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Merge branch 'hotfix/2.2.4' into develop

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# Conflicts:
#	CMakeLists.txt
#	wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
This commit is contained in:
John Zhao 2018-12-31 10:25:22 +08:00
commit 96bc0353ff
5 changed files with 20 additions and 12 deletions
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2
CMakeLists.txt
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@ -14,7 +14,7 @@
cmake_minimum_required(VERSION 3.0) cmake_minimum_required(VERSION 3.0)
project(mynteye VERSION 2.2.3 LANGUAGES C CXX) project(mynteye VERSION 2.2.4 LANGUAGES C CXX)
include(cmake/Common.cmake) include(cmake/Common.cmake)

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-2.2.3-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK) [![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.4-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/2708507/mynt-eye-s-sdk-apidoc-2.2.3-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708508/mynt-eye-s-sdk-apidoc-2.2.3-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.3-en/mynt-eye-s-sdk-apidoc-2.2.3-en/index.html) * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717670/mynt-eye-s-sdk-apidoc-2.2.4-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717671/mynt-eye-s-sdk-apidoc-2.2.4-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/2708509/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708510/mynt-eye-s-sdk-apidoc-2.2.3-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-2.2.3-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.3-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/2717672/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717673/mynt-eye-s-sdk-apidoc-2.2.4-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-2.2.4-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.4-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/2708524/mynt-eye-s-sdk-guide-2.2.3-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708525/mynt-eye-s-sdk-guide-2.2.3-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/2717663/mynt-eye-s-sdk-guide-2.2.4-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717664/mynt-eye-s-sdk-guide-2.2.4-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/2708528/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708529/mynt-eye-s-sdk-guide-2.2.3-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-2.2.3-zh-Hans/mynt-eye-s-sdk-guide-2.2.3-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/2717665/mynt-eye-s-sdk-guide-2.2.4-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717666/mynt-eye-s-sdk-guide-2.2.4-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-2.2.4-zh-Hans/mynt-eye-s-sdk-guide-2.2.4-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 = 2.2.3 PROJECT_NUMBER = 2.2.4
# 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 = 2.2.3 PROJECT_NUMBER = 2.2.4
# 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

14
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -50,7 +50,9 @@ inline double compute_time(const double end, const double start) {
class ROSWrapperNodelet : public nodelet::Nodelet { class ROSWrapperNodelet : public nodelet::Nodelet {
public: public:
ROSWrapperNodelet() {} ROSWrapperNodelet() {
pthread_mutex_init(&mutex_data, nullptr);
}
~ROSWrapperNodelet() { ~ROSWrapperNodelet() {
// std::cout << __func__ << std::endl; // std::cout << __func__ << std::endl;
@ -474,7 +476,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) && mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
!is_published_[Stream::LEFT]) { !is_published_[Stream::LEFT]) {
api_->SetStreamCallback( api_->SetStreamCallback(
Stream::LEFT, [this](const api::StreamData &data) { Stream::LEFT, [&](const api::StreamData &data) {
++left_count_; ++left_count_;
if (left_count_ > 10) { if (left_count_ > 10) {
// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp); // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
@ -491,7 +493,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
// : (data.img->timestamp - img_time_prev) * 0.01f) << " // : (data.img->timestamp - img_time_prev) * 0.01f) << "
// ms"); // ms");
// img_time_prev = data.img->timestamp; // img_time_prev = data.img->timestamp;
pthread_mutex_lock(&mutex_data);
publishCamera(Stream::LEFT, data, left_count_, stamp); publishCamera(Stream::LEFT, data, left_count_, stamp);
pthread_mutex_unlock(&mutex_data);
publishMono(Stream::LEFT, data, left_count_, stamp); publishMono(Stream::LEFT, data, left_count_, stamp);
NODELET_DEBUG_STREAM( NODELET_DEBUG_STREAM(
Stream::LEFT << ", count: " << left_count_ Stream::LEFT << ", count: " << left_count_
@ -509,13 +513,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mono_publishers_[Stream::RIGHT].getNumSubscribers() > 0) && mono_publishers_[Stream::RIGHT].getNumSubscribers() > 0) &&
!is_published_[Stream::RIGHT]) { !is_published_[Stream::RIGHT]) {
api_->SetStreamCallback( api_->SetStreamCallback(
Stream::RIGHT, [this](const api::StreamData &data) { Stream::RIGHT, [&](const api::StreamData &data) {
++right_count_; ++right_count_;
if (right_count_ > 10) { if (right_count_ > 10) {
// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp); // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
ros::Time stamp = checkUpTimeStamp( ros::Time stamp = checkUpTimeStamp(
data.img->timestamp, Stream::RIGHT); data.img->timestamp, Stream::RIGHT);
pthread_mutex_lock(&mutex_data);
publishCamera(Stream::RIGHT, data, right_count_, stamp); publishCamera(Stream::RIGHT, data, right_count_, stamp);
pthread_mutex_unlock(&mutex_data);
publishMono(Stream::RIGHT, data, right_count_, stamp); publishMono(Stream::RIGHT, data, right_count_, stamp);
NODELET_DEBUG_STREAM( NODELET_DEBUG_STREAM(
Stream::RIGHT Stream::RIGHT
@ -1159,6 +1165,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
ros::NodeHandle nh_; ros::NodeHandle nh_;
ros::NodeHandle private_nh_; ros::NodeHandle private_nh_;
pthread_mutex_t mutex_data;
Model model_; Model model_;
std::map<Option, std::string> option_names_; std::map<Option, std::string> option_names_;
// camera: // camera: