Update for tutoyials

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
 

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
+  // max_gain: range [0,255], default 8
-  api->SetOptionValue(Option::MAX_GAIN, 48);
+  api->SetOptionValue(Option::MAX_GAIN, 8);
-  // max_exposure_time: range [0,240], default 240
+  // max_exposure_time: range [0,1000], default 333
-  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
+  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333);
-  // desired_brightness: range [0,255], default 192
+  // desired_brightness: range [1,255], default 122
-  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
+  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");
 

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;
-
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
-  // 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);
-
   // 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;
 }

samples/tutorials/control/infrared.cc

@@ -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 <opencv2/highgui/highgui.hpp>
-
-#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<char>(cv::waitKey(1));
-    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
-      break;
-    }
-  }
-
-  api->Stop(Source::VIDEO_STREAMING);
-  return 0;
-}

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");
 

src/mynteye/device/utils.cc

@@ -36,7 +36,7 @@ std::shared_ptr<Device> 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<Device> select() {
               << ", name: " << device->GetInfo(Info::DEVICE_NAME)
               << ", sn: " << device->GetInfo(Info::SERIAL_NUMBER);
   }
-*/
+
   std::shared_ptr<Device> device = nullptr;
   if (n <= 1) {
     device = devices[0];

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;
     }