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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

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This commit is contained in:
TinyOh 2019-02-18 17:37:22 +08:00
commit 9ef3279577
4 changed files with 5 additions and 88 deletions
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2
Makefile
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@ -101,7 +101,7 @@ init:
build: build:
@$(call echo,Make $@) @$(call echo,Make $@)
ifeq ($(HOST_OS),Win) ifeq ($(HOST_OS),Win)
@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install) @$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS))
else else
@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS)) @$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
endif endif

6
src/mynteye/api/camodocal/include/camodocal/gpl/gpl.h
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@ -80,10 +80,6 @@ const T randomNormal(const T &sigma) {
return x1 * w * sigma; return x1 * w * sigma;
} }
unsigned long long timeInMicroseconds(void); // NOLINT
double timeInSeconds(void);
void colorDepthImage( void colorDepthImage(
cv::Mat &imgDepth, cv::Mat &imgColoredDepth, float minRange, // NOLINT cv::Mat &imgDepth, cv::Mat &imgColoredDepth, float minRange, // NOLINT
float maxRange); float maxRange);
@ -107,8 +103,6 @@ void LLtoUTM(
void UTMtoLL( void UTMtoLL(
double utmNorthing, double utmEasting, const std::string &utmZone, // NOLINT double utmNorthing, double utmEasting, const std::string &utmZone, // NOLINT
double &latitude, double &longitude); // NOLINT double &latitude, double &longitude); // NOLINT
long int timestampDiff(uint64_t t1, uint64_t t2); // NOLINT
} }
#endif // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_ #endif // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_

4
src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc
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@ -276,7 +276,8 @@ void EquidistantCamera::estimateIntrinsics(
double f0 = 0.0; double f0 = 0.0;
for (size_t i = 0; i < imagePoints.size(); ++i) { for (size_t i = 0; i < imagePoints.size(); ++i) {
std::vector<Eigen::Vector2d> center(boardSize.height); std::vector<Eigen::Vector2d> center(boardSize.height);
double radius[boardSize.height]; // NOLINT int arrayLength = boardSize.height;
double *radius = new double[arrayLength];
for (int r = 0; r < boardSize.height; ++r) { for (int r = 0; r < boardSize.height; ++r) {
std::vector<cv::Point2d> circle; std::vector<cv::Point2d> circle;
for (int c = 0; c < boardSize.width; ++c) { for (int c = 0; c < boardSize.width; ++c) {
@ -320,6 +321,7 @@ void EquidistantCamera::estimateIntrinsics(
} }
} }
} }
delete[] radius;
} }
if (f0 <= 0.0 && minReprojErr >= std::numeric_limits<double>::max()) { if (f0 <= 0.0 && minReprojErr >= std::numeric_limits<double>::max()) {

81
src/mynteye/api/camodocal/src/gpl/gpl.cc
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@ -16,6 +16,7 @@
#include <set> #include <set>
#ifdef _WIN32 #ifdef _WIN32
#include <winsock.h> #include <winsock.h>
#define M_PI (3.14159265358979323846)
#else #else
#include <time.h> #include <time.h>
#endif #endif
@ -109,69 +110,8 @@ getFILETIMEoffset() {
return (t); return (t);
} }
int clock_gettime(int X, struct timespec *tp) {
LARGE_INTEGER t;
FILETIME f;
double microseconds;
static LARGE_INTEGER offset;
static double frequencyToMicroseconds;
static int initialized = 0;
static BOOL usePerformanceCounter = 0;
if (!initialized) {
LARGE_INTEGER performanceFrequency;
initialized = 1;
usePerformanceCounter = QueryPerformanceFrequency(&performanceFrequency);
if (usePerformanceCounter) {
QueryPerformanceCounter(&offset);
frequencyToMicroseconds =
static_cast<double>(performanceFrequency.QuadPart / 1000000.);
} else {
offset = getFILETIMEoffset();
frequencyToMicroseconds = 10.;
}
}
if (usePerformanceCounter) {
QueryPerformanceCounter(&t);
} else {
GetSystemTimeAsFileTime(&f);
t.QuadPart = f.dwHighDateTime;
t.QuadPart <<= 32;
t.QuadPart |= f.dwLowDateTime;
}
t.QuadPart -= offset.QuadPart;
microseconds = static_cast<double>(t.QuadPart / frequencyToMicroseconds);
t.QuadPart = microseconds;
tp->tv_sec = t.QuadPart / 1000000;
tp->tv_nsec = (t.QuadPart % 1000000) * 1000;
return (0);
}
#endif #endif
unsigned long long timeInMicroseconds(void) { // NOLINT
struct timespec tp;
#ifdef __APPLE__
tp = orwl_gettime();
#else
clock_gettime(CLOCK_REALTIME, &tp);
#endif
return tp.tv_sec * 1000000 + tp.tv_nsec / 1000;
}
double timeInSeconds(void) {
struct timespec tp;
#ifdef __APPLE__
tp = orwl_gettime();
#else
clock_gettime(CLOCK_REALTIME, &tp);
#endif
return static_cast<double>(tp.tv_sec) +
static_cast<double>(tp.tv_nsec) / 1000000000.0;
}
float colormapAutumn[128][3] = { float colormapAutumn[128][3] = {
{1.0f, 0.f, 0.f}, {1.0f, 0.007874f, 0.f}, {1.0f, 0.015748f, 0.f}, {1.0f, 0.f, 0.f}, {1.0f, 0.007874f, 0.f}, {1.0f, 0.015748f, 0.f},
{1.0f, 0.023622f, 0.f}, {1.0f, 0.031496f, 0.f}, {1.0f, 0.03937f, 0.f}, {1.0f, 0.023622f, 0.f}, {1.0f, 0.031496f, 0.f}, {1.0f, 0.03937f, 0.f},
@ -745,23 +685,4 @@ void UTMtoLL(
longitude = LongOrigin + longitude / M_PI * 180.0; longitude = LongOrigin + longitude / M_PI * 180.0;
} }
long int timestampDiff(uint64_t t1, uint64_t t2) { // NOLINT
if (t2 > t1) {
uint64_t d = t2 - t1;
if (d > std::numeric_limits<long int>::max()) { // NOLINT
return std::numeric_limits<long int>::max(); // NOLINT
} else {
return d;
}
} else {
uint64_t d = t1 - t2;
if (d > std::numeric_limits<long int>::max()) { // NOLINT
return std::numeric_limits<long int>::min(); // NOLINT
} else {
return -static_cast<long int>(d); // NOLINT
}
}
}
} }