From 515bcb5f8a319e22cda2aeae7259ac83f7c56529 Mon Sep 17 00:00:00 2001 From: kalman Date: Tue, 11 Dec 2018 20:12:26 +0800 Subject: [PATCH 1/6] Fix disparty bug --- src/mynteye/api/processor/disparity_processor.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/mynteye/api/processor/disparity_processor.cc b/src/mynteye/api/processor/disparity_processor.cc index c22232c..1c4f939 100644 --- a/src/mynteye/api/processor/disparity_processor.cc +++ b/src/mynteye/api/processor/disparity_processor.cc @@ -98,7 +98,7 @@ bool DisparityProcessor::OnProcess( // whereas other algorithms output 32-bit floating-point disparity map. sgbm_->compute(input->first, input->second, disparity); #endif - output->value = disparity / 16 + 1; + disparity.convertTo(output->value, CV_32F, 1./16, 1); output->id = input->first_id; output->data = input->first_data; return true; From 486e9d459d4e08b9e399fd6cd23a2c507aae576f Mon Sep 17 00:00:00 2001 From: kalman Date: Wed, 12 Dec 2018 20:22:39 +0800 Subject: [PATCH 2/6] Fix timestamp bug and record bug in ros --- .../launch/mynteye.launch | 32 +++++++++++++++++++ .../src/wrapper_nodelet.cc | 7 ++-- 2 files changed, 36 insertions(+), 3 deletions(-) diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch index 15b79c7..9c6e49c 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch @@ -156,5 +156,37 @@ + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + 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 189418e..8dd656d 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 @@ -322,9 +322,10 @@ 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; } @@ -341,10 +342,10 @@ 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; } From 324e68bca5bade9e98cd0f6254002216c6c9b982 Mon Sep 17 00:00:00 2001 From: kalman Date: Thu, 13 Dec 2018 17:00:31 +0800 Subject: [PATCH 3/6] Update version --- doc/en/api.doxyfile | 2 +- doc/zh-Hans/api.doxyfile | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/en/api.doxyfile b/doc/en/api.doxyfile index b33aa11..4960085 100644 --- a/doc/en/api.doxyfile +++ b/doc/en/api.doxyfile @@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK" # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = 2.2.2-rc1 +PROJECT_NUMBER = 2.2.2 # 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 diff --git a/doc/zh-Hans/api.doxyfile b/doc/zh-Hans/api.doxyfile index 784864b..d2b5675 100644 --- a/doc/zh-Hans/api.doxyfile +++ b/doc/zh-Hans/api.doxyfile @@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK" # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = 2.2.2-rc1 +PROJECT_NUMBER = 2.2.2 # 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 From 54a91598508bb91c7fb6663c0ea51a6b2174fa07 Mon Sep 17 00:00:00 2001 From: John Zhao Date: Sun, 16 Dec 2018 19:53:27 +0800 Subject: [PATCH 4/6] Update inlcudes --- include/mynteye/api/api.h | 1 + 1 file changed, 1 insertion(+) diff --git a/include/mynteye/api/api.h b/include/mynteye/api/api.h index 7374453..580b567 100644 --- a/include/mynteye/api/api.h +++ b/include/mynteye/api/api.h @@ -15,6 +15,7 @@ #define MYNTEYE_API_API_H_ #pragma once +#include #include #include #include From e7dc4b7defa43308947d7f846625ca0124fb8c59 Mon Sep 17 00:00:00 2001 From: John Zhao Date: Sun, 16 Dec 2018 22:53:08 +0800 Subject: [PATCH 5/6] chore(root): update readme --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 5639063..4d4cd35 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # MYNT® EYE S SDK -[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2--rc1-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK) +[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK) ## Overview @@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms. ## Documentations * [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/2612865/mynt-eye-s-sdk-apidoc-2.2.2-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2612866/mynt-eye-s-sdk-apidoc-2.2.2-rc1-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/2612867/mynt-eye-s-sdk-apidoc-2.2.2-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2612868/mynt-eye-s-sdk-apidoc-2.2.2-rc1-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-2.2.2-rc1-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-rc1-zh-Hans/index.html) + * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683636/mynt-eye-s-sdk-apidoc-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683637/mynt-eye-s-sdk-apidoc-2.2.2-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/2683638/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683639/mynt-eye-s-sdk-apidoc-2.2.2-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-2.2.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/index.html) * [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/2612872/mynt-eye-s-sdk-guide-2.2.2-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2612873/mynt-eye-s-sdk-guide-2.2.2-rc1-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/2612874/mynt-eye-s-sdk-guide-2.2.2-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2612875/mynt-eye-s-sdk-guide-2.2.2-rc1-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-2.2.2-rc1-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-rc1-zh-Hans/index.html) + * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683625/mynt-eye-s-sdk-guide-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683626/mynt-eye-s-sdk-guide-2.2.2-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/2683627/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683628/mynt-eye-s-sdk-guide-2.2.2-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-2.2.2-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/index.html) > Supported languages: `en`, `zh-Hans`. From f6abc574753411c9e69c89979a3f1d3944f033fd Mon Sep 17 00:00:00 2001 From: John Zhao Date: Mon, 17 Dec 2018 11:48:04 +0800 Subject: [PATCH 6/6] chore(samples): comment build uvc --- samples/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt index 4781867..685e94b 100644 --- a/samples/CMakeLists.txt +++ b/samples/CMakeLists.txt @@ -71,7 +71,7 @@ add_subdirectory(device) # samples above uvc layer -add_subdirectory(uvc) +#add_subdirectory(uvc) # tutorials