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Update for tutoyials

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This commit is contained in:
kalman 2018-12-18 10:44:26 +08:00
parent f59c918e81
commit 61b0d85292
7 changed files with 23 additions and 104 deletions
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1
samples/tutorials/CMakeLists.txt
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@ -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

19
samples/tutorials/control/auto_exposure.cc
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@ -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");

26
samples/tutorials/control/framerate.cc
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@ -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;
}

61
samples/tutorials/control/infrared.cc
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@ -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;
}

9
samples/tutorials/control/manual_exposure.cc
View File

@ -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");

4
src/mynteye/device/utils.cc
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@ -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];

7
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -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;
}