Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop
This commit is contained in:
TinyOh
commit
6953758101
6
Makefile
6
Makefile
@ -130,7 +130,7 @@ endif
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# install
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install: build
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install: uninstall build
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@$(call echo,Make $@)
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ifeq ($(HOST_OS),Win)
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ifneq ($(HOST_NAME),MinGW)
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@ -176,8 +176,8 @@ ifeq ($(HOST_OS),Mac)
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else
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@$(call cmake_build,./tools/_build)
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endif
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.PHONY: tools
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10
README.md
10
README.md
@ -1,6 +1,6 @@
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# MYNT® EYE S SDK
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[](https://github.com/slightech/MYNT-EYE-S-SDK)
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[](https://github.com/slightech/MYNT-EYE-S-SDK)
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## Overview
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@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
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## Documentations
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* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764152/mynt-eye-s-sdk-apidoc-2.3.0-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764156/mynt-eye-s-sdk-apidoc-2.3.0-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764160/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764173/mynt-eye-s-sdk-apidoc-2.3.0-en.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans/index.html)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893965/mynt-eye-s-sdk-apidoc-2.3.1-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893979/mynt-eye-s-sdk-apidoc-2.3.1-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893985/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893986/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans/index.html)
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* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764143/mynt-eye-s-sdk-guide-2.3.0-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764145/mynt-eye-s-sdk-guide-2.3.0-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764150/mynt-eye-s-sdk-guide-2.3.0-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764163/mynt-eye-s-sdk-guide-2.3.0-zh-Hans.zip) [](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.3.0-zh-Hans/mynt-eye-s-sdk-guide-2.3.0-zh-Hans/index.html)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893975/mynt-eye-s-sdk-guide-2.3.1-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893996/mynt-eye-s-sdk-guide-2.3.1-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893997/mynt-eye-s-sdk-guide-2.3.1-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893997/mynt-eye-s-sdk-guide-2.3.1-zh-Hans.pdf) [](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.3.1-zh-Hans/mynt-eye-s-sdk-guide-2.3.1-zh-Hans/index.html)
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> Supported languages: `en`, `zh-Hans`.
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@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
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# could be handy for archiving the generated documentation or if some version
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# control system is used.
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PROJECT_NUMBER = 2.3.0
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PROJECT_NUMBER = 2.3.1
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a
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@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
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# could be handy for archiving the generated documentation or if some version
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# control system is used.
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PROJECT_NUMBER = 2.3.0
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PROJECT_NUMBER = 2.3.1
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a
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@ -171,9 +171,13 @@ void Correspondence::NotifyStreamDataReady() {
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bool Correspondence::IsStreamDataReady() {
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if (stream_datas_.empty()) return false;
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if (stream_match_enabled_) {
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if (stream_datas_match_.empty()) return false;
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}
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if (motion_datas_.empty()) return false;
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std::uint64_t img_stamp = 0;
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std::uint64_t img_macth_stamp = 0;
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{
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std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
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auto data = stream_datas_.front();
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@ -181,6 +185,10 @@ bool Correspondence::IsStreamDataReady() {
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LOG(FATAL) << "stream data image info is empty!";
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}
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img_stamp = data.img->timestamp;
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if (stream_match_enabled_) {
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img_macth_stamp = stream_datas_match_.front().img->timestamp;
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}
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}
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std::uint64_t imu_stamp = 0;
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{
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@ -192,7 +200,12 @@ bool Correspondence::IsStreamDataReady() {
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imu_stamp = data.imu->timestamp;
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}
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return img_stamp + stream_interval_us_half_ < imu_stamp;
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if (stream_match_enabled_) {
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return img_stamp + stream_interval_us_half_ < imu_stamp
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&& img_macth_stamp + stream_interval_us_half_ < imu_stamp;
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} else {
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return img_stamp + stream_interval_us_half_ < imu_stamp;
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}
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}
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std::vector<api::StreamData> Correspondence::GetReadyStreamData(bool matched) {
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@ -15,6 +15,7 @@
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#define MYNTEYE_API_CONFIG_H_
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#pragma once
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#include <atomic>
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#include <condition_variable>
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#include <memory>
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#include <mutex>
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@ -57,7 +58,7 @@ class Correspondence {
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std::shared_ptr<Device> device_;
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Stream stream_;
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Stream stream_match_;
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bool stream_match_enabled_;
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std::atomic_bool stream_match_enabled_;
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float stream_interval_us_;
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float stream_interval_us_half_;
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@ -315,7 +315,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
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auto &&topic = mono_topics[it->first];
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if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {
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mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
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mono_publishers_[it->first] = it_mynteye.advertise(topic, 1);
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}
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NODELET_INFO_STREAM("Advertized on topic " << topic);
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}
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@ -828,9 +828,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
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auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
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pthread_mutex_unlock(&mutex_data_);
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auto &&info = getCameraInfo(stream);
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info->header.stamp = msg->header.stamp;
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mono_publishers_[stream].publish(msg, info);
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mono_publishers_[stream].publish(msg);
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}
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void publishPoints(
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@ -1517,7 +1515,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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std::map<Stream, std::string> image_encodings_;
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// mono: LEFT, RIGHT
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std::map<Stream, image_transport::CameraPublisher> mono_publishers_;
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std::map<Stream, image_transport::Publisher> mono_publishers_;
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// pointcloud: POINTS
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ros::Publisher points_publisher_;
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