diff --git a/samples/tutorials/CMakeLists.txt b/samples/tutorials/CMakeLists.txt index 8640f9a..0f1b804 100644 --- a/samples/tutorials/CMakeLists.txt +++ b/samples/tutorials/CMakeLists.txt @@ -124,7 +124,6 @@ make_executable2(ctrl_manual_exposure SRCS control/manual_exposure.cc util/cv_painter.cc WITH_OPENCV ) -make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV) # intermediate level diff --git a/samples/tutorials/control/auto_exposure.cc b/samples/tutorials/control/auto_exposure.cc index 0a18547..bc233dd 100644 --- a/samples/tutorials/control/auto_exposure.cc +++ b/samples/tutorials/control/auto_exposure.cc @@ -24,16 +24,19 @@ int main(int argc, char *argv[]) { auto &&api = API::Create(argc, argv); if (!api) return 1; + api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS); // auto-exposure: 0 api->SetOptionValue(Option::EXPOSURE_MODE, 0); - // max_gain: range [0,48], default 48 - api->SetOptionValue(Option::MAX_GAIN, 48); - // max_exposure_time: range [0,240], default 240 - api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240); - // desired_brightness: range [0,255], default 192 - api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192); + // max_gain: range [0,255], default 8 + api->SetOptionValue(Option::MAX_GAIN, 8); + // max_exposure_time: range [0,1000], default 333 + api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333); + // desired_brightness: range [1,255], default 122 + api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122); + // min_exposure_time: range [0,1000], default 0 + api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0); LOG(INFO) << "Enable auto-exposure"; LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN); @@ -41,10 +44,12 @@ int main(int argc, char *argv[]) { << api->GetOptionValue(Option::MAX_EXPOSURE_TIME); LOG(INFO) << "Set DESIRED_BRIGHTNESS to " << api->GetOptionValue(Option::DESIRED_BRIGHTNESS); + LOG(INFO) << "Set MIN_EXPOSURE_TIME to " + << api->GetOptionValue(Option::MIN_EXPOSURE_TIME); api->Start(Source::VIDEO_STREAMING); - CVPainter painter(api->GetOptionValue(Option::FRAME_RATE)); + CVPainter painter(30); cv::namedWindow("frame"); diff --git a/samples/tutorials/control/framerate.cc b/samples/tutorials/control/framerate.cc index 3236bf0..9867952 100644 --- a/samples/tutorials/control/framerate.cc +++ b/samples/tutorials/control/framerate.cc @@ -22,22 +22,11 @@ MYNTEYE_USE_NAMESPACE int main(int argc, char *argv[]) { - auto &&api = API::Create(argc, argv); + auto &&api = API::Create(Resolution::RES_1280x400); + // auto &&api = API::Create(argc, argv); if (!api) return 1; - - // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't - // succeed. - - // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60 - api->SetOptionValue(Option::FRAME_RATE, 25); - // IMU_FREQUENCY values: 100, 200, 250, 333, 500 - api->SetOptionValue(Option::IMU_FREQUENCY, 500); - - LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE); - LOG(INFO) << "Set IMU_FREQUENCY to " - << api->GetOptionValue(Option::IMU_FREQUENCY); - + api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS); // Count img std::atomic_uint img_count(0); api->SetStreamCallback( @@ -46,13 +35,6 @@ int main(int argc, char *argv[]) { ++img_count; }); - // Count imu - std::atomic_uint imu_count(0); - api->SetMotionCallback([&imu_count](const api::MotionData &data) { - CHECK_NOTNULL(data.imu); - ++imu_count; - }); - api->Start(Source::ALL); cv::namedWindow("frame"); @@ -85,7 +67,5 @@ int main(int argc, char *argv[]) { << ", cost: " << elapsed_ms << "ms"; LOG(INFO) << "Img count: " << img_count << ", fps: " << (1000.f * img_count / elapsed_ms); - LOG(INFO) << "Imu count: " << imu_count - << ", hz: " << (1000.f * imu_count / elapsed_ms); return 0; } diff --git a/samples/tutorials/control/infrared.cc b/samples/tutorials/control/infrared.cc deleted file mode 100644 index a6310a7..0000000 --- a/samples/tutorials/control/infrared.cc +++ /dev/null @@ -1,61 +0,0 @@ -// 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 - -#include "mynteye/logger.h" -#include "mynteye/api/api.h" - -MYNTEYE_USE_NAMESPACE - -int main(int argc, char *argv[]) { - auto &&api = API::Create(argc, argv); - if (!api) - return 1; - - // Detect infrared add-ons - LOG(INFO) << "Support infrared: " << std::boolalpha - << api->Supports(AddOns::INFRARED); - LOG(INFO) << "Support infrared2: " << std::boolalpha - << api->Supports(AddOns::INFRARED2); - - // Get infrared intensity range - auto &&info = api->GetOptionInfo(Option::IR_CONTROL); - LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}"; - - // Set infrared intensity value - api->SetOptionValue(Option::IR_CONTROL, 80); - - api->Start(Source::VIDEO_STREAMING); - - cv::namedWindow("frame"); - - while (true) { - api->WaitForStreams(); - - auto &&left_data = api->GetStreamData(Stream::LEFT); - auto &&right_data = api->GetStreamData(Stream::RIGHT); - - cv::Mat img; - cv::hconcat(left_data.frame, right_data.frame, img); - cv::imshow("frame", img); - - char key = static_cast(cv::waitKey(1)); - if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q - break; - } - } - - api->Stop(Source::VIDEO_STREAMING); - return 0; -} diff --git a/samples/tutorials/control/manual_exposure.cc b/samples/tutorials/control/manual_exposure.cc index 16ce32e..f513a4a 100644 --- a/samples/tutorials/control/manual_exposure.cc +++ b/samples/tutorials/control/manual_exposure.cc @@ -24,25 +24,20 @@ int main(int argc, char *argv[]) { auto &&api = API::Create(argc, argv); if (!api) return 1; + api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS); // manual-exposure: 1 api->SetOptionValue(Option::EXPOSURE_MODE, 1); - // gain: range [0,48], default 24 - api->SetOptionValue(Option::GAIN, 24); // brightness/exposure_time: range [0,240], default 120 api->SetOptionValue(Option::BRIGHTNESS, 120); - // contrast/black_level_calibration: range [0,255], default 127 - api->SetOptionValue(Option::CONTRAST, 127); LOG(INFO) << "Enable manual-exposure"; - LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN); LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS); - LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST); api->Start(Source::VIDEO_STREAMING); - CVPainter painter(api->GetOptionValue(Option::FRAME_RATE)); + CVPainter painter(30); cv::namedWindow("frame"); diff --git a/src/mynteye/device/utils.cc b/src/mynteye/device/utils.cc index 529ccca..534249a 100644 --- a/src/mynteye/device/utils.cc +++ b/src/mynteye/device/utils.cc @@ -36,7 +36,7 @@ std::shared_ptr select() { LOG(ERROR) << "No MYNT EYE devices :("; return nullptr; } -/* + LOG(INFO) << "MYNT EYE devices:"; for (size_t i = 0; i < n; i++) { auto &&device = devices[i]; @@ -44,7 +44,7 @@ std::shared_ptr select() { << ", name: " << device->GetInfo(Info::DEVICE_NAME) << ", sn: " << device->GetInfo(Info::SERIAL_NUMBER); } -*/ + std::shared_ptr device = nullptr; if (n <= 1) { device = devices[0]; diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc index f5dc5f5..7142a2e 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc @@ -348,9 +348,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet { api_->EnableStreamData(Stream::POINTS); api_->SetStreamCallback( Stream::POINTS, [this](const api::StreamData &data) { + ros::Time stamp = hardTimeToSoftTime(data.img->timestamp); static std::size_t count = 0; ++count; - publishPoints(data, count, ros::Time::now()); + publishPoints(data, count, stamp); }); is_published_[Stream::POINTS] = true; } @@ -367,10 +368,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet { api_->EnableStreamData(stream); api_->SetStreamCallback( stream, [this, stream](const api::StreamData &data) { - // data.img is null, not hard timestamp + ros::Time stamp = hardTimeToSoftTime(data.img->timestamp); static std::size_t count = 0; ++count; - publishCamera(stream, data, count, ros::Time::now()); + publishCamera(stream, data, count, stamp); }); is_published_[stream] = true; }