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

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

Browse Source 
* 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk:
  feat(ros): added multiple device launch for ros
  feat(imu): add is_ets flag for imu
  fix(ros): change default range of accel
  feat(ros): add slam launch
  feat(ros): added imu process mode in mynteye.launch
  fix(ros): modified sstandard --> standard
  chore(rviz): use color points cloud
  feat: add mesh to rviz.
This commit is contained in:
John Zhao 2019-03-23 07:59:23 +08:00
commit 5ab553e04f
15 changed files with 131888 additions and 304 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/mynteye/device/channel/def.h
View File

@ -72,6 +72,8 @@ struct ImuSegment {
std::uint32_t frame_id;
std::uint64_t timestamp;
std::uint8_t flag;
// Is external time source
bool is_ets;
std::int16_t temperature;
std::int16_t accel[3];
std::int16_t gyro[3];

3
src/mynteye/device/standard2/channels_adapter_s2.cc
View File

@ -55,7 +55,8 @@ struct ImuData {
void unpack_imu_segment(const ImuData &imu, ImuSegment *seg) {
seg->frame_id = imu.frame_id;
seg->timestamp = imu.timestamp;
seg->flag = imu.flag;
seg->flag = imu.flag & 0b0011;
seg->is_ets = (imu.flag & 0b0100 == 0b0100);
seg->temperature = imu.temperature;
seg->accel[0] = (seg->flag == 1) ? imu.accel_or_gyro[0] : 0;
seg->accel[1] = (seg->flag == 1) ? imu.accel_or_gyro[1] : 0;

58
wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard.yaml Normal file
View File

@ -0,0 +1,58 @@
# standard/gain range: [0,48]
sstandard/gain: -1
# standard/gain: 24
# standard/brightness range: [0,240]
standard/brightness: -1
# standard/brightness: 120
# contrast range: [0,255]
standard/contrast: -1
# standard/contrast: 127
# standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
standard/frame_rate: -1
# standard/frame_rate: 25
# standard/imu_frequency range: {100,200,250,333,500}
standard/imu_frequency: -1
# standard/imu_frequency: 200
# standard/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard/exposure_mode: -1
# standard/exposure_mode: 0
# standard/max_gain range: [0,48]
standard/max_gain: -1
# standard/max_gain: 48
# standard/max_exposure_time range: [0,240]
standard/max_exposure_time: -1
# standard/max_exposure_time: 240
# standard/desired_brightness range: [0,255]
standard/desired_brightness: -1
# standard/desired_brightness: 192
# standard/ir_control range: [0,160]
standard/ir_control: 80
# standard/ir_control: 0
# standard/hdr_mode, 0: 10-bit, 1: 12-bit
standard/hdr_mode: -1
# standard/hdr_mode: 0
# standard/accel_range range: {4,8,16,32}
standard/accel_range: -1
# standard/accel_range: 8
# standard/gyro_range range: {500,1000,2000,4000}
standard/gyro_range: -1
# standard/gyro_range: 1000
# MYNTEYE-S1030, Reslution: 752x480, Format: YUYV
# index_s_0: 0
# MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
# index_s_1: 1
standard/request_index: 0

108
wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml Normal file
View File

@ -0,0 +1,108 @@
# Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888
# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10
# index_s2_0: 0
# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20
# index_s2_1: 1
# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30
# index_s2_2: 2
# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60
# index_s2_3: 3
# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10
# index_s2_4: 4
# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20
# index_s2_5: 5
# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30
# index_s2_6: 6
standard2/request_index: 2
# device options of standard2, -1 will not set the value
# standard2/brightness range: [0,240]
standard2/brightness: -1
# standard2/brightness: 120
# standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard2/exposure_mode: -1
# standard2/exposure_mode: 0
# standard2/max_gain range: [0,255]
standard2/max_gain: -1
# standard2/max_gain: 8
# standard2/max_exposure_time range: [0,1000]
standard2/max_exposure_time: -1
# standard2/max_exposure_time: 333
# standard2/desired_brightness range: [1,255]
standard2/desired_brightness: -1
# standard2/desired_brightness: 122
# standard2/min_exposure_time range: [0,1000]
standard2/min_exposure_time: -1
# standard2/min_exposure_time: 0
# standard2/ir_control range: [0,160]
standard2/ir_control: 80
# standard2/ir_control: 0
# standard2/accel_range range: [6,48]
standard2/accel_range: -1
# standard2/accel_range: 6
# standard2/gyro_range range: [250,4000]
standard2/gyro_range: -1
# standard2/gyro_range: 1000
# standard2/accel_low_filter range: [0,2]
standard2/accel_low_filter: -1
# standard2/accel_low_filter: 2
# standard2/gyro_low_filter range: [23,64]
standard2/gyro_low_filter: -1
# standard2/gyro_low_filter: 64
# device options of standard210a, -1 will not set the value
# standard210a/brightness range: [0,240]
standard210a/brightness: -1
# standard210a/brightness: 120
# standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
standard210a/exposure_mode: -1
# standard210a/exposure_mode: 0
# standard210a/max_gain range: [0,255]
standard210a/max_gain: -1
# standard210a/max_gain: 8
# standard210a/max_exposure_time range: [0,1000]
standard210a/max_exposure_time: -1
# standard210a/max_exposure_time: 333
# standard210a/desired_brightness range: [1,255]
standard210a/desired_brightness: -1
# standard210a/desired_brightness: 122
# standard210a/min_exposure_time range: [0,1000]
standard210a/min_exposure_time: -1
# standard210a/min_exposure_time: 0
# standard210a/accel_range range: [6,48]
standard210a/accel_range: -1
# standard210a/accel_range: 6
# standard210a/gyro_range range: [250,4000]
standard210a/gyro_range: -1
# standard210a/gyro_range: 1000
# standard210a/accel_low_filter range: [0,2]
standard210a/accel_low_filter: -1
# standard210a/accel_low_filter: 2
# standard210a/gyro_low_filter range: [23,64]
standard210a/gyro_low_filter: -1
# standard210a/gyro_low_filter: 64

15
wrappers/ros/src/mynt_eye_ros_wrapper/config/process/process_config.yaml Normal file
View File

@ -0,0 +1,15 @@
# disparity computing method type
# sgbm: 0
# bm: 1
disparity_computing_method: 1
# standard2/imu_process_mode range: [0,3]
# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
imu_process_mode: 0
enable_left_rect: false
enable_right_rect: false
enable_disparity: false
enable_disparity_norm: false
enable_points: false
enable_depth: false

19
wrappers/ros/src/mynt_eye_ros_wrapper/config/slam/vins_fusion.yaml Normal file
View File

@ -0,0 +1,19 @@
# Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888
# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10
# index_s2_0: "0"
# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20
# index_s2_1: "1"
# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30
# index_s2_2: "2"
# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60
# index_s2_3: "3"
# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10
# index_s2_4: "4"
# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20
# index_s2_5: "5"
# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30
# index_s2_6: "6"
standard2/request_index: 1

260
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
View File

@ -2,6 +2,13 @@
<launch>
<arg name="mynteye" default="mynteye" />
<!-- mutiple device -->
<arg name="is_multiple" default="false" />
<!-- serial_number -->
<!-- if is_mutiple is true, must set serial_number -->
<arg name="serial_number" default="" />
<!-- node params -->
<arg name="left_topic" default="left/image_raw" />
@ -33,192 +40,7 @@
<arg name="gravity" default="9.8" />
<arg name="mesh_file" default="S1030-0315.STL" />
<!-- stream toggles -->
<!-- Request index -->
<!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
<arg name="index_s2_0" default="0" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
<arg name="index_s2_1" default="1" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
<arg name="index_s2_2" default="2" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
<arg name="index_s2_3" default="3" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
<arg name="index_s2_4" default="4" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
<arg name="index_s2_5" default="5" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
<arg name="index_s2_6" default="6" />
<arg name="standard2/request_index" default="$(arg index_s2_2)" />
<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
<arg name="index_s_0" default="0" />
<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
<arg name="index_s_1" default="1" />
<arg name="standard/request_index" default="$(arg index_s_0)" />
<!-- disparity computing method type -->
<arg name="sgbm" default="0" />
<arg name="bm" default="1" />
<arg name="disparity_computing_method" default="$(arg bm)" />
<arg name="enable_left_rect" default="false" />
<arg name="enable_right_rect" default="false" />
<arg name="enable_disparity" default="false" />
<arg name="enable_disparity_norm" default="false" />
<arg name="enable_points" default="false" />
<arg name="enable_depth" default="false" />
<!-- device options of standard, -1 will not set the value -->
<!-- standard/gain range: [0,48] -->
<arg name="standard/gain" default="-1" />
<!-- <arg name="standard/gain" default="24" /> -->
<!-- standard/brightness range: [0,240] -->
<arg name="standard/brightness" default="-1" />
<!-- <arg name="standard/brightness" default="120" /> -->
<!-- contrast range: [0,255] -->
<arg name="standard/contrast" default="-1" />
<!-- <arg name="standard/contrast" default="127" /> -->
<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
<arg name="standard/frame_rate" default="-1" />
<!-- <arg name="standard/frame_rate" default="25" /> -->
<!-- standard/imu_frequency range: {100,200,250,333,500} -->
<arg name="standard/imu_frequency" default="-1" />
<!-- <arg name="standard/imu_frequency" default="200" /> -->
<!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard/exposure_mode" default="-1" />
<!-- <arg name="standard/exposure_mode" default="0" /> -->
<!-- standard/max_gain range: [0,48] -->
<arg name="standard/max_gain" default="-1" />
<!-- <arg name="standard/max_gain" default="48" /> -->
<!-- standard/max_exposure_time range: [0,240] -->
<arg name="standard/max_exposure_time" default="-1" />
<!-- <arg name="standard/max_exposure_time" default="240" /> -->
<!-- standard/desired_brightness range: [0,255] -->
<arg name="standard/desired_brightness" default="-1" />
<!-- <arg name="standard/desired_brightness" default="192" /> -->
<!-- standard/ir_control range: [0,160] -->
<arg name="standard/ir_control" default="80" />
<!-- <arg name="standard/ir_control" default="0" /> -->
<!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
<arg name="standard/hdr_mode" default="-1" />
<!-- <arg name="standard/hdr_mode" default="0" /> -->
<!-- standard/accel_range range: {4,8,16,32} -->
<arg name="standard/accel_range" default="-1" />
<!-- <arg name="standard/accel_range" default="8" /> -->
<!-- standard/gyro_range range: {500,1000,2000,4000} -->
<arg name="standard/gyro_range" default="-1" />
<!-- <arg name="standard/gyro_range" default="1000" /> -->
<!-- device options of standard2, -1 will not set the value -->
<!-- standard2/brightness range: [0,240] -->
<arg name="standard2/brightness" default="-1" />
<!-- <arg name="standard2/brightness" default="120" /> -->
<!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard2/exposure_mode" default="-1" />
<!-- <arg name="standard2/exposure_mode" default="0" /> -->
<!-- standard2/max_gain range: [0,255] -->
<arg name="standard2/max_gain" default="-1" />
<!-- <arg name="standard2/max_gain" default="8" /> -->
<!-- standard2/max_exposure_time range: [0,1000] -->
<arg name="standard2/max_exposure_time" default="-1" />
<!-- <arg name="standard2/max_exposure_time" default="333" /> -->
<!-- standard2/desired_brightness range: [1,255] -->
<arg name="standard2/desired_brightness" default="-1" />
<!-- <arg name="standard2/desired_brightness" default="122" /> -->
<!-- standard2/min_exposure_time range: [0,1000] -->
<arg name="standard2/min_exposure_time" default="-1" />
<!-- <arg name="standard2/min_exposure_time" default="0" /> -->
<!-- standard2/ir_control range: [0,160] -->
<arg name="standard2/ir_control" default="80" />
<!-- <arg name="standard2/ir_control" default="0" /> -->
<!-- standard2/accel_range range: [6,48] -->
<arg name="standard2/accel_range" default="24" />
<!-- <arg name="standard2/accel_range" default="6" /> -->
<!-- standard2/gyro_range range: [250,4000] -->
<arg name="standard2/gyro_range" default="-1" />
<!-- <arg name="standard2/gyro_range" default="1000" /> -->
<!-- standard2/accel_low_filter range: [0,2] -->
<arg name="standard2/accel_low_filter" default="-1" />
<!-- <arg name="standard2/accel_low_filter" default="2" /> -->
<!-- standard2/gyro_low_filter range: [23,64] -->
<arg name="standard2/gyro_low_filter" default="-1" />
<!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
<!-- device options of standard210a, -1 will not set the value -->
<!-- standard210a/brightness range: [0,240] -->
<arg name="standard210a/brightness" default="-1" />
<!-- <arg name="standard210a/brightness" default="120" /> -->
<!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard210a/exposure_mode" default="-1" />
<!-- <arg name="standard210a/exposure_mode" default="0" /> -->
<!-- standard210a/max_gain range: [0,255] -->
<arg name="standard210a/max_gain" default="-1" />
<!-- <arg name="standard210a/max_gain" default="8" /> -->
<!-- standard210a/max_exposure_time range: [0,1000] -->
<arg name="standard210a/max_exposure_time" default="-1" />
<!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
<!-- standard210a/desired_brightness range: [1,255] -->
<arg name="standard210a/desired_brightness" default="-1" />
<!-- <arg name="standard210a/desired_brightness" default="122" /> -->
<!-- standard210a/min_exposure_time range: [0,1000] -->
<arg name="standard210a/min_exposure_time" default="-1" />
<!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
<!-- standard210a/accel_range range: [6,48] -->
<arg name="standard210a/accel_range" default="-1" />
<!-- <arg name="standard210a/accel_range" default="6" /> -->
<!-- standard210a/gyro_range range: [250,4000] -->
<arg name="standard210a/gyro_range" default="-1" />
<!-- <arg name="standard210a/gyro_range" default="1000" /> -->
<!-- standard210a/accel_low_filter range: [0,2] -->
<arg name="standard210a/accel_low_filter" default="-1" />
<!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
<!-- standard210a/gyro_low_filter range: [23,64] -->
<arg name="standard210a/gyro_low_filter" default="-1" />
<!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
<arg name="mesh_file" default="S1030-0315.obj" />
<!-- Push down all topics/nodelets into "mynteye" namespace -->
<group ns="$(arg mynteye)">
@ -227,6 +49,9 @@
<!-- node params -->
<param name="is_multiple" value="$(arg is_multiple)" />
<param name="serial_number" value="$(arg serial_number)" />
<param name="left_topic" value="$(arg left_topic)" />
<param name="right_topic" value="$(arg right_topic)" />
<param name="left_rect_topic" value="$(arg left_rect_topic)" />
@ -255,66 +80,11 @@
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" />
<param name="gravity" value="$(arg gravity)" />
<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
<!-- stream toggles -->
<param name="enable_left_rect" value="$(arg enable_left_rect)" />
<param name="enable_right_rect" value="$(arg enable_right_rect)" />
<param name="enable_disparity" value="$(arg enable_disparity)" />
<param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
<param name="enable_points" value="$(arg enable_points)" />
<param name="enable_depth" value="$(arg enable_depth)" />
<!-- stream request index -->
<param name="standard/request_index" value="$(arg standard/request_index)" />
<param name="standard2/request_index" value="$(arg standard2/request_index)" />
<!-- device options of standard-->
<param name="sstandard/gain" value="$(arg standard/gain)" />
<param name="standard/brightness" value="$(arg standard/brightness)" />
<param name="standard/contrast" value="$(arg standard/contrast)" />
<param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
<param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
<param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
<param name="standard/max_gain" value="$(arg standard/max_gain)" />
<param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
<param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
<param name="standard/ir_control" value="$(arg standard/ir_control)" />
<param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
<param name="standard/accel_range" value="$(arg standard/accel_range)" />
<param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
<!-- device options of standard2-->
<param name="standard2/brightness" value="$(arg standard2/brightness)" />
<param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
<param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
<param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
<param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
<param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
<param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
<param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
<param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
<param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
<param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
<!-- device options of standard210a-->
<param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
<param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
<param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
<param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
<param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
<param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
<param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
<param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
<param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
<param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
</node>
<!-- disable compressed depth plugin for image topics -->

7
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye_multiple.launch Normal file
View File

@ -0,0 +1,7 @@
<?xml version="1.0"?>
<launch>
<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_1.launch" />
<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_2.launch" />
<!-- <include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_3.launch" />
<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_4.launch" /> -->
</launch>

129
wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_fusion.launch Normal file
View File

@ -0,0 +1,129 @@
<?xml version="1.0"?>
<launch>
<arg name="mynteye" default="mynteye" />
<!-- node params -->
<arg name="left_topic" default="left/image_raw" />
<arg name="right_topic" default="right/image_raw" />
<arg name="left_rect_topic" default="left_rect/image_rect" />
<arg name="right_rect_topic" default="right_rect/image_rect" />
<arg name="disparity_topic" default="disparity/image_raw" />
<arg name="disparity_norm_topic" default="disparity/image_norm" />
<arg name="depth_topic" default="depth/image_raw" />
<arg name="points_topic" default="points/data_raw" />
<arg name="left_mono_topic" default="left/image_mono" />
<arg name="right_mono_topic" default="right/image_mono" />
<arg name="imu_topic" default="imu/data_raw" />
<arg name="temperature_topic" default="temperature/data_raw" />
<arg name="base_frame_id" default="$(arg mynteye)_link" />
<arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
<arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
<arg name="left_rect_frame_id" default="$(arg mynteye)_left_rect_frame" />
<arg name="right_rect_frame_id" default="$(arg mynteye)_right_rect_frame" />
<arg name="disparity_frame_id" default="$(arg mynteye)_disparity_frame" />
<arg name="disparity_norm_frame_id" default="$(arg mynteye)_disparity_norm_frame" />
<arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
<arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
<arg name="temperature_frame_id" default="$(arg mynteye)_temperature_frame" />
<arg name="gravity" default="9.8" />
<arg name="mesh_file" default="S1030-0315.obj" />
<!-- Push down all topics/nodelets into "mynteye" namespace -->
<group ns="$(arg mynteye)">
<!-- mynteye_wrapper_node -->
<node name="mynteye_wrapper_node" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
<!-- node params -->
<param name="left_topic" value="$(arg left_topic)" />
<param name="right_topic" value="$(arg right_topic)" />
<param name="left_rect_topic" value="$(arg left_rect_topic)" />
<param name="right_rect_topic" value="$(arg right_rect_topic)" />
<param name="disparity_topic" value="$(arg disparity_topic)" />
<param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
<param name="points_topic" value="$(arg points_topic)" />
<param name="depth_topic" value="$(arg depth_topic)" />
<param name="mesh_file" value="$(arg mesh_file)" />
<param name="left_mono_topic" value="$(arg left_mono_topic)" />
<param name="right_mono_topic" value="$(arg right_mono_topic)" />
<param name="imu_topic" value="$(arg imu_topic)" />
<param name="temperature_topic" value="$(arg temperature_topic)" />
<param name="base_frame_id" value="$(arg base_frame_id)" />
<param name="left_frame_id" value="$(arg left_frame_id)" />
<param name="right_frame_id" value="$(arg right_frame_id)" />
<param name="left_rect_frame_id" value="$(arg left_rect_frame_id)" />
<param name="right_rect_frame_id" value="$(arg right_rect_frame_id)" />
<param name="disparity_frame_id" value="$(arg disparity_frame_id)" />
<param name="disparity_norm_frame_id" value="$(arg disparity_norm_frame_id)" />
<param name="points_frame_id" value="$(arg points_frame_id)" />
<param name="depth_frame_id" value="$(arg depth_frame_id)" />
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" />
<rosparam file="$(find mynt_eye_ros_wrapper)/config/slam/vins_fusion.yaml" />
<param name="gravity" value="$(arg gravity)" />
</node>
<!-- disable compressed depth plugin for image topics -->
<group ns="$(arg left_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg left_rect_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg left_mono_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg right_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(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)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg disparity_norm_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg depth_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
</group> <!-- mynteye -->
</launch>

377
wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch Normal file
View File

@ -0,0 +1,377 @@
<?xml version="1.0"?>
<launch>
<arg name="mynteye" default="mynteye_1" />
<!-- mutiple device -->
<arg name="is_multiple" default="true" />
<!-- serial_number -->
<!-- if is_mutiple is true, must set serial_number -->
<arg name="serial_number" default="07C42B1B0009071F" />
<!-- node params -->
<arg name="left_topic" default="left/image_raw" />
<arg name="right_topic" default="right/image_raw" />
<arg name="left_rect_topic" default="left_rect/image_rect" />
<arg name="right_rect_topic" default="right_rect/image_rect" />
<arg name="disparity_topic" default="disparity/image_raw" />
<arg name="disparity_norm_topic" default="disparity/image_norm" />
<arg name="depth_topic" default="depth/image_raw" />
<arg name="points_topic" default="points/data_raw" />
<arg name="left_mono_topic" default="left/image_mono" />
<arg name="right_mono_topic" default="right/image_mono" />
<arg name="imu_topic" default="imu/data_raw" />
<arg name="temperature_topic" default="temperature/data_raw" />
<arg name="base_frame_id" default="$(arg mynteye)_link" />
<arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
<arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
<arg name="left_rect_frame_id" default="$(arg mynteye)_left_rect_frame" />
<arg name="right_rect_frame_id" default="$(arg mynteye)_right_rect_frame" />
<arg name="disparity_frame_id" default="$(arg mynteye)_disparity_frame" />
<arg name="disparity_norm_frame_id" default="$(arg mynteye)_disparity_norm_frame" />
<arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
<arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
<arg name="temperature_frame_id" default="$(arg mynteye)_temperature_frame" />
<arg name="gravity" default="9.8" />
<arg name="mesh_file" default="S1030-0315.obj" />
<!-- stream toggles -->
<!-- Request index -->
<!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
<arg name="index_s2_0" default="0" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
<arg name="index_s2_1" default="1" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
<arg name="index_s2_2" default="2" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
<arg name="index_s2_3" default="3" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
<arg name="index_s2_4" default="4" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
<arg name="index_s2_5" default="5" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
<arg name="index_s2_6" default="6" />
<arg name="standard2/request_index" default="$(arg index_s2_2)" />
<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
<arg name="index_s_0" default="0" />
<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
<arg name="index_s_1" default="1" />
<arg name="standard/request_index" default="$(arg index_s_0)" />
<!-- disparity computing method type -->
<arg name="sgbm" default="0" />
<arg name="bm" default="1" />
<arg name="disparity_computing_method" default="$(arg bm)" />
<arg name="enable_left_rect" default="false" />
<arg name="enable_right_rect" default="false" />
<arg name="enable_disparity" default="false" />
<arg name="enable_disparity_norm" default="false" />
<arg name="enable_points" default="false" />
<arg name="enable_depth" default="false" />
<!-- device options of standard, -1 will not set the value -->
<!-- standard/gain range: [0,48] -->
<arg name="standard/gain" default="-1" />
<!-- <arg name="standard/gain" default="24" /> -->
<!-- standard/brightness range: [0,240] -->
<arg name="standard/brightness" default="-1" />
<!-- <arg name="standard/brightness" default="120" /> -->
<!-- contrast range: [0,255] -->
<arg name="standard/contrast" default="-1" />
<!-- <arg name="standard/contrast" default="127" /> -->
<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
<arg name="standard/frame_rate" default="-1" />
<!-- <arg name="standard/frame_rate" default="25" /> -->
<!-- standard/imu_frequency range: {100,200,250,333,500} -->
<arg name="standard/imu_frequency" default="-1" />
<!-- <arg name="standard/imu_frequency" default="200" /> -->
<!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard/exposure_mode" default="-1" />
<!-- <arg name="standard/exposure_mode" default="0" /> -->
<!-- standard/max_gain range: [0,48] -->
<arg name="standard/max_gain" default="-1" />
<!-- <arg name="standard/max_gain" default="48" /> -->
<!-- standard/max_exposure_time range: [0,240] -->
<arg name="standard/max_exposure_time" default="-1" />
<!-- <arg name="standard/max_exposure_time" default="240" /> -->
<!-- standard/desired_brightness range: [0,255] -->
<arg name="standard/desired_brightness" default="-1" />
<!-- <arg name="standard/desired_brightness" default="192" /> -->
<!-- standard/ir_control range: [0,160] -->
<arg name="standard/ir_control" default="80" />
<!-- <arg name="standard/ir_control" default="0" /> -->
<!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
<arg name="standard/hdr_mode" default="-1" />
<!-- <arg name="standard/hdr_mode" default="0" /> -->
<!-- standard/accel_range range: {4,8,16,32} -->
<arg name="standard/accel_range" default="-1" />
<!-- <arg name="standard/accel_range" default="8" /> -->
<!-- standard/gyro_range range: {500,1000,2000,4000} -->
<arg name="standard/gyro_range" default="-1" />
<!-- <arg name="standard/gyro_range" default="1000" /> -->
<!-- device options of standard2, -1 will not set the value -->
<!-- standard2/brightness range: [0,240] -->
<arg name="standard2/brightness" default="-1" />
<!-- <arg name="standard2/brightness" default="120" /> -->
<!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard2/exposure_mode" default="-1" />
<!-- <arg name="standard2/exposure_mode" default="0" /> -->
<!-- standard2/max_gain range: [0,255] -->
<arg name="standard2/max_gain" default="-1" />
<!-- <arg name="standard2/max_gain" default="8" /> -->
<!-- standard2/max_exposure_time range: [0,1000] -->
<arg name="standard2/max_exposure_time" default="-1" />
<!-- <arg name="standard2/max_exposure_time" default="333" /> -->
<!-- standard2/desired_brightness range: [1,255] -->
<arg name="standard2/desired_brightness" default="-1" />
<!-- <arg name="standard2/desired_brightness" default="122" /> -->
<!-- standard2/min_exposure_time range: [0,1000] -->
<arg name="standard2/min_exposure_time" default="-1" />
<!-- <arg name="standard2/min_exposure_time" default="0" /> -->
<!-- standard2/ir_control range: [0,160] -->
<arg name="standard2/ir_control" default="80" />
<!-- <arg name="standard2/ir_control" default="0" /> -->
<!-- standard2/accel_range range: [6,48] -->
<arg name="standard2/accel_range" default="24" />
<!-- <arg name="standard2/accel_range" default="6" /> -->
<!-- standard2/gyro_range range: [250,4000] -->
<arg name="standard2/gyro_range" default="-1" />
<!-- <arg name="standard2/gyro_range" default="1000" /> -->
<!-- standard2/accel_low_filter range: [0,2] -->
<arg name="standard2/accel_low_filter" default="-1" />
<!-- <arg name="standard2/accel_low_filter" default="2" /> -->
<!-- standard2/gyro_low_filter range: [23,64] -->
<arg name="standard2/gyro_low_filter" default="-1" />
<!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
<!-- device options of standard210a, -1 will not set the value -->
<!-- standard210a/brightness range: [0,240] -->
<arg name="standard210a/brightness" default="-1" />
<!-- <arg name="standard210a/brightness" default="120" /> -->
<!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard210a/exposure_mode" default="-1" />
<!-- <arg name="standard210a/exposure_mode" default="0" /> -->
<!-- standard210a/max_gain range: [0,255] -->
<arg name="standard210a/max_gain" default="-1" />
<!-- <arg name="standard210a/max_gain" default="8" /> -->
<!-- standard210a/max_exposure_time range: [0,1000] -->
<arg name="standard210a/max_exposure_time" default="-1" />
<!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
<!-- standard210a/desired_brightness range: [1,255] -->
<arg name="standard210a/desired_brightness" default="-1" />
<!-- <arg name="standard210a/desired_brightness" default="122" /> -->
<!-- standard210a/min_exposure_time range: [0,1000] -->
<arg name="standard210a/min_exposure_time" default="-1" />
<!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
<!-- standard210a/accel_range range: [6,48] -->
<arg name="standard210a/accel_range" default="-1" />
<!-- <arg name="standard210a/accel_range" default="6" /> -->
<!-- standard210a/gyro_range range: [250,4000] -->
<arg name="standard210a/gyro_range" default="-1" />
<!-- <arg name="standard210a/gyro_range" default="1000" /> -->
<!-- standard210a/accel_low_filter range: [0,2] -->
<arg name="standard210a/accel_low_filter" default="-1" />
<!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
<!-- standard210a/gyro_low_filter range: [23,64] -->
<arg name="standard210a/gyro_low_filter" default="-1" />
<!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
<!-- Push down all topics/nodelets into "mynteye" namespace -->
<group ns="$(arg mynteye)">
<!-- mynteye_wrapper_node -->
<node name="mynteye_wrapper_node_1" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
<!-- node params -->
<param name="is_multiple" value="$(arg is_multiple)" />
<param name="serial_number" value="$(arg serial_number)" />
<param name="left_topic" value="$(arg left_topic)" />
<param name="right_topic" value="$(arg right_topic)" />
<param name="left_rect_topic" value="$(arg left_rect_topic)" />
<param name="right_rect_topic" value="$(arg right_rect_topic)" />
<param name="disparity_topic" value="$(arg disparity_topic)" />
<param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
<param name="points_topic" value="$(arg points_topic)" />
<param name="depth_topic" value="$(arg depth_topic)" />
<param name="mesh_file" value="$(arg mesh_file)" />
<param name="left_mono_topic" value="$(arg left_mono_topic)" />
<param name="right_mono_topic" value="$(arg right_mono_topic)" />
<param name="imu_topic" value="$(arg imu_topic)" />
<param name="temperature_topic" value="$(arg temperature_topic)" />
<param name="base_frame_id" value="$(arg base_frame_id)" />
<param name="left_frame_id" value="$(arg left_frame_id)" />
<param name="right_frame_id" value="$(arg right_frame_id)" />
<param name="left_rect_frame_id" value="$(arg left_rect_frame_id)" />
<param name="right_rect_frame_id" value="$(arg right_rect_frame_id)" />
<param name="disparity_frame_id" value="$(arg disparity_frame_id)" />
<param name="disparity_norm_frame_id" value="$(arg disparity_norm_frame_id)" />
<param name="points_frame_id" value="$(arg points_frame_id)" />
<param name="depth_frame_id" value="$(arg depth_frame_id)" />
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
<param name="gravity" value="$(arg gravity)" />
<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
<!-- stream toggles -->
<param name="enable_left_rect" value="$(arg enable_left_rect)" />
<param name="enable_right_rect" value="$(arg enable_right_rect)" />
<param name="enable_disparity" value="$(arg enable_disparity)" />
<param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
<param name="enable_points" value="$(arg enable_points)" />
<param name="enable_depth" value="$(arg enable_depth)" />
<!-- stream request index -->
<param name="standard/request_index" value="$(arg standard/request_index)" />
<param name="standard2/request_index" value="$(arg standard2/request_index)" />
<!-- device options of standard-->
<param name="standard/gain" value="$(arg standard/gain)" />
<param name="standard/brightness" value="$(arg standard/brightness)" />
<param name="standard/contrast" value="$(arg standard/contrast)" />
<param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
<param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
<param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
<param name="standard/max_gain" value="$(arg standard/max_gain)" />
<param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
<param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
<param name="standard/ir_control" value="$(arg standard/ir_control)" />
<param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
<param name="standard/accel_range" value="$(arg standard/accel_range)" />
<param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
<!-- device options of standard2-->
<param name="standard2/brightness" value="$(arg standard2/brightness)" />
<param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
<param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
<param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
<param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
<param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
<param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
<param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
<param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
<param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
<param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
<!-- device options of standard210a-->
<param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
<param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
<param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
<param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
<param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
<param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
<param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
<param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
<param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
<param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
</node>
<!-- disable compressed depth plugin for image topics -->
<group ns="$(arg left_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg left_rect_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg left_mono_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg right_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(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)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg disparity_norm_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg depth_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
</group> <!-- mynteye -->
</launch>

377
wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch Normal file
View File

@ -0,0 +1,377 @@
<?xml version="1.0"?>
<launch>
<arg name="mynteye" default="mynteye_2" />
<!-- mutiple device -->
<arg name="is_multiple" default="true" />
<!-- serial_number -->
<!-- if is_mutiple is true, must set serial_number -->
<arg name="serial_number" default="07C4061B0009071F" />
<!-- node params -->
<arg name="left_topic" default="left/image_raw" />
<arg name="right_topic" default="right/image_raw" />
<arg name="left_rect_topic" default="left_rect/image_rect" />
<arg name="right_rect_topic" default="right_rect/image_rect" />
<arg name="disparity_topic" default="disparity/image_raw" />
<arg name="disparity_norm_topic" default="disparity/image_norm" />
<arg name="depth_topic" default="depth/image_raw" />
<arg name="points_topic" default="points/data_raw" />
<arg name="left_mono_topic" default="left/image_mono" />
<arg name="right_mono_topic" default="right/image_mono" />
<arg name="imu_topic" default="imu/data_raw" />
<arg name="temperature_topic" default="temperature/data_raw" />
<arg name="base_frame_id" default="$(arg mynteye)_link" />
<arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
<arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
<arg name="left_rect_frame_id" default="$(arg mynteye)_left_rect_frame" />
<arg name="right_rect_frame_id" default="$(arg mynteye)_right_rect_frame" />
<arg name="disparity_frame_id" default="$(arg mynteye)_disparity_frame" />
<arg name="disparity_norm_frame_id" default="$(arg mynteye)_disparity_norm_frame" />
<arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
<arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
<arg name="temperature_frame_id" default="$(arg mynteye)_temperature_frame" />
<arg name="gravity" default="9.8" />
<arg name="mesh_file" default="S1030-0315.obj" />
<!-- stream toggles -->
<!-- Request index -->
<!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
<arg name="index_s2_0" default="0" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
<arg name="index_s2_1" default="1" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
<arg name="index_s2_2" default="2" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
<arg name="index_s2_3" default="3" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
<arg name="index_s2_4" default="4" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
<arg name="index_s2_5" default="5" />
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
<arg name="index_s2_6" default="6" />
<arg name="standard2/request_index" default="$(arg index_s2_2)" />
<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
<arg name="index_s_0" default="0" />
<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
<arg name="index_s_1" default="1" />
<arg name="standard/request_index" default="$(arg index_s_0)" />
<!-- disparity computing method type -->
<arg name="sgbm" default="0" />
<arg name="bm" default="1" />
<arg name="disparity_computing_method" default="$(arg bm)" />
<arg name="enable_left_rect" default="false" />
<arg name="enable_right_rect" default="false" />
<arg name="enable_disparity" default="false" />
<arg name="enable_disparity_norm" default="false" />
<arg name="enable_points" default="false" />
<arg name="enable_depth" default="false" />
<!-- device options of standard, -1 will not set the value -->
<!-- standard/gain range: [0,48] -->
<arg name="standard/gain" default="-1" />
<!-- <arg name="standard/gain" default="24" /> -->
<!-- standard/brightness range: [0,240] -->
<arg name="standard/brightness" default="-1" />
<!-- <arg name="standard/brightness" default="120" /> -->
<!-- contrast range: [0,255] -->
<arg name="standard/contrast" default="-1" />
<!-- <arg name="standard/contrast" default="127" /> -->
<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
<arg name="standard/frame_rate" default="-1" />
<!-- <arg name="standard/frame_rate" default="25" /> -->
<!-- standard/imu_frequency range: {100,200,250,333,500} -->
<arg name="standard/imu_frequency" default="-1" />
<!-- <arg name="standard/imu_frequency" default="200" /> -->
<!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard/exposure_mode" default="-1" />
<!-- <arg name="standard/exposure_mode" default="0" /> -->
<!-- standard/max_gain range: [0,48] -->
<arg name="standard/max_gain" default="-1" />
<!-- <arg name="standard/max_gain" default="48" /> -->
<!-- standard/max_exposure_time range: [0,240] -->
<arg name="standard/max_exposure_time" default="-1" />
<!-- <arg name="standard/max_exposure_time" default="240" /> -->
<!-- standard/desired_brightness range: [0,255] -->
<arg name="standard/desired_brightness" default="-1" />
<!-- <arg name="standard/desired_brightness" default="192" /> -->
<!-- standard/ir_control range: [0,160] -->
<arg name="standard/ir_control" default="80" />
<!-- <arg name="standard/ir_control" default="0" /> -->
<!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
<arg name="standard/hdr_mode" default="-1" />
<!-- <arg name="standard/hdr_mode" default="0" /> -->
<!-- standard/accel_range range: {4,8,16,32} -->
<arg name="standard/accel_range" default="-1" />
<!-- <arg name="standard/accel_range" default="8" /> -->
<!-- standard/gyro_range range: {500,1000,2000,4000} -->
<arg name="standard/gyro_range" default="-1" />
<!-- <arg name="standard/gyro_range" default="1000" /> -->
<!-- device options of standard2, -1 will not set the value -->
<!-- standard2/brightness range: [0,240] -->
<arg name="standard2/brightness" default="-1" />
<!-- <arg name="standard2/brightness" default="120" /> -->
<!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard2/exposure_mode" default="-1" />
<!-- <arg name="standard2/exposure_mode" default="0" /> -->
<!-- standard2/max_gain range: [0,255] -->
<arg name="standard2/max_gain" default="-1" />
<!-- <arg name="standard2/max_gain" default="8" /> -->
<!-- standard2/max_exposure_time range: [0,1000] -->
<arg name="standard2/max_exposure_time" default="-1" />
<!-- <arg name="standard2/max_exposure_time" default="333" /> -->
<!-- standard2/desired_brightness range: [1,255] -->
<arg name="standard2/desired_brightness" default="-1" />
<!-- <arg name="standard2/desired_brightness" default="122" /> -->
<!-- standard2/min_exposure_time range: [0,1000] -->
<arg name="standard2/min_exposure_time" default="-1" />
<!-- <arg name="standard2/min_exposure_time" default="0" /> -->
<!-- standard2/ir_control range: [0,160] -->
<arg name="standard2/ir_control" default="80" />
<!-- <arg name="standard2/ir_control" default="0" /> -->
<!-- standard2/accel_range range: [6,48] -->
<arg name="standard2/accel_range" default="24" />
<!-- <arg name="standard2/accel_range" default="6" /> -->
<!-- standard2/gyro_range range: [250,4000] -->
<arg name="standard2/gyro_range" default="-1" />
<!-- <arg name="standard2/gyro_range" default="1000" /> -->
<!-- standard2/accel_low_filter range: [0,2] -->
<arg name="standard2/accel_low_filter" default="-1" />
<!-- <arg name="standard2/accel_low_filter" default="2" /> -->
<!-- standard2/gyro_low_filter range: [23,64] -->
<arg name="standard2/gyro_low_filter" default="-1" />
<!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
<!-- device options of standard210a, -1 will not set the value -->
<!-- standard210a/brightness range: [0,240] -->
<arg name="standard210a/brightness" default="-1" />
<!-- <arg name="standard210a/brightness" default="120" /> -->
<!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="standard210a/exposure_mode" default="-1" />
<!-- <arg name="standard210a/exposure_mode" default="0" /> -->
<!-- standard210a/max_gain range: [0,255] -->
<arg name="standard210a/max_gain" default="-1" />
<!-- <arg name="standard210a/max_gain" default="8" /> -->
<!-- standard210a/max_exposure_time range: [0,1000] -->
<arg name="standard210a/max_exposure_time" default="-1" />
<!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
<!-- standard210a/desired_brightness range: [1,255] -->
<arg name="standard210a/desired_brightness" default="-1" />
<!-- <arg name="standard210a/desired_brightness" default="122" /> -->
<!-- standard210a/min_exposure_time range: [0,1000] -->
<arg name="standard210a/min_exposure_time" default="-1" />
<!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
<!-- standard210a/accel_range range: [6,48] -->
<arg name="standard210a/accel_range" default="-1" />
<!-- <arg name="standard210a/accel_range" default="6" /> -->
<!-- standard210a/gyro_range range: [250,4000] -->
<arg name="standard210a/gyro_range" default="-1" />
<!-- <arg name="standard210a/gyro_range" default="1000" /> -->
<!-- standard210a/accel_low_filter range: [0,2] -->
<arg name="standard210a/accel_low_filter" default="-1" />
<!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
<!-- standard210a/gyro_low_filter range: [23,64] -->
<arg name="standard210a/gyro_low_filter" default="-1" />
<!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
<!-- Push down all topics/nodelets into "mynteye" namespace -->
<group ns="$(arg mynteye)">
<!-- mynteye_wrapper_node -->
<node name="mynteye_wrapper_node_2" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
<!-- node params -->
<param name="is_multiple" value="$(arg is_multiple)" />
<param name="serial_number" value="$(arg serial_number)" />
<param name="left_topic" value="$(arg left_topic)" />
<param name="right_topic" value="$(arg right_topic)" />
<param name="left_rect_topic" value="$(arg left_rect_topic)" />
<param name="right_rect_topic" value="$(arg right_rect_topic)" />
<param name="disparity_topic" value="$(arg disparity_topic)" />
<param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
<param name="points_topic" value="$(arg points_topic)" />
<param name="depth_topic" value="$(arg depth_topic)" />
<param name="mesh_file" value="$(arg mesh_file)" />
<param name="left_mono_topic" value="$(arg left_mono_topic)" />
<param name="right_mono_topic" value="$(arg right_mono_topic)" />
<param name="imu_topic" value="$(arg imu_topic)" />
<param name="temperature_topic" value="$(arg temperature_topic)" />
<param name="base_frame_id" value="$(arg base_frame_id)" />
<param name="left_frame_id" value="$(arg left_frame_id)" />
<param name="right_frame_id" value="$(arg right_frame_id)" />
<param name="left_rect_frame_id" value="$(arg left_rect_frame_id)" />
<param name="right_rect_frame_id" value="$(arg right_rect_frame_id)" />
<param name="disparity_frame_id" value="$(arg disparity_frame_id)" />
<param name="disparity_norm_frame_id" value="$(arg disparity_norm_frame_id)" />
<param name="points_frame_id" value="$(arg points_frame_id)" />
<param name="depth_frame_id" value="$(arg depth_frame_id)" />
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
<param name="gravity" value="$(arg gravity)" />
<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
<!-- stream toggles -->
<param name="enable_left_rect" value="$(arg enable_left_rect)" />
<param name="enable_right_rect" value="$(arg enable_right_rect)" />
<param name="enable_disparity" value="$(arg enable_disparity)" />
<param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
<param name="enable_points" value="$(arg enable_points)" />
<param name="enable_depth" value="$(arg enable_depth)" />
<!-- stream request index -->
<param name="standard/request_index" value="$(arg standard/request_index)" />
<param name="standard2/request_index" value="$(arg standard2/request_index)" />
<!-- device options of standard-->
<param name="standard/gain" value="$(arg standard/gain)" />
<param name="standard/brightness" value="$(arg standard/brightness)" />
<param name="standard/contrast" value="$(arg standard/contrast)" />
<param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
<param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
<param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
<param name="standard/max_gain" value="$(arg standard/max_gain)" />
<param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
<param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
<param name="standard/ir_control" value="$(arg standard/ir_control)" />
<param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
<param name="standard/accel_range" value="$(arg standard/accel_range)" />
<param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
<!-- device options of standard2-->
<param name="standard2/brightness" value="$(arg standard2/brightness)" />
<param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
<param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
<param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
<param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
<param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
<param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
<param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
<param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
<param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
<param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
<!-- device options of standard210a-->
<param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
<param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
<param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
<param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
<param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
<param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
<param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
<param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
<param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
<param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
</node>
<!-- disable compressed depth plugin for image topics -->
<group ns="$(arg left_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg left_rect_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg left_mono_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg right_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(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)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg disparity_norm_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg depth_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
</group> <!-- mynteye -->
</launch>

BIN
wrappers/ros/src/mynt_eye_ros_wrapper/mesh/S1030-0315.STL
View File

Binary file not shown.

130659
wrappers/ros/src/mynt_eye_ros_wrapper/mesh/S1030-0315.obj Normal file
View File

File diff suppressed because it is too large Load Diff

34
wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
View File

@ -9,6 +9,8 @@ Panels:
- /Images1
- /Images1/Rectified1
- /Disparity1
- /Points1
- /Marker1
Splitter Ratio: 0.5
Tree Height: 824
- Class: rviz/Selection
@ -29,7 +31,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Depth
SyncSource: Points
Visualization Manager:
Class: ""
Displays:
@ -66,7 +68,7 @@ Visualization Manager:
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Enabled: false
Image Topic: /mynteye/right/image_raw
Max Value: 1
Median window: 5
@ -76,7 +78,7 @@ Visualization Manager:
Queue Size: 1
Transport Hint: raw
Unreliable: false
Value: true
Value: false
- Class: rviz/Group
Displays:
- Class: rviz/Image
@ -133,10 +135,10 @@ Visualization Manager:
Transport Hint: raw
Unreliable: false
Value: true
Enabled: false
Enabled: true
Name: Disparity
- Class: rviz/Image
Enabled: true
Enabled: false
Image Topic: /mynteye/depth/image_raw
Max Value: 1
Median window: 5
@ -146,18 +148,18 @@ Visualization Manager:
Queue Size: 1
Transport Hint: raw
Unreliable: false
Value: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Max Value: 6.22900009
Min Value: 0
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
@ -186,6 +188,14 @@ Visualization Manager:
Topic: /mynteye/imu/data_raw
Unreliable: false
Value: false
- Class: rviz/Marker
Enabled: true
Marker Topic: /mynteye/camera_mesh
Name: Marker
Namespaces:
"": true
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@ -226,10 +236,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398006
Pitch: -1.46479619
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006
Yaw: 1.54539752
Saved: ~
Window Geometry:
Depth:
@ -247,7 +257,7 @@ Window Geometry:
collapsed: false
LeftRect:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000026500000378fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000378000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000038d000001dc0000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000002160000024c0000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000378fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000378000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003bf0000037800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 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
Right:
collapsed: false
RightRect:

144
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -348,15 +348,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
sensor_msgs::Temperature>(temperature_topic, 100);
NODELET_INFO_STREAM("Advertized on topic " << temperature_topic);
// pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 );
// // where to get the mesh from
// std::string mesh_file;
// if (private_nh_.getParam("mesh_file", mesh_file)) {
// mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file;
// } else {
// LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired";
// mesh_msg_.mesh_resource = "";
// }
pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 );
// where to get the mesh from
std::string mesh_file;
if (private_nh_.getParam("mesh_file", mesh_file)) {
mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file;
} else {
LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired";
mesh_msg_.mesh_resource = "";
}
// stream toggles
@ -623,8 +623,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
}
void publishTopics() {
// publishMesh();
publishMesh();
if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
!is_published_[Stream::LEFT]) {
@ -1035,39 +1034,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
private:
void initDevice() {
NODELET_INFO_STREAM("Detecting MYNT EYE devices");
Context context;
auto &&devices = context.devices();
size_t n = devices.size();
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
NODELET_INFO_STREAM("MYNT EYE devices:");
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
auto &&name = device->GetInfo(Info::DEVICE_NAME);
NODELET_INFO_STREAM(" index: " << i << ", name: " << name);
}
std::shared_ptr<Device> device = nullptr;
if (n <= 1) {
device = devices[0];
NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0");
} else {
while (true) {
size_t i;
NODELET_INFO_STREAM(
"There are " << n << " MYNT EYE devices, select index: ");
std::cin >> i;
if (i >= n) {
NODELET_WARN_STREAM("Index out of range :(");
continue;
}
device = devices[i];
break;
}
}
device = selectDevice();
api_ = API::Create(device);
auto &&requests = device->GetStreamRequests();
@ -1100,6 +1069,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
}
std::int32_t process_mode = 0;
if (model_ == Model::STANDARD2 ||
model_ == Model::STANDARD210A) {
private_nh_.getParam("standard2/imu_process_mode", process_mode);
api_->EnableProcessMode(process_mode);
}
NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :(");
if (m <= 1) {
NODELET_INFO_STREAM("Only one stream request, select index: 0");
@ -1116,6 +1092,82 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
computeRectTransforms();
}
std::shared_ptr<Device> selectDevice() {
NODELET_INFO_STREAM("Detecting MYNT EYE devices");
Context context;
auto &&devices = context.devices();
bool is_multiple = false;
private_nh_.getParam("is_multiple", is_multiple);
if (is_multiple) {
std::string sn;
private_nh_.getParam("serial_number", sn);
NODELET_FATAL_COND(sn.empty(), "Must set serial_number "
"in mynteye_1.launch and mynteye_2.launch.");
size_t n = devices.size();
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
NODELET_INFO_STREAM("MYNT EYE devices:");
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
auto &&name = device->GetInfo(Info::DEVICE_NAME);
auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
NODELET_INFO_STREAM(" index: " << i << ", name: " <<
name << ", serial number: " << serial_number);
}
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
auto &&name = device->GetInfo(Info::DEVICE_NAME);
auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
NODELET_INFO_STREAM(" index: " << i << ", name: " <<
name << ", serial number: " << serial_number);
if (sn == serial_number)
return device;
#if 0
if (i == (n - 1)) {
/*
NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
" check the serial_number configuration. ");
*/
NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
" check the serial_number configuration. ");
return nullptr;
}
#endif
}
}
size_t n = devices.size();
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
NODELET_INFO_STREAM("MYNT EYE devices:");
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
auto &&name = device->GetInfo(Info::DEVICE_NAME);
NODELET_INFO_STREAM(" index: " << i << ", name: " << name);
}
if (n <= 1) {
NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0");
return devices[0];
} else {
while (true) {
size_t i;
NODELET_INFO_STREAM(
"There are " << n << " MYNT EYE devices, select index: ");
std::cin >> i;
if (i >= n) {
NODELET_WARN_STREAM("Index out of range :(");
continue;
}
return devices[i];
}
}
return nullptr;
}
std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
auto res = std::make_shared<IntrinsicsPinhole>();
res->width = 640;
@ -1169,9 +1221,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_msg_.pose.orientation.w = 0;
// fill position
mesh_msg_.pose.position.x = -0.25;
mesh_msg_.pose.position.y = -0.05;
mesh_msg_.pose.position.z = -0.1;
mesh_msg_.pose.position.x = 0;
mesh_msg_.pose.position.y = 0;
mesh_msg_.pose.position.z = 0;
// scale -- needed
mesh_msg_.scale.x = 0.003;