Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-3 into develop
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README.md
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README.md
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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/2612865/mynt-eye-s-sdk-apidoc-2.2.2-rc1-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2612866/mynt-eye-s-sdk-apidoc-2.2.2-rc1-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/2612867/mynt-eye-s-sdk-apidoc-2.2.2-rc1-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2612868/mynt-eye-s-sdk-apidoc-2.2.2-rc1-zh-Hans.zip) [](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)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683636/mynt-eye-s-sdk-apidoc-2.2.2-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683637/mynt-eye-s-sdk-apidoc-2.2.2-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/2683638/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683639/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.zip) [](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)
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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/2612872/mynt-eye-s-sdk-guide-2.2.2-rc1-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2612873/mynt-eye-s-sdk-guide-2.2.2-rc1-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/2612874/mynt-eye-s-sdk-guide-2.2.2-rc1-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2612875/mynt-eye-s-sdk-guide-2.2.2-rc1-zh-Hans.zip) [](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)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683625/mynt-eye-s-sdk-guide-2.2.2-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683626/mynt-eye-s-sdk-guide-2.2.2-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/2683627/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683628/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.zip) [](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)
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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 = 2.2.2-rc1
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PROJECT_NUMBER = 2.2.2
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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 = 2.2.2-rc1
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PROJECT_NUMBER = 2.2.2
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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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@ -15,6 +15,7 @@
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#define MYNTEYE_API_API_H_
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#pragma once
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#include <functional>
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#include <limits>
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#include <memory>
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#include <string>
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@ -71,7 +71,7 @@ add_subdirectory(device)
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# samples above uvc layer
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add_subdirectory(uvc)
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#add_subdirectory(uvc)
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# tutorials
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@ -156,5 +156,37 @@
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</node>
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<!-- disable compressed depth plugin for image topics -->
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<group ns="$(arg left_topic)">
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<rosparam param="disable_pub_plugins">
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- 'image_transport/compressedDepth'
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</rosparam>
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</group>
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<group ns="$(arg left_rect_topic)">
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<rosparam param="disable_pub_plugins">
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- 'image_transport/compressedDepth'
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</rosparam>
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</group>
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<group ns="$(arg right_rect_topic)">
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<rosparam param="disable_pub_plugins">
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- 'image_transport/compressedDepth'
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</rosparam>
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</group>
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<group ns="$(arg right_topic)">
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<rosparam param="disable_pub_plugins">
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- 'image_transport/compressedDepth'
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</rosparam>
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</group>
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<group ns="$(arg disparity_topic)">
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<rosparam param="disable_pub_plugins">
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- 'image_transport/compressedDepth'
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</rosparam>
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</group>
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<group ns="$(arg disparity_norm_topic)">
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<rosparam param="disable_pub_plugins">
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- 'image_transport/compressedDepth'
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</rosparam>
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</group>
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</group> <!-- mynteye -->
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</launch>
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@ -322,9 +322,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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api_->EnableStreamData(Stream::POINTS);
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api_->SetStreamCallback(
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Stream::POINTS, [this](const api::StreamData &data) {
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ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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static std::size_t count = 0;
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++count;
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publishPoints(data, count, ros::Time::now());
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publishPoints(data, count, stamp);
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});
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is_published_[Stream::POINTS] = true;
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}
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api_->EnableStreamData(stream);
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api_->SetStreamCallback(
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stream, [this, stream](const api::StreamData &data) {
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// data.img is null, not hard timestamp
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ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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static std::size_t count = 0;
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++count;
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publishCamera(stream, data, count, ros::Time::now());
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publishCamera(stream, data, count, stamp);
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});
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is_published_[stream] = true;
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}
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