 +100,67 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} }
return ros::Time( return ros::Time(
soft_time_begin + (_hard_time - hard_time_begin) * 0.000001f); static_cast<double>(soft_time_begin +
static_cast<double>(_hard_time - hard_time_begin) * 0.000001f));
}
inline bool is_overflow(std::uint32_t now,
std::uint32_t pre) {
static std::uint64_t unit =
std::numeric_limits<std::uint32_t>::max();
return (now < pre) && ((pre - now) > (unit / 2));
}
inline bool is_repeated(std::uint32_t now,
std::uint32_t pre) {
return now == pre;
}
inline bool is_annormal(std::uint32_t now,
std::uint32_t pre) {
static std::uint64_t unit =
std::numeric_limits<std::uint32_t>::max();
return (now < pre) && ((pre - now) < (unit / 4));
}
ros::Time checkUpTimeStamp(std::uint32_t _hard_time,
const Stream &stream) {
static std::map<Stream, std::uint32_t> hard_time_now;
static std::map<Stream, std::uint32_t> acc;
static std::uint64_t unit_hard_time =
std::numeric_limits<std::uint32_t>::max();
if (is_overflow(_hard_time, hard_time_now[stream])) {
acc[stream]++;
} else if (is_repeated(_hard_time, hard_time_now[stream])) {
NODELET_INFO_STREAM("WARNING:: Image time stamp is repeated.");
} else if (is_annormal(_hard_time, hard_time_now[stream])) {
NODELET_INFO_STREAM("WARNING:: Image time stamp is annormal.");
}
hard_time_now[stream] = _hard_time;
return hardTimeToSoftTime(
acc[stream] * unit_hard_time + _hard_time);
}
ros::Time checkUpImuTimeStamp(std::uint32_t _hard_time) {
static std::uint32_t hard_time_now(0), acc(0);
static std::uint64_t unit_hard_time =
std::numeric_limits<std::uint32_t>::max();
if (is_overflow(_hard_time, hard_time_now)) {
acc++;
} else if (is_repeated(_hard_time, hard_time_now)) {
NODELET_INFO_STREAM("WARNING:: Imu time stamp is repeated.");
} else if (is_annormal(_hard_time, hard_time_now)) {
NODELET_INFO_STREAM("WARNING:: Imu time stamp is annormal.");
}
hard_time_now = _hard_time;
return hardTimeToSoftTime(
acc * unit_hard_time + _hard_time);
} }
void onInit() override { void onInit() override {
@ -343,7 +404,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
api_->EnableStreamData(Stream::POINTS); api_->EnableStreamData(Stream::POINTS);
api_->SetStreamCallback( api_->SetStreamCallback(
Stream::POINTS, [this](const api::StreamData &data) { Stream::POINTS, [this](const api::StreamData &data) {
ros::Time stamp = hardTimeToSoftTime(data.img->timestamp); // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
ros::Time stamp = checkUpTimeStamp(
data.img->timestamp, Stream::POINTS);
static std::size_t count = 0; static std::size_t count = 0;
++count; ++count;
publishPoints(data, count, stamp); publishPoints(data, count, stamp);
@ -363,7 +426,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
api_->EnableStreamData(stream); api_->EnableStreamData(stream);
api_->SetStreamCallback( api_->SetStreamCallback(
stream, [this, stream](const api::StreamData &data) { stream, [this, stream](const api::StreamData &data) {
ros::Time stamp = hardTimeToSoftTime(data.img->timestamp); // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
ros::Time stamp = checkUpTimeStamp(
data.img->timestamp, stream);
static std::size_t count = 0; static std::size_t count = 0;
++count; ++count;
publishCamera(stream, data, count, stamp); publishCamera(stream, data, count, stamp);
@ -378,7 +443,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
!is_published_[Stream::LEFT]) { !is_published_[Stream::LEFT]) {
api_->SetStreamCallback( api_->SetStreamCallback(
Stream::LEFT, [this](const api::StreamData &data) { Stream::LEFT, [this](const api::StreamData &data) {
ros::Time stamp = hardTimeToSoftTime(data.img->timestamp); // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
ros::Time stamp = checkUpTimeStamp(
data.img->timestamp, Stream::LEFT);
// static double img_time_prev = -1; // static double img_time_prev = -1;
// NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
@ -409,7 +476,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
!is_published_[Stream::RIGHT]) { !is_published_[Stream::RIGHT]) {
api_->SetStreamCallback( api_->SetStreamCallback(
Stream::RIGHT, [this](const api::StreamData &data) { Stream::RIGHT, [this](const api::StreamData &data) {
ros::Time stamp = hardTimeToSoftTime(data.img->timestamp); // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
ros::Time stamp = checkUpTimeStamp(
data.img->timestamp, Stream::RIGHT);
++right_count_; ++right_count_;
publishCamera(Stream::RIGHT, data, right_count_, stamp); publishCamera(Stream::RIGHT, data, right_count_, stamp);
@ -439,7 +508,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
if (!is_motion_published_) { if (!is_motion_published_) {
api_->SetMotionCallback([this](const api::MotionData &data) { api_->SetMotionCallback([this](const api::MotionData &data) {
ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp); ros::Time stamp = checkUpImuTimeStamp(data.imu->timestamp);
// static double imu_time_prev = -1; // static double imu_time_prev = -1;
// NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << ros_time_beg // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << ros_time_beg
@ -460,7 +529,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
imu_gyro_ = data.imu; imu_gyro_ = data.imu;
publishImuBySync(stamp); publishImuBySync(stamp);
} else { } else {
NODELET_WARN_STREAM("Imu type is unknown"); publishImu(data, imu_count_, stamp);
publishTemp(data.imu->temperature, imu_count_, stamp);
} }
} else { } else {
NODELET_WARN_STREAM("Motion data is empty"); NODELET_WARN_STREAM("Motion data is empty");