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feat(intri): ros img prams out put in srv

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This commit is contained in:
TinyOh 2019-01-29 17:31:12 +08:00
parent 4c51ef2f30
commit 9a6005d212
3 changed files with 3769 additions and 1 deletions
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3653
wrappers/ros/src/mynt_eye_ros_wrapper/src/configuru.hpp Normal file
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112
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -37,6 +37,9 @@
#include "mynteye/api/api.h"
#include "mynteye/device/context.h"
#include "mynteye/device/device.h"
#define CONFIGURU_IMPLEMENTATION 1
#include "configuru.hpp"
using namespace configuru; // NOLINT
#define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
@ -404,6 +407,115 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
case Request::NOMINAL_BASELINE:
res.value = api_->GetInfo(Info::NOMINAL_BASELINE);
break;
case Request::IMG_INTRINSICS:
{
auto intri_left = api_->GetIntrinsicsBase(Stream::LEFT);
auto calib_model = intri_left->calib_model();
if (calib_model == CalibrationModel::PINHOLE) {
auto intri_left =
api_->GetIntrinsics<IntrinsicsPinhole>(Stream::LEFT);
auto intri_right =
api_->GetIntrinsics<IntrinsicsPinhole>(Stream::RIGHT);
Config intrinsics{
{"calib_model", "pinhole"},
{"left", {
{"width", intri_left.width},
{"height", intri_left.height},
{"fx", intri_left.fx},
{"fy", intri_left.fy},
{"cx", intri_left.cx},
{"cy", intri_left.cy},
{"model", intri_left.model},
{"coeffs", Config::array(
{intri_left.coeffs[0],
intri_left.coeffs[1],
intri_left.coeffs[2],
intri_left.coeffs[3],
intri_left.coeffs[4]})}
}},
{"right", {
{"width", intri_right.width},
{"height", intri_right.height},
{"fx", intri_right.fx},
{"fy", intri_right.fy},
{"cx", intri_right.cx},
{"cy", intri_right.cy},
{"model", intri_right.model},
{"coeffs", Config::array(
{intri_right.coeffs[0],
intri_right.coeffs[1],
intri_right.coeffs[2],
intri_right.coeffs[3],
intri_right.coeffs[4]})}
}}
};
std::string json = dump_string(intrinsics, configuru::JSON);
res.value = json;
} else if (calib_model == CalibrationModel::KANNALA_BRANDT) {
auto intri_left =
api_->GetIntrinsics<IntrinsicsEquidistant>(Stream::LEFT);
auto intri_right =
api_->GetIntrinsics<IntrinsicsEquidistant>(Stream::RIGHT);
Config intrinsics{
{"calib_model", "kannala_brandt"},
{"left", {
{"width", intri_left.width},
{"height", intri_left.height},
{"coeffs", Config::array(
{intri_left.coeffs[0],
intri_left.coeffs[1],
intri_left.coeffs[2],
intri_left.coeffs[3],
intri_left.coeffs[4],
intri_left.coeffs[5],
intri_left.coeffs[6],
intri_left.coeffs[7]})
}
}},
{"right", {
{"width", intri_right.width},
{"height", intri_right.height},
{"coeffs", Config::array(
{intri_right.coeffs[0],
intri_right.coeffs[1],
intri_right.coeffs[2],
intri_right.coeffs[3],
intri_right.coeffs[4],
intri_right.coeffs[5],
intri_right.coeffs[6],
intri_right.coeffs[7]})
}
}}
};
std::string json = dump_string(intrinsics, configuru::JSON);
res.value = json;
} else {
NODELET_INFO_STREAM("INVALID CALIB MODEL:" << calib_model);
Config intrinsics{};
std::string json = dump_string(intrinsics, configuru::JSON);
res.value = json;
}
}
break;
case Request::IMG_EXTRINSICS_RTOL:
{
auto extri = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);
Config extrinsics{
{"rotation", Config::array({extri.rotation[0][0], extri.rotation[0][1], extri.rotation[0][2], // NOLINT
extri.rotation[1][0], extri.rotation[1][1], extri.rotation[1][2], // NOLINT
extri.rotation[2][0], extri.rotation[2][1], extri.rotation[2][2]})},// NOLINT
{"translation", Config::array({extri.translation[0], extri.translation[1], extri.translation[2]})} // NOLINT
};
std::string json = dump_string(extrinsics, configuru::JSON);
res.value = json;
}
break;
case Request::IMU_INTRINSICS:
res.value = "TODO";
break;
case Request::IMU_EXTRINSICS:
res.value = "TODO";
break;
default:
NODELET_WARN_STREAM("Info of key " << req.key << " not exist");
return false;

5
wrappers/ros/src/mynt_eye_ros_wrapper/srv/GetInfo.srv
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@ -6,7 +6,10 @@ uint32 SPEC_VERSION=4
uint32 LENS_TYPE=5
uint32 IMU_TYPE=6
uint32 NOMINAL_BASELINE=7
uint32 IMG_INTRINSICS=8
uint32 IMG_EXTRINSICS_RTOL=9
uint32 IMU_INTRINSICS=10
uint32 IMU_EXTRINSICS=11
uint32 key
---
string value