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change the data protocol of imu

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This commit is contained in:
KalmanSLightech
2018-07-21 15:34:07 +08:00
parent 25220a27ed
commit b33fc86a45
13 changed files with 76 additions and 84 deletions
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22
samples/device/camera.cc
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@@ -71,13 +71,12 @@ int main(int argc, char *argv[]) {
});
std::size_t imu_count = 0;
/*
device->SetMotionCallback([&imu_count](const device::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << " frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]
@@ -86,7 +85,7 @@ int main(int argc, char *argv[]) {
<< ", gyro_z: " << data.imu->gyro[2]
<< ", temperature: " << data.imu->temperature;
});
*/
// Enable this will cache the motion datas until you get them.
// device->EnableMotionDatas();
device->Start(Source::VIDEO_STREAMING);
@@ -99,12 +98,11 @@ int main(int argc, char *argv[]) {
device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
/*
auto &&motion_datas = device->GetMotionDatas();
motion_count += motion_datas.size();
for (auto &&data : motion_datas) {
LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
for (auto &&data : motion_datas) {
LOG(INFO) << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]
@@ -113,7 +111,7 @@ int main(int argc, char *argv[]) {
<< ", gyro_z: " << data.imu->gyro[2]
<< ", temperature: " << data.imu->temperature;
}
*/
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC2,
left_data.frame->data());
@@ -146,7 +144,7 @@ int main(int argc, char *argv[]) {
<< ", fps: " << (1000.f * right_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
// LOG(INFO) << "Motion count: " << motion_count
// << ", hz: " << (1000.f * motion_count / elapsed_ms);
LOG(INFO) << "Motion count: " << motion_count
<< ", hz: " << (1000.f * motion_count / elapsed_ms);
return 0;
}