Merge branch 'hotfix/2.2.4' into develop
# Conflicts: # CMakeLists.txt # wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
This commit is contained in:
John Zhao
commit
96bc0353ff
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@ -14,7 +14,7 @@
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cmake_minimum_required(VERSION 3.0)
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project(mynteye VERSION 2.2.3 LANGUAGES C CXX)
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project(mynteye VERSION 2.2.4 LANGUAGES C CXX)
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include(cmake/Common.cmake)
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10
README.md
10
README.md
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@ -1,6 +1,6 @@
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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/2708507/mynt-eye-s-sdk-apidoc-2.2.3-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708508/mynt-eye-s-sdk-apidoc-2.2.3-en.zip) [](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)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708509/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708510/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.zip) [](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)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717670/mynt-eye-s-sdk-apidoc-2.2.4-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717671/mynt-eye-s-sdk-apidoc-2.2.4-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/2717672/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717673/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans.zip) [](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)
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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/2708524/mynt-eye-s-sdk-guide-2.2.3-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708525/mynt-eye-s-sdk-guide-2.2.3-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/2708528/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708529/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.zip) [](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)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717663/mynt-eye-s-sdk-guide-2.2.4-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717664/mynt-eye-s-sdk-guide-2.2.4-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/2717665/mynt-eye-s-sdk-guide-2.2.4-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717666/mynt-eye-s-sdk-guide-2.2.4-zh-Hans.zip) [](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)
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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 = 2.2.3
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PROJECT_NUMBER = 2.2.4
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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 = 2.2.3
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PROJECT_NUMBER = 2.2.4
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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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@ -50,7 +50,9 @@ inline double compute_time(const double end, const double start) {
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class ROSWrapperNodelet : public nodelet::Nodelet {
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public:
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ROSWrapperNodelet() {}
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ROSWrapperNodelet() {
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pthread_mutex_init(&mutex_data, nullptr);
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}
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~ROSWrapperNodelet() {
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// std::cout << __func__ << std::endl;
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@ -474,7 +476,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
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!is_published_[Stream::LEFT]) {
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api_->SetStreamCallback(
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Stream::LEFT, [this](const api::StreamData &data) {
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Stream::LEFT, [&](const api::StreamData &data) {
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++left_count_;
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if (left_count_ > 10) {
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// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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@ -491,7 +493,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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// : (data.img->timestamp - img_time_prev) * 0.01f) << "
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// ms");
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// img_time_prev = data.img->timestamp;
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pthread_mutex_lock(&mutex_data);
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publishCamera(Stream::LEFT, data, left_count_, stamp);
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pthread_mutex_unlock(&mutex_data);
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publishMono(Stream::LEFT, data, left_count_, stamp);
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NODELET_DEBUG_STREAM(
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Stream::LEFT << ", count: " << left_count_
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@ -509,13 +513,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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mono_publishers_[Stream::RIGHT].getNumSubscribers() > 0) &&
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!is_published_[Stream::RIGHT]) {
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api_->SetStreamCallback(
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Stream::RIGHT, [this](const api::StreamData &data) {
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Stream::RIGHT, [&](const api::StreamData &data) {
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++right_count_;
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if (right_count_ > 10) {
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// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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ros::Time stamp = checkUpTimeStamp(
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data.img->timestamp, Stream::RIGHT);
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pthread_mutex_lock(&mutex_data);
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publishCamera(Stream::RIGHT, data, right_count_, stamp);
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pthread_mutex_unlock(&mutex_data);
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publishMono(Stream::RIGHT, data, right_count_, stamp);
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NODELET_DEBUG_STREAM(
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Stream::RIGHT
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@ -1159,6 +1165,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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ros::NodeHandle nh_;
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ros::NodeHandle private_nh_;
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pthread_mutex_t mutex_data;
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Model model_;
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std::map<Option, std::string> option_names_;
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// camera:
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