Merge branch 'release/v2.5.0' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into release/v2.5.0

include/mynteye/types.h

@@ -195,14 +195,14 @@ enum class Option : std::uint8_t {
    * Max exposure time, valid if auto-exposure
    * <p>
    *   range of standard 1: [0,240], default: 240<br>
-   *   range of standard 2: [0,1000], default: 333
+   *   range of standard 2: [0,655], default: 333
    * </p>
    */
   MAX_EXPOSURE_TIME,
   /**
    * min exposure time, valid if auto-exposure
    * <p>
-   *   range: [0,1000], default: 0<br>
+   *   range: [0,655], default: 0<br>
    * </p>
    */
   MIN_EXPOSURE_TIME,
@@ -576,7 +576,7 @@ struct MYNTEYE_API ImuIntrinsics {
   double scale[3][3];
   /** Assembly error [3][3] */
   double assembly[3][3];
-  /* Zero-drift: X, Y, Z */
+  /** Zero-drift: X, Y, Z */
   double drift[3];
   /** Noise density variances */
   double noise[3];

samples/ctrl_auto_exposure.cc

@@ -32,6 +32,8 @@ int main(int argc, char *argv[]) {
 
   Model model = api->GetModel();
 
+  api->Start(Source::VIDEO_STREAMING);
+
   // Set auto exposure options fo s1030
   if (model == Model::STANDARD) {
     // auto-exposure: 0
@@ -83,8 +85,6 @@ int main(int argc, char *argv[]) {
               << api->GetOptionValue(Option::MIN_EXPOSURE_TIME);
   }
 
-  api->Start(Source::VIDEO_STREAMING);
-
   CVPainter painter(frame_rate);
 
   cv::namedWindow("frame");

samples/dataset.cc

@@ -137,8 +137,8 @@ void Dataset::SaveMotionData(const api::MotionData &data) {
                 << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
                 << data.imu->gyro[2] << ", " << data.imu->temperature
                 << std::endl;
-  ++motion_count_;
 
+  motion_count_++;
   /*
   if(motion_count_ != seq) {
     LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
@@ -166,6 +166,15 @@ Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
       case Stream::DISPARITY: {
         writer->outdir = outdir_ + MYNTEYE_OS_SEP "disparity";
       } break;
+      case Stream::RIGHT_RECTIFIED: {
+        writer->outdir = outdir_ + MYNTEYE_OS_SEP "right_rect";
+      } break;
+      case Stream::LEFT_RECTIFIED: {
+        writer->outdir = outdir_ + MYNTEYE_OS_SEP "left_rect";
+      } break;
+      case Stream::DISPARITY_NORMALIZED: {
+         writer->outdir = outdir_ + MYNTEYE_OS_SEP "disparity_norm";
+      } break;
       default:
         LOG(FATAL) << "Unsupported stream: " << stream;
     }

samples/record.cc

@@ -42,7 +42,7 @@ int main(int argc, char *argv[]) {
 //   std::uint16_t fps;
 //   }
 
-  request.fps = 10;
+  // request.fps = 10;
   api->ConfigStreamRequest(request);
   api->EnableMotionDatas();
 
@@ -68,18 +68,17 @@ int main(int argc, char *argv[]) {
 
     auto &&left_datas = api->GetStreamDatas(Stream::LEFT);
     auto &&right_datas = api->GetStreamDatas(Stream::RIGHT);
-    auto &&depth_datas = api->GetStreamDatas(Stream::DEPTH);
-    auto &&disparity_datas = api->GetStreamDatas(Stream::DISPARITY);
+    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
+    auto &&disparity_data = api->GetStreamData(Stream::DISPARITY);
     img_count += left_datas.size();
 
     auto &&motion_datas = api->GetMotionDatas();
     imu_count += motion_datas.size();
-
+    cv::Mat img;
+    if (left_datas.size() > 0 && right_datas.size() > 0) {
       auto &&left_frame = left_datas.back().frame_raw;
       auto &&right_frame = right_datas.back().frame_raw;
-
-    cv::Mat img;
-
+      if (right_frame->data() && left_frame->data()) {
         if (left_frame->format() == Format::GREY) {
           cv::Mat left_img(
               left_frame->height(), left_frame->width(), CV_8UC1,
@@ -110,18 +109,27 @@ int main(int argc, char *argv[]) {
           return -1;
         }
         cv::imshow("frame", img);
+      }
+    }
+
     if (img_count > 10 && imu_count > 50) {  // save
+      // save Stream::LEFT
       for (auto &&left : left_datas) {
         dataset.SaveStreamData(Stream::LEFT, left);
       }
-      for (auto &&right : right_datas) {
-        dataset.SaveStreamData(Stream::RIGHT, right);
+      // save Stream::RIGHT
+      // for (auto &&right : right_datas) {
+      //   dataset.SaveStreamData(Stream::RIGHT, right);
+      // }
+
+      // save Stream::DEPTH
+      if (!depth_data.frame.empty()) {
+        dataset.SaveStreamData(Stream::DEPTH, depth_data);
       }
-      for (auto &&depth : depth_datas) {
-        dataset.SaveStreamData(Stream::DEPTH, depth);
-      }
-      for (auto &&disparity : disparity_datas) {
-        dataset.SaveStreamData(Stream::DISPARITY, disparity);
+
+      // save Stream::DISPARITY
+      if (!disparity_data.frame.empty()) {
+        dataset.SaveStreamData(Stream::DISPARITY, disparity_data);
       }
 
       for (auto &&motion : motion_datas) {