tami/MYNT-EYE-S-SDK
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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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4
wrappers/python/src/mynteye_py.cc
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@@ -105,8 +105,7 @@ struct MYNTEYE_API MotionData {
ImuData imu;
bool operator==(const MotionData &other) const {
return imu.frame_id == other.imu.frame_id &&
imu.timestamp == other.imu.timestamp;
return imu.timestamp == other.imu.timestamp;
}
};
@@ -365,7 +364,6 @@ BOOST_PYTHON_MODULE(mynteye_py) {
// bp::register_ptr_to_python<std::shared_ptr<ImgData>>();
bp::class_<ImuData>("ImuData")
.def_readonly("frame_id", &ImuData::frame_id)
.def_readonly("timestamp", &ImuData::timestamp)
.add_property(
"accel", +[](ImuData *o) { return array_ref<double>{o->accel}; })

2
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@@ -26,7 +26,6 @@
<arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
<arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
<arg name="imu_frame_id" default="$(arg mynteye)_imu_frame" />
<arg name="temp_frame_id" default="$(arg mynteye)_temp_frame" />
<arg name="gravity" default="9.8" />
@@ -116,7 +115,6 @@
<param name="points_frame_id" value="$(arg points_frame_id)" />
<param name="depth_frame_id" value="$(arg depth_frame_id)" />
<param name="imu_frame_id" value="$(arg imu_frame_id)" />
<param name="temp_frame_id" value="$(arg temp_frame_id)" />
<param name="gravity" value="$(arg gravity)" />

5
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@@ -325,9 +325,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
++imu_count_;
publishImu(data, imu_count_, stamp);
publishTemp(data.imu->temperature, imu_count_, stamp);
NODELET_DEBUG_STREAM(
"Imu count: " << imu_count_ << ", frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
NODELET_DEBUG_STREAM(
"Imu count: " << imu_count_<< ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]