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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

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TinyOh 2019-02-27 08:24:31 +08:00
commit 6953758101
7 changed files with 29 additions and 17 deletions
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2
Makefile
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@ -130,7 +130,7 @@ endif
# install # install
install: build install: uninstall build
@$(call echo,Make $@) @$(call echo,Make $@)
ifeq ($(HOST_OS),Win) ifeq ($(HOST_OS),Win)
ifneq ($(HOST_NAME),MinGW) ifneq ($(HOST_NAME),MinGW)

10
README.md
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@ -1,6 +1,6 @@
# MYNT® EYE S SDK # MYNT® EYE S SDK
[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.0-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK) [![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.1-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
## Overview ## Overview
@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
## Documentations ## Documentations
* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec. * [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
* en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764152/mynt-eye-s-sdk-apidoc-2.3.0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764156/mynt-eye-s-sdk-apidoc-2.3.0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/) * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893965/mynt-eye-s-sdk-apidoc-2.3.1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893979/mynt-eye-s-sdk-apidoc-2.3.1-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
* zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764160/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764173/mynt-eye-s-sdk-apidoc-2.3.0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](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) * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893985/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893986/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](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)
* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK. * [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
* en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764143/mynt-eye-s-sdk-guide-2.3.0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764145/mynt-eye-s-sdk-guide-2.3.0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/) * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893975/mynt-eye-s-sdk-guide-2.3.1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893996/mynt-eye-s-sdk-guide-2.3.1-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
* zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764150/mynt-eye-s-sdk-guide-2.3.0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764163/mynt-eye-s-sdk-guide-2.3.0-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](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) * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893997/mynt-eye-s-sdk-guide-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893997/mynt-eye-s-sdk-guide-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](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)
> Supported languages: `en`, `zh-Hans`. > Supported languages: `en`, `zh-Hans`.

2
doc/en/api.doxyfile
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@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
# could be handy for archiving the generated documentation or if some version # could be handy for archiving the generated documentation or if some version
# control system is used. # control system is used.
PROJECT_NUMBER = 2.3.0 PROJECT_NUMBER = 2.3.1
# Using the PROJECT_BRIEF tag one can provide an optional one line description # Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a # for a project that appears at the top of each page and should give viewer a

2
doc/zh-Hans/api.doxyfile
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@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
# could be handy for archiving the generated documentation or if some version # could be handy for archiving the generated documentation or if some version
# control system is used. # control system is used.
PROJECT_NUMBER = 2.3.0 PROJECT_NUMBER = 2.3.1
# Using the PROJECT_BRIEF tag one can provide an optional one line description # Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a # for a project that appears at the top of each page and should give viewer a

13
src/mynteye/api/correspondence.cc
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@ -171,9 +171,13 @@ void Correspondence::NotifyStreamDataReady() {
bool Correspondence::IsStreamDataReady() { bool Correspondence::IsStreamDataReady() {
if (stream_datas_.empty()) return false; if (stream_datas_.empty()) return false;
if (stream_match_enabled_) {
if (stream_datas_match_.empty()) return false;
}
if (motion_datas_.empty()) return false; if (motion_datas_.empty()) return false;
std::uint64_t img_stamp = 0; std::uint64_t img_stamp = 0;
std::uint64_t img_macth_stamp = 0;
{ {
std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_); std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
auto data = stream_datas_.front(); auto data = stream_datas_.front();
@ -181,6 +185,10 @@ bool Correspondence::IsStreamDataReady() {
LOG(FATAL) << "stream data image info is empty!"; LOG(FATAL) << "stream data image info is empty!";
} }
img_stamp = data.img->timestamp; img_stamp = data.img->timestamp;
if (stream_match_enabled_) {
img_macth_stamp = stream_datas_match_.front().img->timestamp;
}
} }
std::uint64_t imu_stamp = 0; std::uint64_t imu_stamp = 0;
{ {
@ -192,8 +200,13 @@ bool Correspondence::IsStreamDataReady() {
imu_stamp = data.imu->timestamp; imu_stamp = data.imu->timestamp;
} }
if (stream_match_enabled_) {
return img_stamp + stream_interval_us_half_ < imu_stamp
&& img_macth_stamp + stream_interval_us_half_ < imu_stamp;
} else {
return img_stamp + stream_interval_us_half_ < imu_stamp; return img_stamp + stream_interval_us_half_ < imu_stamp;
} }
}
std::vector<api::StreamData> Correspondence::GetReadyStreamData(bool matched) { std::vector<api::StreamData> Correspondence::GetReadyStreamData(bool matched) {
std::uint64_t imu_stamp = 0; std::uint64_t imu_stamp = 0;

3
src/mynteye/api/correspondence.h
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@ -15,6 +15,7 @@
#define MYNTEYE_API_CONFIG_H_ #define MYNTEYE_API_CONFIG_H_
#pragma once #pragma once
#include <atomic>
#include <condition_variable> #include <condition_variable>
#include <memory> #include <memory>
#include <mutex> #include <mutex>
@ -57,7 +58,7 @@ class Correspondence {
std::shared_ptr<Device> device_; std::shared_ptr<Device> device_;
Stream stream_; Stream stream_;
Stream stream_match_; Stream stream_match_;
bool stream_match_enabled_; std::atomic_bool stream_match_enabled_;
float stream_interval_us_; float stream_interval_us_;
float stream_interval_us_half_; float stream_interval_us_half_;

8
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -315,7 +315,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) { for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
auto &&topic = mono_topics[it->first]; auto &&topic = mono_topics[it->first];
if (it->first == Stream::LEFT || it->first == Stream::RIGHT) { if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {
mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1); mono_publishers_[it->first] = it_mynteye.advertise(topic, 1);
} }
NODELET_INFO_STREAM("Advertized on topic " << topic); NODELET_INFO_STREAM("Advertized on topic " << topic);
} }
@ -828,9 +828,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
cv::cvtColor(data.frame, mono, CV_RGB2GRAY); cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg(); auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
pthread_mutex_unlock(&mutex_data_); pthread_mutex_unlock(&mutex_data_);
auto &&info = getCameraInfo(stream); mono_publishers_[stream].publish(msg);
info->header.stamp = msg->header.stamp;
mono_publishers_[stream].publish(msg, info);
} }
void publishPoints( void publishPoints(
@ -1517,7 +1515,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::map<Stream, std::string> image_encodings_; std::map<Stream, std::string> image_encodings_;
// mono: LEFT, RIGHT // mono: LEFT, RIGHT
std::map<Stream, image_transport::CameraPublisher> mono_publishers_; std::map<Stream, image_transport::Publisher> mono_publishers_;
// pointcloud: POINTS // pointcloud: POINTS
ros::Publisher points_publisher_; ros::Publisher points_publisher_;