Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop
This commit is contained in:
Osenberg
commit
b93026bdcf
|
|
@ -14,7 +14,7 @@
|
|||
|
||||
cmake_minimum_required(VERSION 3.0)
|
||||
|
||||
project(mynteye VERSION 2.3.0 LANGUAGES C CXX)
|
||||
project(mynteye VERSION 2.3.2 LANGUAGES C CXX)
|
||||
|
||||
include(cmake/Common.cmake)
|
||||
|
||||
|
|
@ -219,6 +219,9 @@ if(WITH_API)
|
|||
src/mynteye/api/processor/depth_processor_ocv.cc
|
||||
src/mynteye/api/processor/rectify_processor_ocv.cc
|
||||
src/mynteye/api/config.cc
|
||||
src/mynteye/api/correspondence.cc
|
||||
src/mynteye/api/version_checker.cc
|
||||
src/mynteye/api/data_tools.cc
|
||||
)
|
||||
if(WITH_CAM_MODELS)
|
||||
list(APPEND MYNTEYE_SRCS
|
||||
|
|
|
|||
17
Makefile
17
Makefile
|
|
@ -34,12 +34,7 @@ SUDO ?= sudo
|
|||
|
||||
CAM_MODELS ?=
|
||||
|
||||
CMAKE_BUILD_EXTRA_OPTIONS :=
|
||||
ifeq ($(CAM_MODELS),)
|
||||
CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=OFF
|
||||
else
|
||||
CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
|
||||
endif
|
||||
CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
|
||||
|
||||
.DEFAULT_GOAL := all
|
||||
|
||||
|
|
@ -106,7 +101,7 @@ init:
|
|||
build:
|
||||
@$(call echo,Make $@)
|
||||
ifeq ($(HOST_OS),Win)
|
||||
@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
|
||||
@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS))
|
||||
else
|
||||
@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
|
||||
endif
|
||||
|
|
@ -135,7 +130,7 @@ endif
|
|||
|
||||
# install
|
||||
|
||||
install: build
|
||||
install: uninstall build
|
||||
@$(call echo,Make $@)
|
||||
ifeq ($(HOST_OS),Win)
|
||||
ifneq ($(HOST_NAME),MinGW)
|
||||
|
|
@ -176,7 +171,13 @@ samples: install
|
|||
|
||||
tools: install
|
||||
@$(call echo,Make $@)
|
||||
ifeq ($(HOST_OS),Mac)
|
||||
$(error "Can't make tools on $(HOST_OS)")
|
||||
else
|
||||
@$(call cmake_build,./tools/_build)
|
||||
endif
|
||||
|
||||
|
||||
|
||||
.PHONY: tools
|
||||
|
||||
|
|
|
|||
10
README.md
10
README.md
|
|
@ -1,6 +1,6 @@
|
|||
# MYNT® EYE S SDK
|
||||
|
||||
[](https://github.com/slightech/MYNT-EYE-S-SDK)
|
||||
[](https://github.com/slightech/MYNT-EYE-S-SDK)
|
||||
|
||||
## Overview
|
||||
|
||||
|
|
@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
|
|||
## Documentations
|
||||
|
||||
* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
|
||||
* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764152/mynt-eye-s-sdk-apidoc-2.3.0-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764156/mynt-eye-s-sdk-apidoc-2.3.0-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK/)
|
||||
* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764160/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764173/mynt-eye-s-sdk-apidoc-2.3.0-en.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans/index.html)
|
||||
* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913110/mynt-eye-s-sdk-apidoc-2.3.2-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913111/mynt-eye-s-sdk-apidoc-2.3.2-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK/)
|
||||
* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913112/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913113/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans/index.html)
|
||||
* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
|
||||
* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764143/mynt-eye-s-sdk-guide-2.3.0-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764145/mynt-eye-s-sdk-guide-2.3.0-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
|
||||
* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764150/mynt-eye-s-sdk-guide-2.3.0-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764163/mynt-eye-s-sdk-guide-2.3.0-zh-Hans.zip) [](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.3.0-zh-Hans/mynt-eye-s-sdk-guide-2.3.0-zh-Hans/index.html)
|
||||
* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913052/mynt-eye-s-sdk-guide-2.3.2-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913053/mynt-eye-s-sdk-guide-2.3.2-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
|
||||
* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913054/mynt-eye-s-sdk-guide-2.3.2-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913056/mynt-eye-s-sdk-guide-2.3.2-zh-Hans.zip) [](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.3.2-zh-Hans/mynt-eye-s-sdk-guide-2.3.2-zh-Hans/index.html)
|
||||
|
||||
> Supported languages: `en`, `zh-Hans`.
|
||||
|
||||
|
|
|
|||
|
|
@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
|
|||
# could be handy for archiving the generated documentation or if some version
|
||||
# control system is used.
|
||||
|
||||
PROJECT_NUMBER = 2.3.0
|
||||
PROJECT_NUMBER = 2.3.2
|
||||
|
||||
# Using the PROJECT_BRIEF tag one can provide an optional one line description
|
||||
# for a project that appears at the top of each page and should give viewer a
|
||||
|
|
|
|||
|
|
@ -12,3 +12,5 @@
|
|||
| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
|
||||
| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
|
||||
| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 |
|
||||
| Auxiliary chip version | auxiliary_chip_version | - | × | √ Get | 2 | major,minor |
|
||||
| isp version | isp_version | - | × | √ Get | 2 | major,minor |
|
||||
|
|
|
|||
|
|
@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
|
|||
# could be handy for archiving the generated documentation or if some version
|
||||
# control system is used.
|
||||
|
||||
PROJECT_NUMBER = 2.3.0
|
||||
PROJECT_NUMBER = 2.3.2
|
||||
|
||||
# Using the PROJECT_BRIEF tag one can provide an optional one line description
|
||||
# for a project that appears at the top of each page and should give viewer a
|
||||
|
|
|
|||
|
|
@ -12,6 +12,8 @@
|
|||
| 镜头类型 | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
|
||||
| IMU 类型 | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
|
||||
| 基线长度 | nominal_baseline | - | × | √ Get/Set | 2 | 单位 mm ，未 set 默认 0 |
|
||||
| 辅助芯片版本 | auxiliary_chip_version | - | × | √ Get | 2 | major,minor |
|
||||
| ISP版本 | isp_version | - | × | √ Get | 2 | major,minor |
|
||||
|
||||
* 描述符获取：指通用 USB 设备信息，可用工具查看。
|
||||
* 拓展通道获取：指通过拓展通道（UVC Extension Unit）问硬件获取到的信息，需要读取。
|
||||
|
|
|
|||
|
|
@ -30,6 +30,7 @@ MYNTEYE_BEGIN_NAMESPACE
|
|||
|
||||
struct DeviceInfo;
|
||||
|
||||
class Correspondence;
|
||||
class Device;
|
||||
class Synthetic;
|
||||
|
||||
|
|
@ -91,6 +92,8 @@ class MYNTEYE_API API {
|
|||
using stream_callback_t = std::function<void(const api::StreamData &data)>;
|
||||
/** The api::MotionData callback. */
|
||||
using motion_callback_t = std::function<void(const api::MotionData &data)>;
|
||||
/** The enable/disable switch callback. */
|
||||
using stream_switch_callback_t = std::function<void(const Stream &stream)>;
|
||||
|
||||
explicit API(std::shared_ptr<Device> device, CalibrationModel calib_model);
|
||||
virtual ~API();
|
||||
|
|
@ -184,7 +187,10 @@ class MYNTEYE_API API {
|
|||
* Get the device info.
|
||||
*/
|
||||
std::string GetInfo(const Info &info) const;
|
||||
|
||||
/**
|
||||
* Get the sdk version.
|
||||
*/
|
||||
std::string GetSDKVersion() const;
|
||||
/**
|
||||
* @deprecated Get the intrinsics (pinhole) of stream.
|
||||
*/
|
||||
|
|
@ -280,11 +286,31 @@ class MYNTEYE_API API {
|
|||
* still support this stream.
|
||||
*/
|
||||
void EnableStreamData(const Stream &stream);
|
||||
|
||||
/**
|
||||
* Enable the data of stream.
|
||||
* callback function will call before the father processor enable.
|
||||
* when try_tag is true, the function will do nothing except callback.
|
||||
*/
|
||||
void EnableStreamData(
|
||||
const Stream &stream,
|
||||
stream_switch_callback_t callback,
|
||||
bool try_tag = false);
|
||||
/**
|
||||
* Disable the data of stream.
|
||||
*/
|
||||
void DisableStreamData(const Stream &stream);
|
||||
|
||||
/**
|
||||
* Disable the data of stream.
|
||||
* callback function will call before the children processor disable.
|
||||
* when try_tag is true, the function will do nothing except callback.
|
||||
*/
|
||||
void DisableStreamData(
|
||||
const Stream &stream,
|
||||
stream_switch_callback_t callback,
|
||||
bool try_tag = false);
|
||||
|
||||
/**
|
||||
* Get the latest data of stream.
|
||||
*/
|
||||
|
|
@ -305,6 +331,11 @@ class MYNTEYE_API API {
|
|||
*/
|
||||
std::vector<api::MotionData> GetMotionDatas();
|
||||
|
||||
/**
|
||||
* Enable motion datas with timestamp correspondence of some stream.
|
||||
*/
|
||||
void EnableTimestampCorrespondence(const Stream &stream);
|
||||
|
||||
/**
|
||||
* Enable the plugin.
|
||||
*/
|
||||
|
|
@ -317,6 +348,10 @@ class MYNTEYE_API API {
|
|||
|
||||
std::unique_ptr<Synthetic> synthetic_;
|
||||
|
||||
std::unique_ptr<Correspondence> correspondence_;
|
||||
|
||||
motion_callback_t callback_;
|
||||
|
||||
void CheckImageParams();
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -278,6 +278,10 @@ class MYNTEYE_API Device {
|
|||
*/
|
||||
std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
|
||||
|
||||
/**
|
||||
* Disable cache motion datas.
|
||||
*/
|
||||
void DisableMotionDatas();
|
||||
/**
|
||||
* Enable cache motion datas.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -162,6 +162,8 @@ struct MYNTEYE_API DeviceInfo {
|
|||
Type lens_type;
|
||||
Type imu_type;
|
||||
std::uint16_t nominal_baseline;
|
||||
Version auxiliary_chip_version;
|
||||
Version isp_version;
|
||||
};
|
||||
|
||||
#undef MYNTEYE_PROPERTY
|
||||
|
|
|
|||
|
|
@ -122,6 +122,10 @@ enum class Info : std::uint8_t {
|
|||
IMU_TYPE,
|
||||
/** Nominal baseline */
|
||||
NOMINAL_BASELINE,
|
||||
/** Auxiliary chip version */
|
||||
AUXILIARY_CHIP_VERSION,
|
||||
/** Isp version */
|
||||
ISP_VERSION,
|
||||
/** Last guard */
|
||||
LAST
|
||||
};
|
||||
|
|
|
|||
|
|
@ -105,6 +105,10 @@ if(PCL_FOUND)
|
|||
WITH_OPENCV WITH_PCL
|
||||
)
|
||||
endif()
|
||||
make_executable2(get_imu_correspondence
|
||||
SRCS data/get_imu_correspondence.cc util/cv_painter.cc
|
||||
WITH_OPENCV
|
||||
)
|
||||
make_executable2(get_imu SRCS data/get_imu.cc util/cv_painter.cc WITH_OPENCV)
|
||||
make_executable2(get_from_callbacks
|
||||
SRCS data/get_from_callbacks.cc util/cv_painter.cc
|
||||
|
|
|
|||
|
|
@ -34,10 +34,6 @@ int main(int argc, char *argv[]) {
|
|||
|
||||
// Set frame rate options for s1030
|
||||
if (model == Model::STANDARD) {
|
||||
// Attention: must set FRAME_RATE and IMU_FREQUENCY together,
|
||||
// otherwise won't.
|
||||
// succeed.
|
||||
|
||||
// FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
|
||||
api->SetOptionValue(Option::FRAME_RATE, 25);
|
||||
// IMU_FREQUENCY values: 100, 200, 250, 333, 500
|
||||
|
|
|
|||
|
|
@ -28,6 +28,9 @@ int main(int argc, char *argv[]) {
|
|||
LOG(INFO) << "Lens type: " << api->GetInfo(Info::LENS_TYPE);
|
||||
LOG(INFO) << "IMU type: " << api->GetInfo(Info::IMU_TYPE);
|
||||
LOG(INFO) << "Nominal baseline: " << api->GetInfo(Info::NOMINAL_BASELINE);
|
||||
LOG(INFO) << "Auxiliary chip version: "
|
||||
<< api->GetInfo(Info::AUXILIARY_CHIP_VERSION);
|
||||
LOG(INFO) << "Nominal baseline: " << api->GetInfo(Info::ISP_VERSION);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
85
samples/tutorials/data/get_imu_correspondence.cc
Normal file
85
samples/tutorials/data/get_imu_correspondence.cc
Normal file
|
|
@ -0,0 +1,85 @@
|
|||
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include "mynteye/logger.h"
|
||||
#include "mynteye/api/api.h"
|
||||
|
||||
#include "util/cv_painter.h"
|
||||
|
||||
MYNTEYE_USE_NAMESPACE
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
auto &&api = API::Create(argc, argv);
|
||||
if (!api) return 1;
|
||||
|
||||
bool ok;
|
||||
auto &&request = api->SelectStreamRequest(&ok);
|
||||
if (!ok) return 1;
|
||||
api->ConfigStreamRequest(request);
|
||||
|
||||
// Enable motion datas with timestamp correspondence of some stream
|
||||
api->EnableTimestampCorrespondence(Stream::LEFT);
|
||||
|
||||
api->Start(Source::ALL);
|
||||
|
||||
CVPainter painter;
|
||||
|
||||
cv::namedWindow("frame");
|
||||
|
||||
std::uint64_t prev_img_stamp = 0;
|
||||
std::uint64_t prev_imu_stamp = 0;
|
||||
while (true) {
|
||||
api->WaitForStreams();
|
||||
|
||||
auto &&left_data = api->GetStreamData(Stream::LEFT);
|
||||
auto &&right_data = api->GetStreamData(Stream::RIGHT);
|
||||
|
||||
auto img_stamp = left_data.img->timestamp;
|
||||
LOG(INFO) << "Img timestamp: " << img_stamp
|
||||
<< ", diff_prev=" << (img_stamp - prev_img_stamp);
|
||||
prev_img_stamp = img_stamp;
|
||||
|
||||
cv::Mat img;
|
||||
cv::hconcat(left_data.frame, right_data.frame, img);
|
||||
|
||||
auto &&motion_datas = api->GetMotionDatas();
|
||||
LOG(INFO) << "Imu count: " << motion_datas.size();
|
||||
for (auto &&data : motion_datas) {
|
||||
auto imu_stamp = data.imu->timestamp;
|
||||
LOG(INFO) << "Imu timestamp: " << imu_stamp
|
||||
<< ", diff_prev=" << (imu_stamp - prev_imu_stamp)
|
||||
<< ", diff_img=" << (1.f + imu_stamp - img_stamp);
|
||||
prev_imu_stamp = imu_stamp;
|
||||
}
|
||||
LOG(INFO);
|
||||
|
||||
/*
|
||||
painter.DrawImgData(img, *left_data.img);
|
||||
if (!motion_datas.empty()) {
|
||||
painter.DrawImuData(img, *motion_datas[0].imu);
|
||||
}
|
||||
*/
|
||||
|
||||
cv::imshow("frame", img);
|
||||
|
||||
char key = static_cast<char>(cv::waitKey(1));
|
||||
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
api->Stop(Source::ALL);
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -22,9 +22,11 @@
|
|||
#include <thread>
|
||||
|
||||
#include "mynteye/logger.h"
|
||||
#include "mynteye/api/correspondence.h"
|
||||
#include "mynteye/api/dl.h"
|
||||
#include "mynteye/api/plugin.h"
|
||||
#include "mynteye/api/synthetic.h"
|
||||
#include "mynteye/api/version_checker.h"
|
||||
#include "mynteye/device/device.h"
|
||||
#include "mynteye/device/utils.h"
|
||||
|
||||
|
|
@ -208,7 +210,7 @@ std::vector<std::string> get_plugin_paths() {
|
|||
} // namespace
|
||||
|
||||
API::API(std::shared_ptr<Device> device, CalibrationModel calib_model)
|
||||
: device_(device) {
|
||||
: device_(device), correspondence_(nullptr) {
|
||||
VLOG(2) << __func__;
|
||||
// std::dynamic_pointer_cast<StandardDevice>(device_);
|
||||
synthetic_.reset(new Synthetic(this, calib_model));
|
||||
|
|
@ -221,7 +223,10 @@ API::~API() {
|
|||
std::shared_ptr<API> API::Create(int argc, char *argv[]) {
|
||||
auto &&device = device::select();
|
||||
if (!device) return nullptr;
|
||||
return Create(argc, argv, device);
|
||||
auto api = Create(argc, argv, device);
|
||||
if (api && checkFirmwareVersion(api))
|
||||
return api;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
std::shared_ptr<API> API::Create(
|
||||
|
|
@ -260,7 +265,7 @@ std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
|
|||
}
|
||||
} else {
|
||||
LOG(ERROR) <<"no device!";
|
||||
api = std::make_shared<API>(device, CalibrationModel::UNKNOW);
|
||||
return nullptr;
|
||||
}
|
||||
return api;
|
||||
}
|
||||
|
|
@ -326,6 +331,20 @@ std::string API::GetInfo(const Info &info) const {
|
|||
return device_->GetInfo(info);
|
||||
}
|
||||
|
||||
std::string API::GetSDKVersion() const {
|
||||
std::string info_path =
|
||||
utils::get_sdk_install_dir();
|
||||
info_path.append(MYNTEYE_OS_SEP "share" \
|
||||
MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
|
||||
|
||||
cv::FileStorage fs(info_path, cv::FileStorage::READ);
|
||||
if (!fs.isOpened()) {
|
||||
LOG(WARNING) << "build.info not found: " << info_path;
|
||||
return "null";
|
||||
}
|
||||
return fs["MYNTEYE_VERSION"];
|
||||
}
|
||||
|
||||
IntrinsicsPinhole API::GetIntrinsics(const Stream &stream) const {
|
||||
auto in = GetIntrinsicsBase(stream);
|
||||
if (in->calib_model() == CalibrationModel::PINHOLE) {
|
||||
|
|
@ -377,10 +396,15 @@ void API::SetStreamCallback(const Stream &stream, stream_callback_t callback) {
|
|||
}
|
||||
|
||||
void API::SetMotionCallback(motion_callback_t callback) {
|
||||
static auto callback_ = callback;
|
||||
if (correspondence_) {
|
||||
correspondence_->SetMotionCallback(callback);
|
||||
return;
|
||||
}
|
||||
callback_ = callback;
|
||||
if (callback_) {
|
||||
device_->SetMotionCallback(
|
||||
[](const device::MotionData &data) { callback_({data.imu}); }, true);
|
||||
device_->SetMotionCallback([this](const device::MotionData &data) {
|
||||
callback_({data.imu});
|
||||
}, true);
|
||||
} else {
|
||||
device_->SetMotionCallback(nullptr);
|
||||
}
|
||||
|
|
@ -435,7 +459,11 @@ void API::Stop(const Source &source) {
|
|||
}
|
||||
|
||||
void API::WaitForStreams() {
|
||||
synthetic_->WaitForStreams();
|
||||
if (correspondence_) {
|
||||
correspondence_->WaitForStreams();
|
||||
} else {
|
||||
synthetic_->WaitForStreams();
|
||||
}
|
||||
}
|
||||
|
||||
void API::EnableStreamData(const Stream &stream) {
|
||||
|
|
@ -446,24 +474,69 @@ void API::DisableStreamData(const Stream &stream) {
|
|||
synthetic_->DisableStreamData(stream);
|
||||
}
|
||||
|
||||
void API::EnableStreamData(
|
||||
const Stream &stream, stream_switch_callback_t callback,
|
||||
bool try_tag) {
|
||||
synthetic_->EnableStreamData(stream, callback, try_tag);
|
||||
}
|
||||
void API::DisableStreamData(
|
||||
const Stream &stream, stream_switch_callback_t callback,
|
||||
bool try_tag) {
|
||||
synthetic_->DisableStreamData(stream, callback, try_tag);
|
||||
}
|
||||
|
||||
api::StreamData API::GetStreamData(const Stream &stream) {
|
||||
return synthetic_->GetStreamData(stream);
|
||||
if (correspondence_ && correspondence_->Watch(stream)) {
|
||||
return correspondence_->GetStreamData(stream);
|
||||
} else {
|
||||
return synthetic_->GetStreamData(stream);
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<api::StreamData> API::GetStreamDatas(const Stream &stream) {
|
||||
return synthetic_->GetStreamDatas(stream);
|
||||
if (correspondence_ && correspondence_->Watch(stream)) {
|
||||
return correspondence_->GetStreamDatas(stream);
|
||||
} else {
|
||||
return synthetic_->GetStreamDatas(stream);
|
||||
}
|
||||
}
|
||||
|
||||
void API::EnableMotionDatas(std::size_t max_size) {
|
||||
if (correspondence_) return; // not cache them
|
||||
device_->EnableMotionDatas(max_size);
|
||||
}
|
||||
|
||||
std::vector<api::MotionData> API::GetMotionDatas() {
|
||||
std::vector<api::MotionData> datas;
|
||||
for (auto &&data : device_->GetMotionDatas()) {
|
||||
datas.push_back({data.imu});
|
||||
if (correspondence_) {
|
||||
return correspondence_->GetMotionDatas();
|
||||
} else {
|
||||
std::vector<api::MotionData> datas;
|
||||
for (auto &&data : device_->GetMotionDatas()) {
|
||||
datas.push_back({data.imu});
|
||||
}
|
||||
return datas;
|
||||
}
|
||||
}
|
||||
|
||||
void API::EnableTimestampCorrespondence(const Stream &stream) {
|
||||
if (correspondence_ == nullptr) {
|
||||
correspondence_.reset(new Correspondence(device_, stream));
|
||||
{
|
||||
device_->DisableMotionDatas();
|
||||
if (callback_) {
|
||||
correspondence_->SetMotionCallback(callback_);
|
||||
callback_ = nullptr;
|
||||
}
|
||||
}
|
||||
using namespace std::placeholders; // NOLINT
|
||||
device_->SetMotionCallback(
|
||||
std::bind(&Correspondence::OnMotionDataCallback,
|
||||
correspondence_.get(), _1),
|
||||
true);
|
||||
synthetic_->SetStreamDataListener(
|
||||
std::bind(&Correspondence::OnStreamDataCallback,
|
||||
correspondence_.get(), _1, _2));
|
||||
}
|
||||
return datas;
|
||||
}
|
||||
|
||||
void API::EnablePlugin(const std::string &path) {
|
||||
|
|
|
|||
|
|
@ -80,10 +80,6 @@ const T randomNormal(const T &sigma) {
|
|||
return x1 * w * sigma;
|
||||
}
|
||||
|
||||
unsigned long long timeInMicroseconds(void); // NOLINT
|
||||
|
||||
double timeInSeconds(void);
|
||||
|
||||
void colorDepthImage(
|
||||
cv::Mat &imgDepth, cv::Mat &imgColoredDepth, float minRange, // NOLINT
|
||||
float maxRange);
|
||||
|
|
@ -107,8 +103,6 @@ void LLtoUTM(
|
|||
void UTMtoLL(
|
||||
double utmNorthing, double utmEasting, const std::string &utmZone, // 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_
|
||||
|
|
|
|||
|
|
@ -276,7 +276,8 @@ void EquidistantCamera::estimateIntrinsics(
|
|||
double f0 = 0.0;
|
||||
for (size_t i = 0; i < imagePoints.size(); ++i) {
|
||||
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) {
|
||||
std::vector<cv::Point2d> circle;
|
||||
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()) {
|
||||
|
|
|
|||
|
|
@ -16,6 +16,7 @@
|
|||
#include <set>
|
||||
#ifdef _WIN32
|
||||
#include <winsock.h>
|
||||
#define M_PI (3.14159265358979323846)
|
||||
#else
|
||||
#include <time.h>
|
||||
#endif
|
||||
|
|
@ -109,69 +110,8 @@ getFILETIMEoffset() {
|
|||
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
|
||||
|
||||
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] = {
|
||||
{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},
|
||||
|
|
@ -745,23 +685,4 @@ void UTMtoLL(
|
|||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
277
src/mynteye/api/correspondence.cc
Normal file
277
src/mynteye/api/correspondence.cc
Normal file
|
|
@ -0,0 +1,277 @@
|
|||
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#include "mynteye/api/correspondence.h"
|
||||
|
||||
#include "mynteye/device/device.h"
|
||||
#include "mynteye/logger.h"
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
Correspondence::Correspondence(const std::shared_ptr<Device> &device,
|
||||
const Stream &stream)
|
||||
: device_(device), stream_(stream), ready_image_timestamp_(0) {
|
||||
VLOG(2) << __func__;
|
||||
// set matched stream to be watched too,
|
||||
// aim to make stream and matched stream correspondence
|
||||
if (stream_ == Stream::LEFT) {
|
||||
stream_match_ = Stream::RIGHT;
|
||||
} else if (stream_ == Stream::RIGHT) {
|
||||
stream_match_ = Stream::LEFT;
|
||||
} else if (stream_ == Stream::LEFT_RECTIFIED) {
|
||||
stream_match_ = Stream::RIGHT_RECTIFIED;
|
||||
} else if (stream_ == Stream::RIGHT_RECTIFIED) {
|
||||
stream_match_ = Stream::LEFT_RECTIFIED;
|
||||
} else {
|
||||
stream_match_ = Stream::LAST;
|
||||
}
|
||||
EnableStreamMatch();
|
||||
|
||||
auto framerate = device_->GetOptionValue(Option::FRAME_RATE);
|
||||
stream_interval_us_ = 1000000.f / framerate;
|
||||
stream_interval_us_half_ = 0.5f * stream_interval_us_;
|
||||
VLOG(2) << "framerate: " << framerate
|
||||
<< ", interval_us: " << stream_interval_us_;
|
||||
}
|
||||
|
||||
Correspondence::~Correspondence() {
|
||||
VLOG(2) << __func__;
|
||||
}
|
||||
|
||||
bool Correspondence::Watch(const Stream &stream) const {
|
||||
if (stream == stream_) return true;
|
||||
if (stream_match_enabled_ && stream == stream_match_) return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
void Correspondence::OnStreamDataCallback(
|
||||
const Stream &stream, const api::StreamData &data) {
|
||||
if (!Watch(stream)) {
|
||||
return; // unwatched
|
||||
}
|
||||
// LOG(INFO) << __func__ << ", " << stream
|
||||
// << ", id: " << data.frame_id << ", stamp: " << data.img->timestamp;
|
||||
// if (data.img == nullptr) {
|
||||
// LOG(FATAL) << "stream data image info is empty!";
|
||||
// }
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
|
||||
if (stream == stream_) {
|
||||
stream_datas_.push_back(std::move(data));
|
||||
} else if (/*stream_match_enabled_ && */stream == stream_match_) {
|
||||
stream_datas_match_.push_back(std::move(data));
|
||||
}
|
||||
NotifyStreamDataReady();
|
||||
}
|
||||
|
||||
void Correspondence::OnMotionDataCallback(const device::MotionData &data) {
|
||||
// LOG(INFO) << __func__ << ", id: " << data.imu->frame_id
|
||||
// << ", stamp: " << data.imu->timestamp;
|
||||
{
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_motion_datas_);
|
||||
motion_datas_.push_back(data);
|
||||
}
|
||||
if (motion_callback_) {
|
||||
motion_callback_({data.imu});
|
||||
}
|
||||
}
|
||||
|
||||
void Correspondence::SetMotionCallback(API::motion_callback_t callback) {
|
||||
// LOG(INFO) << __func__;
|
||||
motion_callback_ = callback;
|
||||
}
|
||||
|
||||
void Correspondence::WaitForStreams() {
|
||||
if (stream_ == Stream::LEFT || stream_ == Stream::RIGHT) {
|
||||
// Wait native stream ready, avoid get these stream empty
|
||||
// Todo: determine native stream according to device
|
||||
WaitStreamDataReady();
|
||||
return;
|
||||
}
|
||||
device_->WaitForStreams();
|
||||
}
|
||||
|
||||
api::StreamData Correspondence::GetStreamData(const Stream &stream) {
|
||||
auto datas = GetStreamDatas(stream);
|
||||
return datas.empty() ? api::StreamData{} : datas.back();
|
||||
}
|
||||
|
||||
std::vector<api::StreamData> Correspondence::GetStreamDatas(
|
||||
const Stream &stream) {
|
||||
if (!Watch(stream)) {
|
||||
LOG(ERROR) << "Get unwatched stream data of " << stream;
|
||||
return {};
|
||||
}
|
||||
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
|
||||
static std::uint32_t stream_count_ = 0;
|
||||
static std::uint32_t stream_match_count_ = 0;
|
||||
|
||||
if (stream == stream_) {
|
||||
auto datas = GetReadyStreamData(false);
|
||||
|
||||
if (stream_count_ < 10) {
|
||||
++stream_count_;
|
||||
} else {
|
||||
// get stream, but not get matched stream, disable it
|
||||
if (stream_match_count_ == 0) {
|
||||
DisableStreamMatch();
|
||||
}
|
||||
}
|
||||
|
||||
return datas;
|
||||
} else if (/*stream_match_enabled_ && */stream == stream_match_) {
|
||||
auto datas = GetReadyStreamData(true);
|
||||
|
||||
if (stream_match_count_ < 10) {
|
||||
++stream_match_count_;
|
||||
}
|
||||
|
||||
return datas;
|
||||
}
|
||||
|
||||
return {};
|
||||
}
|
||||
|
||||
std::vector<api::MotionData> Correspondence::GetMotionDatas() {
|
||||
return GetReadyMotionDatas();
|
||||
}
|
||||
|
||||
void Correspondence::EnableStreamMatch() {
|
||||
stream_match_enabled_ = true;
|
||||
}
|
||||
|
||||
void Correspondence::DisableStreamMatch() {
|
||||
stream_match_enabled_ = false;
|
||||
stream_datas_match_.clear();
|
||||
}
|
||||
|
||||
void Correspondence::WaitStreamDataReady() {
|
||||
std::unique_lock<std::recursive_mutex> lock(mtx_stream_datas_);
|
||||
auto ready = std::bind(&Correspondence::IsStreamDataReady, this);
|
||||
bool ok = cond_stream_datas_.wait_for(lock, std::chrono::seconds(3), ready);
|
||||
if (!ok) {
|
||||
LOG(FATAL) << "Timeout waiting for key frames. Please use USB 3.0, and not "
|
||||
"in virtual machine.";
|
||||
}
|
||||
}
|
||||
|
||||
void Correspondence::NotifyStreamDataReady() {
|
||||
cond_stream_datas_.notify_one();
|
||||
}
|
||||
|
||||
bool Correspondence::IsStreamDataReady() {
|
||||
if (stream_datas_.empty()) return false;
|
||||
if (stream_match_enabled_) {
|
||||
if (stream_datas_match_.empty()) return false;
|
||||
}
|
||||
if (motion_datas_.empty()) return false;
|
||||
|
||||
std::uint64_t img_stamp = 0;
|
||||
std::uint64_t img_macth_stamp = 0;
|
||||
{
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
|
||||
auto data = stream_datas_.front();
|
||||
if (data.img == nullptr) {
|
||||
LOG(FATAL) << "stream data image info is empty!";
|
||||
}
|
||||
img_stamp = data.img->timestamp;
|
||||
|
||||
if (stream_match_enabled_) {
|
||||
img_macth_stamp = stream_datas_match_.front().img->timestamp;
|
||||
}
|
||||
}
|
||||
std::uint64_t imu_stamp = 0;
|
||||
{
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_motion_datas_);
|
||||
auto data = motion_datas_.back();
|
||||
if (data.imu == nullptr) {
|
||||
LOG(FATAL) << "motion data imu info is empty!";
|
||||
}
|
||||
imu_stamp = data.imu->timestamp;
|
||||
}
|
||||
|
||||
if (stream_match_enabled_) {
|
||||
return img_stamp + stream_interval_us_half_ < imu_stamp
|
||||
&& img_macth_stamp + stream_interval_us_half_ < imu_stamp;
|
||||
} else {
|
||||
return img_stamp + stream_interval_us_half_ < imu_stamp;
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<api::StreamData> Correspondence::GetReadyStreamData(bool matched) {
|
||||
std::uint64_t imu_stamp = 0;
|
||||
{
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_motion_datas_);
|
||||
if (motion_datas_.empty()) {
|
||||
LOG(WARNING) << "motion data is unexpected empty!"
|
||||
"\n\n Please ensure Start(Source::MOTION_TRACKING) "
|
||||
"or Start(Source::ALL)\n";
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
|
||||
return std::move(matched ? stream_datas_match_ : stream_datas_);
|
||||
}
|
||||
imu_stamp = motion_datas_.back().imu->timestamp;
|
||||
}
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
|
||||
|
||||
std::vector<api::StreamData> &datas =
|
||||
matched ? stream_datas_match_ : stream_datas_;
|
||||
|
||||
// LOG(INFO) << "datas.size: " << datas.size() << ", matched: " << matched;
|
||||
std::vector<api::StreamData> result;
|
||||
|
||||
for (auto it = datas.begin(); it != datas.end(); ) {
|
||||
// LOG(INFO) << "data.id: " << it->frame_id;
|
||||
auto img_stamp = it->img->timestamp;
|
||||
if (img_stamp + stream_interval_us_half_ < imu_stamp) {
|
||||
// LOG(INFO) << "data.id: " << it->frame_id << " > result";
|
||||
result.push_back(std::move(*it));
|
||||
it = datas.erase(it);
|
||||
} else {
|
||||
// ++it;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// LOG(INFO) << "datas.size: " << datas.size()
|
||||
// << ", result.size: " << result.size();
|
||||
|
||||
if (!matched && !result.empty()) {
|
||||
// last match stream timestamp
|
||||
ready_image_timestamp_ = result.back().img->timestamp;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
std::vector<api::MotionData> Correspondence::GetReadyMotionDatas() {
|
||||
if (ready_image_timestamp_ == 0) return {};
|
||||
std::lock_guard<std::recursive_mutex> _(mtx_motion_datas_);
|
||||
|
||||
std::vector<api::MotionData> result;
|
||||
|
||||
auto &&datas = motion_datas_;
|
||||
for (auto it = datas.begin(); it != datas.end(); ) {
|
||||
auto imu_stamp = it->imu->timestamp;
|
||||
if (imu_stamp < ready_image_timestamp_ - stream_interval_us_half_) {
|
||||
it = datas.erase(it);
|
||||
} else if (imu_stamp > ready_image_timestamp_ + stream_interval_us_half_) {
|
||||
// ++it;
|
||||
break;
|
||||
} else {
|
||||
result.push_back({it->imu});
|
||||
it = datas.erase(it);
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
80
src/mynteye/api/correspondence.h
Normal file
80
src/mynteye/api/correspondence.h
Normal file
|
|
@ -0,0 +1,80 @@
|
|||
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#ifndef MYNTEYE_API_CONFIG_H_
|
||||
#define MYNTEYE_API_CONFIG_H_
|
||||
#pragma once
|
||||
|
||||
#include <atomic>
|
||||
#include <condition_variable>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <vector>
|
||||
|
||||
#include "mynteye/api/api.h"
|
||||
#include "mynteye/device/callbacks.h"
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
class Correspondence {
|
||||
public:
|
||||
Correspondence(const std::shared_ptr<Device> &device, const Stream &stream);
|
||||
~Correspondence();
|
||||
|
||||
bool Watch(const Stream &stream) const;
|
||||
|
||||
void OnStreamDataCallback(const Stream &stream, const api::StreamData &data);
|
||||
void OnMotionDataCallback(const device::MotionData &data);
|
||||
|
||||
void SetMotionCallback(API::motion_callback_t callback);
|
||||
|
||||
void WaitForStreams();
|
||||
api::StreamData GetStreamData(const Stream &stream);
|
||||
std::vector<api::StreamData> GetStreamDatas(const Stream &stream);
|
||||
std::vector<api::MotionData> GetMotionDatas();
|
||||
|
||||
private:
|
||||
void EnableStreamMatch();
|
||||
void DisableStreamMatch();
|
||||
|
||||
void WaitStreamDataReady();
|
||||
void NotifyStreamDataReady();
|
||||
|
||||
bool IsStreamDataReady();
|
||||
|
||||
std::vector<api::StreamData> GetReadyStreamData(bool matched);
|
||||
std::vector<api::MotionData> GetReadyMotionDatas();
|
||||
|
||||
std::shared_ptr<Device> device_;
|
||||
Stream stream_;
|
||||
Stream stream_match_;
|
||||
std::atomic_bool stream_match_enabled_;
|
||||
|
||||
float stream_interval_us_;
|
||||
float stream_interval_us_half_;
|
||||
|
||||
API::motion_callback_t motion_callback_;
|
||||
std::vector<device::MotionData> motion_datas_;
|
||||
std::recursive_mutex mtx_motion_datas_;
|
||||
|
||||
std::vector<api::StreamData> stream_datas_;
|
||||
std::vector<api::StreamData> stream_datas_match_;
|
||||
std::recursive_mutex mtx_stream_datas_;
|
||||
std::condition_variable_any cond_stream_datas_;
|
||||
|
||||
std::uint64_t ready_image_timestamp_;
|
||||
};
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
||||
#endif // MYNTEYE_API_CONFIG_H_
|
||||
78
src/mynteye/api/data_tools.cc
Normal file
78
src/mynteye/api/data_tools.cc
Normal file
|
|
@ -0,0 +1,78 @@
|
|||
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#include <algorithm>
|
||||
#include <functional>
|
||||
#include <stdexcept>
|
||||
#include "mynteye/api/data_tools.h"
|
||||
#include "mynteye/logger.h"
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
|
||||
if (frame->format() == Format::YUYV) {
|
||||
cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
|
||||
cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
|
||||
return img;
|
||||
} else if (frame->format() == Format::BGR888) {
|
||||
cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
|
||||
return img;
|
||||
} else { // Format::GRAY
|
||||
return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
|
||||
}
|
||||
}
|
||||
|
||||
api::StreamData data2api(const device::StreamData &data) {
|
||||
return {data.img, frame2mat(data.frame), data.frame, data.frame_id};
|
||||
}
|
||||
|
||||
// ObjMat/ObjMat2 > api::StreamData
|
||||
|
||||
api::StreamData obj_data_first(const ObjMat2 *obj) {
|
||||
return {obj->first_data, obj->first, nullptr, obj->first_id};
|
||||
}
|
||||
|
||||
api::StreamData obj_data_second(const ObjMat2 *obj) {
|
||||
return {obj->second_data, obj->second, nullptr, obj->second_id};
|
||||
}
|
||||
|
||||
api::StreamData obj_data(const ObjMat *obj) {
|
||||
return {obj->data, obj->value, nullptr, obj->id};
|
||||
}
|
||||
|
||||
api::StreamData obj_data_first(const std::shared_ptr<ObjMat2> &obj) {
|
||||
return {obj->first_data, obj->first, nullptr, obj->first_id};
|
||||
}
|
||||
|
||||
api::StreamData obj_data_second(const std::shared_ptr<ObjMat2> &obj) {
|
||||
return {obj->second_data, obj->second, nullptr, obj->second_id};
|
||||
}
|
||||
|
||||
api::StreamData obj_data(const std::shared_ptr<ObjMat> &obj) {
|
||||
return {obj->data, obj->value, nullptr, obj->id};
|
||||
}
|
||||
|
||||
// api::StreamData > ObjMat/ObjMat2
|
||||
|
||||
ObjMat data_obj(const api::StreamData &data) {
|
||||
return ObjMat{data.frame, data.frame_id, data.img};
|
||||
}
|
||||
|
||||
ObjMat2 data_obj(const api::StreamData &first, const api::StreamData &second) {
|
||||
return ObjMat2{
|
||||
first.frame, first.frame_id, first.img,
|
||||
second.frame, second.frame_id, second.img};
|
||||
}
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
33
src/mynteye/api/data_tools.h
Normal file
33
src/mynteye/api/data_tools.h
Normal file
|
|
@ -0,0 +1,33 @@
|
|||
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#ifndef MYNTEYE_API_DATA_TOOLS_H_
|
||||
#define MYNTEYE_API_DATA_TOOLS_H_
|
||||
#pragma once
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include "mynteye/api/object.h"
|
||||
#include "mynteye/api/api.h"
|
||||
#include "mynteye/device/device.h"
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame);
|
||||
api::StreamData data2api(const device::StreamData &data);
|
||||
api::StreamData obj_data_first(const ObjMat2 *obj);
|
||||
api::StreamData obj_data_second(const ObjMat2 *obj);
|
||||
api::StreamData obj_data(const ObjMat *obj);
|
||||
api::StreamData obj_data_first(const std::shared_ptr<ObjMat2> &obj);
|
||||
api::StreamData obj_data_second(const std::shared_ptr<ObjMat2> &obj);
|
||||
api::StreamData obj_data(const std::shared_ptr<ObjMat> &obj);
|
||||
ObjMat data_obj(const api::StreamData &data);
|
||||
ObjMat2 data_obj(const api::StreamData &first, const api::StreamData &second);
|
||||
MYNTEYE_END_NAMESPACE
|
||||
#endif // MYNTEYE_API_DATA_TOOLS_H_
|
||||
|
|
@ -19,6 +19,7 @@
|
|||
#include "mynteye/logger.h"
|
||||
#include "mynteye/util/strings.h"
|
||||
#include "mynteye/util/times.h"
|
||||
#include "mynteye/api/data_tools.h"
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
|
|
@ -245,6 +246,74 @@ void Processor::Run() {
|
|||
VLOG(2) << Name() << " thread end";
|
||||
}
|
||||
|
||||
api::StreamData Processor::GetStreamData(const Stream &stream) {
|
||||
auto sum = getStreamsSum();
|
||||
auto &&out = GetOutput();
|
||||
Synthetic::Mode enable_mode = Synthetic::MODE_OFF;
|
||||
auto streams = getTargetStreams();
|
||||
for (auto it_s : streams) {
|
||||
if (it_s.stream == stream) {
|
||||
enable_mode = it_s.enabled_mode_;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (enable_mode == Synthetic::MODE_ON) {
|
||||
if (sum == 1) {
|
||||
if (out != nullptr) {
|
||||
auto &&output = Object::Cast<ObjMat>(out);
|
||||
if (output != nullptr) {
|
||||
return obj_data(output);
|
||||
}
|
||||
VLOG(2) << "Rectify not ready now";
|
||||
}
|
||||
} else if (sum == 2) {
|
||||
static std::shared_ptr<ObjMat2> output = nullptr;
|
||||
if (out != nullptr) {
|
||||
output = Object::Cast<ObjMat2>(out);
|
||||
}
|
||||
auto streams = getTargetStreams();
|
||||
if (output != nullptr) {
|
||||
int num = 0;
|
||||
for (auto it : streams) {
|
||||
if (it.stream == stream) {
|
||||
if (num == 1) {
|
||||
return obj_data_first(output);
|
||||
} else {
|
||||
return obj_data_second(output);
|
||||
}
|
||||
}
|
||||
num++;
|
||||
}
|
||||
}
|
||||
VLOG(2) << "Rectify not ready now";
|
||||
} else {
|
||||
LOG(ERROR) << "error: invalid sum!";
|
||||
}
|
||||
return {}; // frame.empty() == true
|
||||
}
|
||||
LOG(ERROR) << "Failed to get stream data of " << stream
|
||||
<< ", unsupported or disabled";
|
||||
return {}; // frame.empty() == true
|
||||
}
|
||||
|
||||
std::vector<api::StreamData> Processor::GetStreamDatas(const Stream &stream) {
|
||||
Synthetic::Mode enable_mode = Synthetic::MODE_OFF;
|
||||
auto streams = getTargetStreams();
|
||||
for (auto it_s : streams) {
|
||||
if (it_s.stream == stream) {
|
||||
enable_mode = it_s.enabled_mode_;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (enable_mode == Synthetic::MODE_ON) {
|
||||
return {GetStreamData(stream)};
|
||||
} else {
|
||||
LOG(ERROR) << "Failed to get stream data of " << stream
|
||||
<< ", unsupported or disabled";
|
||||
}
|
||||
return {};
|
||||
}
|
||||
|
||||
void Processor::SetIdle(bool idle) {
|
||||
std::lock_guard<std::mutex> lk(mtx_state_);
|
||||
idle_ = idle;
|
||||
|
|
|
|||
|
|
@ -66,6 +66,10 @@ class Processor :
|
|||
/** Returns dropped or not. */
|
||||
bool Process(const Object &in);
|
||||
|
||||
virtual api::StreamData GetStreamData(const Stream &stream);
|
||||
|
||||
virtual std::vector<api::StreamData> GetStreamDatas(const Stream &stream);
|
||||
|
||||
/**
|
||||
* Returns the last output.
|
||||
* @note Returns null if not output now.
|
||||
|
|
|
|||
|
|
@ -14,15 +14,21 @@
|
|||
#include "mynteye/api/processor/root_camera_processor.h"
|
||||
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
#include <opencv2/calib3d/calib3d.hpp>
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include "mynteye/logger.h"
|
||||
#include "mynteye/api/synthetic.h"
|
||||
#include "mynteye/device/device.h"
|
||||
#include "mynteye/api/data_tools.h"
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
const char RootProcessor::NAME[] = "RootProcessor";
|
||||
|
||||
RootProcessor::RootProcessor(std::int32_t proc_period)
|
||||
: Processor(std::move(proc_period)) {}
|
||||
RootProcessor::RootProcessor(std::shared_ptr<Device> device,
|
||||
std::int32_t proc_period)
|
||||
: Processor(std::move(proc_period)),
|
||||
device_(device) {}
|
||||
RootProcessor::~RootProcessor() {
|
||||
VLOG(2) << __func__;
|
||||
}
|
||||
|
|
@ -31,13 +37,114 @@ std::string RootProcessor::Name() {
|
|||
return NAME;
|
||||
}
|
||||
|
||||
Object *RootProcessor::OnCreateOutput() {
|
||||
s1s2Processor::s1s2Processor(std::shared_ptr<Device> device,
|
||||
std::int32_t proc_period)
|
||||
: RootProcessor(device, std::move(proc_period)) {}
|
||||
s1s2Processor::~s1s2Processor() {
|
||||
VLOG(2) << __func__;
|
||||
}
|
||||
|
||||
Object *s1s2Processor::OnCreateOutput() {
|
||||
return new ObjMat2();
|
||||
}
|
||||
bool RootProcessor::OnProcess(
|
||||
bool s1s2Processor::OnProcess(
|
||||
Object *const in, Object *const out,
|
||||
std::shared_ptr<Processor> const parent) {
|
||||
const ObjMat2 *input = Object::Cast<ObjMat2>(in);
|
||||
ObjMat2 *output = Object::Cast<ObjMat2>(out);
|
||||
output->second = input->second;
|
||||
output->first = input->first;
|
||||
output->first_id = input->first_id;
|
||||
output->first_data = input->first_data;
|
||||
output->second_id = input->second_id;
|
||||
output->second_data = input->second_data;
|
||||
MYNTEYE_UNUSED(parent)
|
||||
return true;
|
||||
}
|
||||
|
||||
void s1s2Processor::ProcessNativeStream(
|
||||
const Stream &stream, const api::StreamData &data) {
|
||||
std::unique_lock<std::mutex> lk(mtx_left_right_ready_);
|
||||
static api::StreamData left_data, right_data;
|
||||
if (stream == Stream::LEFT) {
|
||||
left_data = data;
|
||||
} else if (stream == Stream::RIGHT) {
|
||||
right_data = data;
|
||||
}
|
||||
if (left_data.img && right_data.img &&
|
||||
left_data.img->frame_id == right_data.img->frame_id) {
|
||||
Process(data_obj(left_data, right_data));
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
void s1s2Processor::StartVideoStreaming() {
|
||||
Activate();
|
||||
auto streams = getTargetStreams();
|
||||
for (unsigned int j =0; j< streams.size(); j++) {
|
||||
auto stream = streams[j].stream;
|
||||
auto callback = streams[j].stream_callback;
|
||||
target_streams_[j].enabled_mode_ = Synthetic::MODE_ON;
|
||||
device_->SetStreamCallback(
|
||||
stream,
|
||||
[this, stream, callback](const device::StreamData &data) {
|
||||
auto &&stream_data = data2api(data);
|
||||
ProcessNativeStream(stream, stream_data);
|
||||
// Need mutex if set callback after start
|
||||
if (callback) {
|
||||
callback(stream_data);
|
||||
}
|
||||
},
|
||||
true);
|
||||
}
|
||||
device_->Start(Source::VIDEO_STREAMING);
|
||||
}
|
||||
|
||||
void s1s2Processor::StopVideoStreaming() {
|
||||
Deactivate();
|
||||
auto streams = getTargetStreams();
|
||||
for (unsigned int j =0; j< streams.size(); j++) {
|
||||
auto stream = streams[j].stream;
|
||||
target_streams_[j].enabled_mode_ = Synthetic::MODE_OFF;
|
||||
device_->SetStreamCallback(stream, nullptr);
|
||||
}
|
||||
device_->Stop(Source::VIDEO_STREAMING);
|
||||
}
|
||||
api::StreamData s1s2Processor::GetStreamData(const Stream &stream) {
|
||||
Synthetic::Mode enable_mode = Synthetic::MODE_OFF;
|
||||
auto streams = getTargetStreams();
|
||||
for (auto it_s : streams) {
|
||||
if (it_s.stream == stream) {
|
||||
enable_mode = it_s.enabled_mode_;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (enable_mode == Synthetic::MODE_ON) {
|
||||
return data2api(device_->GetStreamData(stream));
|
||||
}
|
||||
LOG(ERROR) << "Failed to get device stream data of " << stream
|
||||
<< ", unsupported or disabled";
|
||||
LOG(ERROR) << "Make sure you have enable " << stream;
|
||||
return {};
|
||||
}
|
||||
|
||||
std::vector<api::StreamData> s1s2Processor::GetStreamDatas(
|
||||
const Stream &stream) {
|
||||
Synthetic::Mode enable_mode = Synthetic::MODE_OFF;
|
||||
auto streams = getTargetStreams();
|
||||
for (auto it_s : streams) {
|
||||
if (it_s.stream == stream) {
|
||||
enable_mode = it_s.enabled_mode_;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (enable_mode == Synthetic::MODE_ON) {
|
||||
std::vector<api::StreamData> datas;
|
||||
for (auto &&data : device_->GetStreamDatas(stream)) {
|
||||
datas.push_back(data2api(data));
|
||||
}
|
||||
return datas;
|
||||
}
|
||||
}
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
|
|
|||
|
|
@ -28,16 +28,42 @@ class RootProcessor : public Processor {
|
|||
public:
|
||||
static const char NAME[];
|
||||
|
||||
explicit RootProcessor(std::int32_t proc_period = 0);
|
||||
explicit RootProcessor(std::shared_ptr<Device> device,
|
||||
std::int32_t proc_period = 0);
|
||||
virtual ~RootProcessor();
|
||||
|
||||
std::string Name() override;
|
||||
virtual std::string Name();
|
||||
|
||||
virtual void StartVideoStreaming() = 0;
|
||||
virtual void StopVideoStreaming() = 0;
|
||||
virtual api::StreamData GetStreamData(const Stream &stream) = 0;
|
||||
virtual std::vector<api::StreamData> GetStreamDatas(const Stream &stream) = 0; // NOLINT
|
||||
protected:
|
||||
virtual Object *OnCreateOutput() = 0;
|
||||
virtual bool OnProcess(
|
||||
Object *const in, Object *const out,
|
||||
std::shared_ptr<Processor> const parent) = 0;
|
||||
std::shared_ptr<Device> device_;
|
||||
};
|
||||
|
||||
class s1s2Processor : public RootProcessor {
|
||||
public:
|
||||
explicit s1s2Processor(std::shared_ptr<Device> device,
|
||||
std::int32_t proc_period = 0);
|
||||
virtual ~s1s2Processor();
|
||||
void StartVideoStreaming();
|
||||
void StopVideoStreaming();
|
||||
api::StreamData GetStreamData(const Stream &stream) override;
|
||||
std::vector<api::StreamData> GetStreamDatas(const Stream &stream) override; // NOLINT
|
||||
protected:
|
||||
Object *OnCreateOutput() override;
|
||||
bool OnProcess(
|
||||
Object *const in, Object *const out,
|
||||
std::shared_ptr<Processor> const parent) override;
|
||||
private:
|
||||
void ProcessNativeStream(
|
||||
const Stream &stream, const api::StreamData &data);
|
||||
std::mutex mtx_left_right_ready_;
|
||||
};
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
|
|
|||
|
|
@ -36,6 +36,7 @@
|
|||
#include "mynteye/api/processor/rectify_processor.h"
|
||||
#endif
|
||||
#include "mynteye/device/device.h"
|
||||
#include "mynteye/api/data_tools.h"
|
||||
|
||||
#define RECTIFY_PROC_PERIOD 0
|
||||
#define DISPARITY_PROC_PERIOD 0
|
||||
|
|
@ -46,36 +47,6 @@
|
|||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
namespace {
|
||||
|
||||
cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
|
||||
if (frame->format() == Format::YUYV) {
|
||||
cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
|
||||
cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
|
||||
return img;
|
||||
} else if (frame->format() == Format::BGR888) {
|
||||
cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
|
||||
return img;
|
||||
} else { // Format::GRAY
|
||||
return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
|
||||
}
|
||||
}
|
||||
|
||||
api::StreamData data2api(const device::StreamData &data) {
|
||||
return {data.img, frame2mat(data.frame), data.frame, data.frame_id};
|
||||
}
|
||||
|
||||
void process_childs(
|
||||
const std::shared_ptr<Processor> &proc, const std::string &name,
|
||||
const Object &obj) {
|
||||
auto &&processor = find_processor<Processor>(proc, name);
|
||||
for (auto child : processor->GetChilds()) {
|
||||
child->Process(obj);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
void Synthetic::InitCalibInfo() {
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
LOG(INFO) << "camera calib model: pinhole";
|
||||
|
|
@ -105,12 +76,12 @@ Synthetic::Synthetic(API *api, CalibrationModel calib_model)
|
|||
: api_(api),
|
||||
plugin_(nullptr),
|
||||
calib_model_(calib_model),
|
||||
calib_default_tag_(false) {
|
||||
calib_default_tag_(false),
|
||||
stream_data_listener_(nullptr) {
|
||||
VLOG(2) << __func__;
|
||||
CHECK_NOTNULL(api_);
|
||||
InitCalibInfo();
|
||||
InitProcessors();
|
||||
InitStreamSupports();
|
||||
}
|
||||
|
||||
Synthetic::~Synthetic() {
|
||||
|
|
@ -121,6 +92,10 @@ Synthetic::~Synthetic() {
|
|||
}
|
||||
}
|
||||
|
||||
void Synthetic::SetStreamDataListener(stream_data_listener_t listener) {
|
||||
stream_data_listener_ = listener;
|
||||
}
|
||||
|
||||
void Synthetic::NotifyImageParamsChanged() {
|
||||
if (!calib_default_tag_) {
|
||||
intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
|
||||
|
|
@ -128,19 +103,18 @@ void Synthetic::NotifyImageParamsChanged() {
|
|||
extr_ = std::make_shared<Extrinsics>(
|
||||
api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
|
||||
}
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
|
||||
if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
|
||||
auto processor = getProcessorWithStream(Stream::LEFT_RECTIFIED);
|
||||
|
||||
if (processor && calib_model_ == CalibrationModel::PINHOLE) {
|
||||
auto proc = static_cast<RectifyProcessorOCV*>(&(*processor));
|
||||
proc->ReloadImageParams(intr_left_, intr_right_, extr_);
|
||||
#ifdef WITH_CAM_MODELS
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
auto &&processor = find_processor<RectifyProcessor>(processor_);
|
||||
if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
|
||||
} else if (processor && calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
auto proc = static_cast<RectifyProcessor*>(&(*processor));
|
||||
proc->ReloadImageParams(intr_left_, intr_right_, extr_);
|
||||
#endif
|
||||
} else {
|
||||
LOG(ERROR) << "Unknow calib model type in device: "
|
||||
<< calib_model_ << ", use default pinhole model";
|
||||
auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
|
||||
if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
|
||||
LOG(ERROR) << "Unknow calib model type in device" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -195,17 +169,29 @@ bool Synthetic::checkControlDateWithStream(const Stream& stream) const {
|
|||
return false;
|
||||
}
|
||||
|
||||
void Synthetic::EnableStreamData(const Stream &stream) {
|
||||
bool Synthetic::Supports(const Stream &stream) const {
|
||||
return checkControlDateWithStream(stream);
|
||||
}
|
||||
|
||||
void Synthetic::EnableStreamData(
|
||||
const Stream &stream, stream_switch_callback_t callback,
|
||||
bool try_tag) {
|
||||
// Activate processors of synthetic stream
|
||||
auto processor = getProcessorWithStream(stream);
|
||||
iterate_processor_CtoP_before(processor,
|
||||
[](std::shared_ptr<Processor> proce){
|
||||
[callback, try_tag](std::shared_ptr<Processor> proce){
|
||||
if (proce->Name() == "RootProcessor") {
|
||||
return;
|
||||
}
|
||||
auto streams = proce->getTargetStreams();
|
||||
int act_tag = 0;
|
||||
for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
|
||||
if (proce->target_streams_[i].enabled_mode_ == MODE_LAST) {
|
||||
act_tag++;
|
||||
proce->target_streams_[i].enabled_mode_ = MODE_SYNTHETIC;
|
||||
if (proce->target_streams_[i].enabled_mode_ == MODE_OFF) {
|
||||
callback(proce->target_streams_[i].stream);
|
||||
if (!try_tag) {
|
||||
act_tag++;
|
||||
proce->target_streams_[i].enabled_mode_ = MODE_ON;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (act_tag > 0 && !proce->IsActivated()) {
|
||||
|
|
@ -214,30 +200,24 @@ void Synthetic::EnableStreamData(const Stream &stream) {
|
|||
}
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
bool Synthetic::Supports(const Stream &stream) const {
|
||||
return checkControlDateWithStream(stream);
|
||||
}
|
||||
|
||||
Synthetic::mode_t Synthetic::SupportsMode(const Stream &stream) const {
|
||||
if (checkControlDateWithStream(stream)) {
|
||||
auto data = getControlDateWithStream(stream);
|
||||
return data.support_mode_;
|
||||
}
|
||||
return MODE_LAST;
|
||||
}
|
||||
|
||||
void Synthetic::DisableStreamData(const Stream &stream) {
|
||||
void Synthetic::DisableStreamData(
|
||||
const Stream &stream, stream_switch_callback_t callback,
|
||||
bool try_tag) {
|
||||
auto processor = getProcessorWithStream(stream);
|
||||
iterate_processor_PtoC_before(processor,
|
||||
[](std::shared_ptr<Processor> proce){
|
||||
[callback, try_tag](std::shared_ptr<Processor> proce){
|
||||
if (proce->Name() == "RootProcessor") {
|
||||
return;
|
||||
}
|
||||
auto streams = proce->getTargetStreams();
|
||||
int act_tag = 0;
|
||||
for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
|
||||
if (proce->target_streams_[i].enabled_mode_ == MODE_SYNTHETIC) {
|
||||
act_tag++;
|
||||
proce->target_streams_[i].enabled_mode_ = MODE_LAST;
|
||||
if (proce->target_streams_[i].enabled_mode_ == MODE_ON) {
|
||||
callback(proce->target_streams_[i].stream);
|
||||
if (!try_tag) {
|
||||
act_tag++;
|
||||
proce->target_streams_[i].enabled_mode_ = MODE_OFF;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (act_tag > 0 && proce->IsActivated()) {
|
||||
|
|
@ -247,11 +227,24 @@ void Synthetic::DisableStreamData(const Stream &stream) {
|
|||
});
|
||||
}
|
||||
|
||||
void Synthetic::EnableStreamData(const Stream &stream) {
|
||||
EnableStreamData(stream, [](const Stream &stream){
|
||||
// std::cout << stream << "enabled in callback" << std::endl;
|
||||
MYNTEYE_UNUSED(stream);
|
||||
}, false);
|
||||
}
|
||||
|
||||
void Synthetic::DisableStreamData(const Stream &stream) {
|
||||
DisableStreamData(stream, [](const Stream &stream){
|
||||
// std::cout << stream << "disabled in callback" << std::endl;
|
||||
MYNTEYE_UNUSED(stream);
|
||||
}, false);
|
||||
}
|
||||
|
||||
bool Synthetic::IsStreamDataEnabled(const Stream &stream) const {
|
||||
if (checkControlDateWithStream(stream)) {
|
||||
auto data = getControlDateWithStream(stream);
|
||||
return data.enabled_mode_ == MODE_SYNTHETIC ||
|
||||
data.enabled_mode_ == MODE_NATIVE;
|
||||
return data.enabled_mode_ == MODE_ON;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
|
@ -279,42 +272,11 @@ bool Synthetic::HasStreamCallback(const Stream &stream) const {
|
|||
}
|
||||
|
||||
void Synthetic::StartVideoStreaming() {
|
||||
auto &&device = api_->device();
|
||||
for (unsigned int i =0; i< processors_.size(); i++) {
|
||||
auto streams = processors_[i]->getTargetStreams();
|
||||
for (unsigned int j =0; j< streams.size(); j++) {
|
||||
if (processors_[i]->target_streams_[j].support_mode_ == MODE_NATIVE) {
|
||||
auto stream = processors_[i]->target_streams_[j].stream;
|
||||
device->SetStreamCallback(
|
||||
stream,
|
||||
[this, stream](const device::StreamData &data) {
|
||||
auto &&stream_data = data2api(data);
|
||||
ProcessNativeStream(stream, stream_data);
|
||||
// Need mutex if set callback after start
|
||||
if (HasStreamCallback(stream)) {
|
||||
auto data = getControlDateWithStream(stream);
|
||||
data.stream_callback(stream_data);
|
||||
}
|
||||
},
|
||||
true);
|
||||
}
|
||||
}
|
||||
}
|
||||
device->Start(Source::VIDEO_STREAMING);
|
||||
processor_->StartVideoStreaming();
|
||||
}
|
||||
|
||||
void Synthetic::StopVideoStreaming() {
|
||||
auto &&device = api_->device();
|
||||
for (unsigned int i =0; i< processors_.size(); i++) {
|
||||
auto streams = processors_[i]->getTargetStreams();
|
||||
for (unsigned int j =0; j< streams.size(); j++) {
|
||||
if (processors_[i]->target_streams_[j].support_mode_ == MODE_NATIVE) {
|
||||
auto stream = processors_[i]->target_streams_[j].stream;
|
||||
device->SetStreamCallback(stream, nullptr);
|
||||
}
|
||||
}
|
||||
}
|
||||
device->Stop(Source::VIDEO_STREAMING);
|
||||
processor_->StopVideoStreaming();
|
||||
}
|
||||
|
||||
void Synthetic::WaitForStreams() {
|
||||
|
|
@ -322,75 +284,11 @@ void Synthetic::WaitForStreams() {
|
|||
}
|
||||
|
||||
api::StreamData Synthetic::GetStreamData(const Stream &stream) {
|
||||
auto &&mode = GetStreamEnabledMode(stream);
|
||||
if (mode == MODE_NATIVE) {
|
||||
auto &&device = api_->device();
|
||||
return data2api(device->GetStreamData(stream));
|
||||
} else if (mode == MODE_SYNTHETIC) {
|
||||
auto processor = getProcessorWithStream(stream);
|
||||
auto sum = processor->getStreamsSum();
|
||||
auto &&out = processor->GetOutput();
|
||||
static std::shared_ptr<ObjMat2> output = nullptr;
|
||||
if (sum == 1) {
|
||||
if (out != nullptr) {
|
||||
auto &&output = Object::Cast<ObjMat>(out);
|
||||
if (output != nullptr) {
|
||||
return {output->data, output->value, nullptr, output->id};
|
||||
}
|
||||
VLOG(2) << "Rectify not ready now";
|
||||
}
|
||||
} else if (sum == 2) {
|
||||
if (out != nullptr) {
|
||||
output = Object::Cast<ObjMat2>(out);
|
||||
}
|
||||
auto streams = processor->getTargetStreams();
|
||||
if (output != nullptr) {
|
||||
int num = 0;
|
||||
for (auto it : streams) {
|
||||
if (it.stream == stream) {
|
||||
if (num == 1) {
|
||||
return {output->first_data,
|
||||
output->first,
|
||||
nullptr,
|
||||
output->first_id};
|
||||
} else {
|
||||
return {output->second_data,
|
||||
output->second,
|
||||
nullptr,
|
||||
output->second_id};
|
||||
}
|
||||
}
|
||||
num++;
|
||||
}
|
||||
}
|
||||
VLOG(2) << "Rectify not ready now";
|
||||
} else {
|
||||
LOG(ERROR) << "error: invalid sum!";
|
||||
}
|
||||
return {}; // frame.empty() == true
|
||||
} else {
|
||||
LOG(ERROR) << "Failed to get stream data of " << stream
|
||||
<< ", unsupported or disabled";
|
||||
return {}; // frame.empty() == true
|
||||
}
|
||||
return getProcessorWithStream(stream)->GetStreamData(stream);
|
||||
}
|
||||
|
||||
std::vector<api::StreamData> Synthetic::GetStreamDatas(const Stream &stream) {
|
||||
auto &&mode = GetStreamEnabledMode(stream);
|
||||
if (mode == MODE_NATIVE) {
|
||||
auto &&device = api_->device();
|
||||
std::vector<api::StreamData> datas;
|
||||
for (auto &&data : device->GetStreamDatas(stream)) {
|
||||
datas.push_back(data2api(data));
|
||||
}
|
||||
return datas;
|
||||
} else if (mode == MODE_SYNTHETIC) {
|
||||
return {GetStreamData(stream)};
|
||||
} else {
|
||||
LOG(ERROR) << "Failed to get stream data of " << stream
|
||||
<< ", unsupported or disabled";
|
||||
}
|
||||
return {};
|
||||
return getProcessorWithStream(stream)->GetStreamDatas(stream);
|
||||
}
|
||||
|
||||
void Synthetic::SetPlugin(std::shared_ptr<Plugin> plugin) {
|
||||
|
|
@ -401,134 +299,87 @@ bool Synthetic::HasPlugin() const {
|
|||
return plugin_ != nullptr;
|
||||
}
|
||||
|
||||
void Synthetic::InitStreamSupports() {
|
||||
auto &&device = api_->device();
|
||||
if (device->Supports(Stream::LEFT) && device->Supports(Stream::RIGHT)) {
|
||||
auto processor = getProcessorWithStream(Stream::LEFT);
|
||||
for (unsigned int i = 0; i< processor->target_streams_.size(); i++) {
|
||||
if (processor->target_streams_[i].stream == Stream::LEFT) {
|
||||
processor->target_streams_[i].support_mode_ = MODE_NATIVE;
|
||||
}
|
||||
if (processor->target_streams_[i].stream == Stream::RIGHT) {
|
||||
processor->target_streams_[i].support_mode_ = MODE_NATIVE;
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<Stream> stream_chain{
|
||||
Stream::LEFT_RECTIFIED, Stream::RIGHT_RECTIFIED,
|
||||
Stream::DISPARITY, Stream::DISPARITY_NORMALIZED,
|
||||
Stream::POINTS, Stream::DEPTH};
|
||||
for (auto &&stream : stream_chain) {
|
||||
auto processor = getProcessorWithStream(stream);
|
||||
for (unsigned int i = 0; i< processor->target_streams_.size(); i++) {
|
||||
if (processor->target_streams_[i].stream == stream) {
|
||||
if (device->Supports(stream)) {
|
||||
processor->target_streams_[i].support_mode_ = MODE_NATIVE;
|
||||
processor->target_streams_[i].enabled_mode_ = MODE_NATIVE;
|
||||
} else {
|
||||
processor->target_streams_[i].support_mode_ = MODE_SYNTHETIC;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Synthetic::mode_t Synthetic::GetStreamEnabledMode(const Stream &stream) const {
|
||||
if (checkControlDateWithStream(stream)) {
|
||||
auto data = getControlDateWithStream(stream);
|
||||
return data.enabled_mode_;
|
||||
}
|
||||
return MODE_LAST;
|
||||
}
|
||||
|
||||
bool Synthetic::IsStreamEnabledNative(const Stream &stream) const {
|
||||
return GetStreamEnabledMode(stream) == MODE_NATIVE;
|
||||
}
|
||||
|
||||
bool Synthetic::IsStreamEnabledSynthetic(const Stream &stream) const {
|
||||
return GetStreamEnabledMode(stream) == MODE_SYNTHETIC;
|
||||
return MODE_OFF;
|
||||
}
|
||||
|
||||
void Synthetic::InitProcessors() {
|
||||
std::shared_ptr<Processor> rectify_processor = nullptr;
|
||||
#ifdef WITH_CAM_MODELS
|
||||
std::shared_ptr<RectifyProcessor> rectify_processor_imp = nullptr;
|
||||
#endif
|
||||
cv::Mat Q;
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
auto &&rectify_processor_ocv =
|
||||
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
|
||||
RECTIFY_PROC_PERIOD);
|
||||
rectify_processor = rectify_processor_ocv;
|
||||
Q = rectify_processor_ocv->Q;
|
||||
#ifdef WITH_CAM_MODELS
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
rectify_processor_imp =
|
||||
std::make_shared<RectifyProcessor>(intr_left_, intr_right_, extr_,
|
||||
RECTIFY_PROC_PERIOD);
|
||||
rectify_processor = rectify_processor_imp;
|
||||
#endif
|
||||
} else {
|
||||
LOG(ERROR) << "Unknow calib model type in device: "
|
||||
<< calib_model_ << ", use default pinhole model";
|
||||
auto &&rectify_processor_ocv =
|
||||
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
|
||||
RECTIFY_PROC_PERIOD);
|
||||
rectify_processor = rectify_processor_ocv;
|
||||
}
|
||||
std::shared_ptr<Processor> points_processor = nullptr;
|
||||
std::shared_ptr<Processor> depth_processor = nullptr;
|
||||
|
||||
auto &&disparity_processor =
|
||||
std::make_shared<DisparityProcessor>(DisparityComputingMethod::SGBM,
|
||||
DISPARITY_PROC_PERIOD);
|
||||
auto &&disparitynormalized_processor =
|
||||
std::make_shared<DisparityNormalizedProcessor>(
|
||||
DISPARITY_NORM_PROC_PERIOD);
|
||||
std::shared_ptr<Processor> points_processor = nullptr;
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
|
||||
auto root_processor =
|
||||
std::make_shared<s1s2Processor>(api_->device(), ROOT_PROC_PERIOD);
|
||||
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
// PINHOLE
|
||||
auto &&rectify_processor_ocv =
|
||||
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
|
||||
RECTIFY_PROC_PERIOD);
|
||||
rectify_processor = rectify_processor_ocv;
|
||||
points_processor = std::make_shared<PointsProcessorOCV>(
|
||||
Q, POINTS_PROC_PERIOD);
|
||||
rectify_processor_ocv->Q, POINTS_PROC_PERIOD);
|
||||
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
|
||||
|
||||
root_processor->AddChild(rectify_processor);
|
||||
rectify_processor->AddChild(disparity_processor);
|
||||
disparity_processor->AddChild(disparitynormalized_processor);
|
||||
disparity_processor->AddChild(points_processor);
|
||||
points_processor->AddChild(depth_processor);
|
||||
#ifdef WITH_CAM_MODELS
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
// KANNALA_BRANDT
|
||||
auto rectify_processor_imp =
|
||||
std::make_shared<RectifyProcessor>(intr_left_, intr_right_, extr_,
|
||||
RECTIFY_PROC_PERIOD);
|
||||
rectify_processor = rectify_processor_imp;
|
||||
points_processor = std::make_shared<PointsProcessor>(
|
||||
rectify_processor_imp -> getCalibInfoPair(),
|
||||
POINTS_PROC_PERIOD);
|
||||
#endif
|
||||
} else {
|
||||
points_processor = std::make_shared<PointsProcessorOCV>(
|
||||
Q, POINTS_PROC_PERIOD);
|
||||
}
|
||||
std::shared_ptr<Processor> depth_processor = nullptr;
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
|
||||
#ifdef WITH_CAM_MODELS
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
depth_processor = std::make_shared<DepthProcessor>(
|
||||
rectify_processor_imp -> getCalibInfoPair(),
|
||||
DEPTH_PROC_PERIOD);
|
||||
|
||||
root_processor->AddChild(rectify_processor);
|
||||
rectify_processor->AddChild(disparity_processor);
|
||||
disparity_processor->AddChild(disparitynormalized_processor);
|
||||
disparity_processor->AddChild(depth_processor);
|
||||
depth_processor->AddChild(points_processor);
|
||||
#endif
|
||||
} else {
|
||||
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
|
||||
// UNKNOW
|
||||
LOG(ERROR) << "Unknow calib model type in device: "
|
||||
<< calib_model_;
|
||||
return;
|
||||
}
|
||||
auto root_processor =
|
||||
std::make_shared<RootProcessor>(ROOT_PROC_PERIOD);
|
||||
root_processor->AddChild(rectify_processor);
|
||||
|
||||
rectify_processor->addTargetStreams(
|
||||
{Stream::LEFT_RECTIFIED, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
|
||||
{Stream::LEFT_RECTIFIED, Mode::MODE_OFF, nullptr});
|
||||
rectify_processor->addTargetStreams(
|
||||
{Stream::RIGHT_RECTIFIED, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
|
||||
{Stream::RIGHT_RECTIFIED, Mode::MODE_OFF, nullptr});
|
||||
disparity_processor->addTargetStreams(
|
||||
{Stream::DISPARITY, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
|
||||
{Stream::DISPARITY, Mode::MODE_OFF, nullptr});
|
||||
disparitynormalized_processor->addTargetStreams(
|
||||
{Stream::DISPARITY_NORMALIZED, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
|
||||
{Stream::DISPARITY_NORMALIZED, Mode::MODE_OFF, nullptr});
|
||||
points_processor->addTargetStreams(
|
||||
{Stream::POINTS, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
|
||||
{Stream::POINTS, Mode::MODE_OFF, nullptr});
|
||||
depth_processor->addTargetStreams(
|
||||
{Stream::DEPTH, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
|
||||
{Stream::DEPTH, Mode::MODE_OFF, nullptr});
|
||||
root_processor->addTargetStreams(
|
||||
{Stream::LEFT, Mode::MODE_NATIVE, Mode::MODE_NATIVE, nullptr});
|
||||
{Stream::LEFT, Mode::MODE_OFF, nullptr});
|
||||
root_processor->addTargetStreams(
|
||||
{Stream::RIGHT, Mode::MODE_NATIVE, Mode::MODE_NATIVE, nullptr});
|
||||
{Stream::RIGHT, Mode::MODE_OFF, nullptr});
|
||||
|
||||
processors_.push_back(root_processor);
|
||||
processors_.push_back(rectify_processor);
|
||||
|
|
@ -537,6 +388,8 @@ void Synthetic::InitProcessors() {
|
|||
processors_.push_back(points_processor);
|
||||
processors_.push_back(depth_processor);
|
||||
using namespace std::placeholders; // NOLINT
|
||||
root_processor->SetProcessCallback(
|
||||
std::bind(&Synthetic::OnDeviceProcess, this, _1, _2, _3));
|
||||
rectify_processor->SetProcessCallback(
|
||||
std::bind(&Synthetic::OnRectifyProcess, this, _1, _2, _3));
|
||||
disparity_processor->SetProcessCallback(
|
||||
|
|
@ -548,6 +401,8 @@ void Synthetic::InitProcessors() {
|
|||
depth_processor->SetProcessCallback(
|
||||
std::bind(&Synthetic::OnDepthProcess, this, _1, _2, _3));
|
||||
|
||||
root_processor->SetPostProcessCallback(
|
||||
std::bind(&Synthetic::OnDevicePostProcess, this, _1));
|
||||
rectify_processor->SetPostProcessCallback(
|
||||
std::bind(&Synthetic::OnRectifyPostProcess, this, _1));
|
||||
disparity_processor->SetPostProcessCallback(
|
||||
|
|
@ -559,129 +414,14 @@ void Synthetic::InitProcessors() {
|
|||
depth_processor->SetPostProcessCallback(
|
||||
std::bind(&Synthetic::OnDepthPostProcess, this, _1));
|
||||
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
// PINHOLE
|
||||
rectify_processor->AddChild(disparity_processor);
|
||||
disparity_processor->AddChild(disparitynormalized_processor);
|
||||
disparity_processor->AddChild(points_processor);
|
||||
points_processor->AddChild(depth_processor);
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
// KANNALA_BRANDT
|
||||
rectify_processor->AddChild(disparity_processor);
|
||||
disparity_processor->AddChild(disparitynormalized_processor);
|
||||
disparity_processor->AddChild(depth_processor);
|
||||
depth_processor->AddChild(points_processor);
|
||||
} else {
|
||||
// UNKNOW
|
||||
LOG(ERROR) << "Unknow calib model type in device: "
|
||||
<< calib_model_;
|
||||
}
|
||||
|
||||
processor_ = rectify_processor;
|
||||
processor_ = root_processor;
|
||||
}
|
||||
|
||||
void Synthetic::ProcessNativeStream(
|
||||
const Stream &stream, const api::StreamData &data) {
|
||||
if (stream == Stream::LEFT || stream == Stream::RIGHT) {
|
||||
static api::StreamData left_data, right_data;
|
||||
if (stream == Stream::LEFT) {
|
||||
left_data = data;
|
||||
} else if (stream == Stream::RIGHT) {
|
||||
right_data = data;
|
||||
}
|
||||
if (left_data.img && right_data.img &&
|
||||
left_data.img->frame_id == right_data.img->frame_id) {
|
||||
std::shared_ptr<Processor> processor = nullptr;
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
processor = find_processor<RectifyProcessorOCV>(processor_);
|
||||
#ifdef WITH_CAM_MODELS
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
processor = find_processor<RectifyProcessor>(processor_);
|
||||
#endif
|
||||
} else {
|
||||
LOG(ERROR) << "Unknow calib model type in device: "
|
||||
<< calib_model_ << ", use default pinhole model";
|
||||
processor = find_processor<RectifyProcessorOCV>(processor_);
|
||||
}
|
||||
processor->Process(ObjMat2{
|
||||
left_data.frame, left_data.frame_id, left_data.img,
|
||||
right_data.frame, right_data.frame_id, right_data.img});
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
|
||||
static api::StreamData left_rect_data, right_rect_data;
|
||||
if (stream == Stream::LEFT_RECTIFIED) {
|
||||
left_rect_data = data;
|
||||
} else if (stream == Stream::RIGHT_RECTIFIED) {
|
||||
right_rect_data = data;
|
||||
}
|
||||
if (left_rect_data.img && right_rect_data.img &&
|
||||
left_rect_data.img->frame_id == right_rect_data.img->frame_id) {
|
||||
std::string name = RectifyProcessorOCV::NAME;
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
name = RectifyProcessorOCV::NAME;
|
||||
#ifdef WITH_CAM_MODELS
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
name = RectifyProcessor::NAME;
|
||||
#endif
|
||||
}
|
||||
process_childs(
|
||||
processor_, name, ObjMat2{
|
||||
left_rect_data.frame, left_rect_data.frame_id, left_rect_data.img,
|
||||
right_rect_data.frame, right_rect_data.frame_id,
|
||||
right_rect_data.img});
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
switch (stream) {
|
||||
case Stream::DISPARITY: {
|
||||
process_childs(processor_, DisparityProcessor::NAME,
|
||||
ObjMat{data.frame, data.frame_id, data.img});
|
||||
} break;
|
||||
case Stream::DISPARITY_NORMALIZED: {
|
||||
process_childs(processor_, DisparityNormalizedProcessor::NAME,
|
||||
ObjMat{data.frame, data.frame_id, data.img});
|
||||
} break;
|
||||
case Stream::POINTS: {
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
// PINHOLE
|
||||
process_childs(processor_, PointsProcessorOCV::NAME,
|
||||
ObjMat{data.frame, data.frame_id, data.img});
|
||||
#ifdef WITH_CAM_MODELS
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
// KANNALA_BRANDT
|
||||
process_childs(processor_, PointsProcessor::NAME,
|
||||
ObjMat{data.frame, data.frame_id, data.img});
|
||||
#endif
|
||||
} else {
|
||||
// UNKNOW
|
||||
LOG(ERROR) << "Unknow calib model type in device: "
|
||||
<< calib_model_;
|
||||
}
|
||||
} break;
|
||||
case Stream::DEPTH: {
|
||||
if (calib_model_ == CalibrationModel::PINHOLE) {
|
||||
// PINHOLE
|
||||
process_childs(processor_, DepthProcessorOCV::NAME,
|
||||
ObjMat{data.frame, data.frame_id, data.img});
|
||||
#ifdef WITH_CAM_MODELS
|
||||
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
|
||||
// KANNALA_BRANDT
|
||||
process_childs(processor_, DepthProcessor::NAME,
|
||||
ObjMat{data.frame, data.frame_id, data.img});
|
||||
#endif
|
||||
} else {
|
||||
// UNKNOW
|
||||
LOG(ERROR) << "Unknow calib model type in device: "
|
||||
<< calib_model_;
|
||||
}
|
||||
} break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
bool Synthetic::OnDeviceProcess(
|
||||
Object *const in, Object *const out,
|
||||
std::shared_ptr<Processor> const parent) {
|
||||
MYNTEYE_UNUSED(parent)
|
||||
return GetStreamEnabledMode(Stream::LEFT) != MODE_ON;
|
||||
}
|
||||
|
||||
bool Synthetic::OnRectifyProcess(
|
||||
|
|
@ -691,8 +431,8 @@ bool Synthetic::OnRectifyProcess(
|
|||
if (plugin_ && plugin_->OnRectifyProcess(in, out)) {
|
||||
return true;
|
||||
}
|
||||
return GetStreamEnabledMode(Stream::LEFT_RECTIFIED) != MODE_SYNTHETIC;
|
||||
// && GetStreamEnabledMode(Stream::RIGHT_RECTIFIED) != MODE_SYNTHETIC
|
||||
return GetStreamEnabledMode(Stream::LEFT_RECTIFIED) != MODE_ON;
|
||||
// && GetStreamEnabledMode(Stream::RIGHT_RECTIFIED) != MODE_ON
|
||||
}
|
||||
|
||||
bool Synthetic::OnDisparityProcess(
|
||||
|
|
@ -702,7 +442,7 @@ bool Synthetic::OnDisparityProcess(
|
|||
if (plugin_ && plugin_->OnDisparityProcess(in, out)) {
|
||||
return true;
|
||||
}
|
||||
return GetStreamEnabledMode(Stream::DISPARITY) != MODE_SYNTHETIC;
|
||||
return GetStreamEnabledMode(Stream::DISPARITY) != MODE_ON;
|
||||
}
|
||||
|
||||
bool Synthetic::OnDisparityNormalizedProcess(
|
||||
|
|
@ -712,7 +452,7 @@ bool Synthetic::OnDisparityNormalizedProcess(
|
|||
if (plugin_ && plugin_->OnDisparityNormalizedProcess(in, out)) {
|
||||
return true;
|
||||
}
|
||||
return GetStreamEnabledMode(Stream::DISPARITY_NORMALIZED) != MODE_SYNTHETIC;
|
||||
return GetStreamEnabledMode(Stream::DISPARITY_NORMALIZED) != MODE_ON;
|
||||
}
|
||||
|
||||
bool Synthetic::OnPointsProcess(
|
||||
|
|
@ -722,7 +462,7 @@ bool Synthetic::OnPointsProcess(
|
|||
if (plugin_ && plugin_->OnPointsProcess(in, out)) {
|
||||
return true;
|
||||
}
|
||||
return GetStreamEnabledMode(Stream::POINTS) != MODE_SYNTHETIC;
|
||||
return GetStreamEnabledMode(Stream::POINTS) != MODE_ON;
|
||||
}
|
||||
|
||||
bool Synthetic::OnDepthProcess(
|
||||
|
|
@ -732,56 +472,71 @@ bool Synthetic::OnDepthProcess(
|
|||
if (plugin_ && plugin_->OnDepthProcess(in, out)) {
|
||||
return true;
|
||||
}
|
||||
return GetStreamEnabledMode(Stream::DEPTH) != MODE_SYNTHETIC;
|
||||
return GetStreamEnabledMode(Stream::DEPTH) != MODE_ON;
|
||||
}
|
||||
|
||||
void Synthetic::OnDevicePostProcess(Object *const out) {
|
||||
const ObjMat2 *output = Object::Cast<ObjMat2>(out);
|
||||
NotifyStreamData(Stream::LEFT, obj_data_first(output));
|
||||
NotifyStreamData(Stream::RIGHT, obj_data_second(output));
|
||||
if (HasStreamCallback(Stream::LEFT)) {
|
||||
auto data = getControlDateWithStream(Stream::LEFT);
|
||||
data.stream_callback(obj_data_first(output));
|
||||
}
|
||||
if (HasStreamCallback(Stream::RIGHT)) {
|
||||
auto data = getControlDateWithStream(Stream::RIGHT);
|
||||
if (data.stream_callback)
|
||||
data.stream_callback(obj_data_second(output));
|
||||
}
|
||||
}
|
||||
|
||||
void Synthetic::OnRectifyPostProcess(Object *const out) {
|
||||
const ObjMat2 *output = Object::Cast<ObjMat2>(out);
|
||||
NotifyStreamData(Stream::LEFT_RECTIFIED, obj_data_first(output));
|
||||
NotifyStreamData(Stream::RIGHT_RECTIFIED, obj_data_second(output));
|
||||
if (HasStreamCallback(Stream::LEFT_RECTIFIED)) {
|
||||
auto data = getControlDateWithStream(Stream::LEFT_RECTIFIED);
|
||||
data.stream_callback(
|
||||
{output->first_data, output->first, nullptr, output->first_id});
|
||||
data.stream_callback(obj_data_first(output));
|
||||
}
|
||||
if (HasStreamCallback(Stream::RIGHT_RECTIFIED)) {
|
||||
auto data = getControlDateWithStream(Stream::RIGHT_RECTIFIED);
|
||||
data.stream_callback(
|
||||
{output->second_data, output->second, nullptr, output->second_id});
|
||||
data.stream_callback(obj_data_second(output));
|
||||
}
|
||||
}
|
||||
|
||||
void Synthetic::OnDisparityPostProcess(Object *const out) {
|
||||
const ObjMat *output = Object::Cast<ObjMat>(out);
|
||||
NotifyStreamData(Stream::DISPARITY, obj_data(output));
|
||||
if (HasStreamCallback(Stream::DISPARITY)) {
|
||||
auto data = getControlDateWithStream(Stream::DISPARITY);
|
||||
data.stream_callback(
|
||||
{output->data, output->value, nullptr, output->id});
|
||||
data.stream_callback(obj_data(output));
|
||||
}
|
||||
}
|
||||
|
||||
void Synthetic::OnDisparityNormalizedPostProcess(Object *const out) {
|
||||
const ObjMat *output = Object::Cast<ObjMat>(out);
|
||||
NotifyStreamData(Stream::DISPARITY_NORMALIZED, obj_data(output));
|
||||
if (HasStreamCallback(Stream::DISPARITY_NORMALIZED)) {
|
||||
auto data = getControlDateWithStream(Stream::DISPARITY_NORMALIZED);
|
||||
data.stream_callback(
|
||||
{output->data, output->value, nullptr, output->id});
|
||||
data.stream_callback(obj_data(output));
|
||||
}
|
||||
}
|
||||
|
||||
void Synthetic::OnPointsPostProcess(Object *const out) {
|
||||
const ObjMat *output = Object::Cast<ObjMat>(out);
|
||||
NotifyStreamData(Stream::POINTS, obj_data(output));
|
||||
if (HasStreamCallback(Stream::POINTS)) {
|
||||
auto data = getControlDateWithStream(Stream::POINTS);
|
||||
data.stream_callback(
|
||||
{output->data, output->value, nullptr, output->id});
|
||||
data.stream_callback(obj_data(output));
|
||||
}
|
||||
}
|
||||
|
||||
void Synthetic::OnDepthPostProcess(Object *const out) {
|
||||
const ObjMat *output = Object::Cast<ObjMat>(out);
|
||||
NotifyStreamData(Stream::DEPTH, obj_data(output));
|
||||
if (HasStreamCallback(Stream::DEPTH)) {
|
||||
auto data = getControlDateWithStream(Stream::DEPTH);
|
||||
data.stream_callback(
|
||||
{output->data, output->value, nullptr, output->id});
|
||||
data.stream_callback(obj_data(output));
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -796,4 +551,11 @@ void Synthetic::SetDisparityComputingMethodType(
|
|||
LOG(ERROR) << "ERROR: no suited processor for disparity computing.";
|
||||
}
|
||||
|
||||
void Synthetic::NotifyStreamData(
|
||||
const Stream &stream, const api::StreamData &data) {
|
||||
if (stream_data_listener_) {
|
||||
stream_data_listener_(stream, data);
|
||||
}
|
||||
}
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
|
|
|||
|
|
@ -19,6 +19,7 @@
|
|||
#include <memory>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <mutex>
|
||||
|
||||
#include "mynteye/api/api.h"
|
||||
#include "mynteye/api/config.h"
|
||||
|
|
@ -28,22 +29,24 @@ MYNTEYE_BEGIN_NAMESPACE
|
|||
class API;
|
||||
class Plugin;
|
||||
class Processor;
|
||||
class RootProcessor;
|
||||
|
||||
struct Object;
|
||||
|
||||
class Synthetic {
|
||||
public:
|
||||
using stream_callback_t = API::stream_callback_t;
|
||||
using stream_data_listener_t =
|
||||
std::function<void(const Stream &stream, const api::StreamData &data)>;
|
||||
using stream_switch_callback_t = API::stream_switch_callback_t;
|
||||
|
||||
typedef enum Mode {
|
||||
MODE_NATIVE, // Native stream
|
||||
MODE_SYNTHETIC, // Synthetic stream
|
||||
MODE_LAST // Unsupported
|
||||
MODE_ON, // On
|
||||
MODE_OFF // Off
|
||||
} mode_t;
|
||||
|
||||
struct stream_control_t {
|
||||
Stream stream;
|
||||
mode_t support_mode_;
|
||||
mode_t enabled_mode_;
|
||||
stream_callback_t stream_callback;
|
||||
};
|
||||
|
|
@ -51,13 +54,19 @@ class Synthetic {
|
|||
explicit Synthetic(API *api, CalibrationModel calib_model);
|
||||
~Synthetic();
|
||||
|
||||
void SetStreamDataListener(stream_data_listener_t listener);
|
||||
|
||||
void NotifyImageParamsChanged();
|
||||
|
||||
bool Supports(const Stream &stream) const;
|
||||
mode_t SupportsMode(const Stream &stream) const;
|
||||
|
||||
void EnableStreamData(const Stream &stream);
|
||||
void DisableStreamData(const Stream &stream);
|
||||
|
||||
void EnableStreamData(
|
||||
const Stream &stream, stream_switch_callback_t callback, bool try_tag);
|
||||
void DisableStreamData(
|
||||
const Stream &stream, stream_switch_callback_t callback, bool try_tag);
|
||||
bool IsStreamDataEnabled(const Stream &stream) const;
|
||||
|
||||
void SetStreamCallback(const Stream &stream, stream_callback_t callback);
|
||||
|
|
@ -85,11 +94,8 @@ class Synthetic {
|
|||
|
||||
private:
|
||||
void InitCalibInfo();
|
||||
void InitStreamSupports();
|
||||
|
||||
mode_t GetStreamEnabledMode(const Stream &stream) const;
|
||||
bool IsStreamEnabledNative(const Stream &stream) const;
|
||||
bool IsStreamEnabledSynthetic(const Stream &stream) const;
|
||||
|
||||
void EnableStreamData(const Stream &stream, std::uint32_t depth);
|
||||
void DisableStreamData(const Stream &stream, std::uint32_t depth);
|
||||
|
|
@ -101,8 +107,9 @@ class Synthetic {
|
|||
template <class T>
|
||||
bool DeactivateProcessor(bool tree = false);
|
||||
|
||||
void ProcessNativeStream(const Stream &stream, const api::StreamData &data);
|
||||
|
||||
bool OnDeviceProcess(
|
||||
Object *const in, Object *const out,
|
||||
std::shared_ptr<Processor> const parent);
|
||||
bool OnRectifyProcess(
|
||||
Object *const in, Object *const out,
|
||||
std::shared_ptr<Processor> const parent);
|
||||
|
|
@ -119,16 +126,19 @@ class Synthetic {
|
|||
Object *const in, Object *const out,
|
||||
std::shared_ptr<Processor> const parent);
|
||||
|
||||
void OnDevicePostProcess(Object *const out);
|
||||
void OnRectifyPostProcess(Object *const out);
|
||||
void OnDisparityPostProcess(Object *const out);
|
||||
void OnDisparityNormalizedPostProcess(Object *const out);
|
||||
void OnPointsPostProcess(Object *const out);
|
||||
void OnDepthPostProcess(Object *const out);
|
||||
|
||||
void NotifyStreamData(const Stream &stream, const api::StreamData &data);
|
||||
|
||||
API *api_;
|
||||
|
||||
std::shared_ptr<Processor> processor_;
|
||||
|
||||
std::shared_ptr<RootProcessor> processor_;
|
||||
std::vector<std::shared_ptr<Processor>> processors_;
|
||||
std::shared_ptr<Plugin> plugin_;
|
||||
|
||||
CalibrationModel calib_model_;
|
||||
|
|
@ -138,11 +148,11 @@ class Synthetic {
|
|||
std::shared_ptr<Extrinsics> extr_;
|
||||
bool calib_default_tag_;
|
||||
|
||||
std::vector<std::shared_ptr<Processor>> processors_;
|
||||
stream_data_listener_t stream_data_listener_;
|
||||
};
|
||||
|
||||
class SyntheticProcessorPart {
|
||||
private:
|
||||
protected:
|
||||
inline std::vector<Synthetic::stream_control_t> getTargetStreams() {
|
||||
return target_streams_;
|
||||
}
|
||||
|
|
|
|||
136
src/mynteye/api/version_checker.cc
Normal file
136
src/mynteye/api/version_checker.cc
Normal file
|
|
@ -0,0 +1,136 @@
|
|||
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#include "mynteye/api/version_checker.h"
|
||||
#include "mynteye/device/utils.h"
|
||||
#include "mynteye/logger.h"
|
||||
#include "mynteye/types.h"
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
typedef struct {
|
||||
const std::string device_type;
|
||||
const std::string sdk_version;
|
||||
const std::string firmware_version;
|
||||
const std::string status;
|
||||
}firmware_version_match_table_unit;
|
||||
|
||||
const char* ERRO_DESCRIPTION_F =
|
||||
"Please update the firmware at first";
|
||||
const char* ERRO_DESCRIPTION_S =
|
||||
"Please update the SDK at first";
|
||||
const char* WARN_DESCRIPTION_F =
|
||||
"We suggest that you should update the firmware";
|
||||
const char* WARN_DESCRIPTION_S =
|
||||
"We suggest that you should update the SDK";
|
||||
const char* PASS_DESCRIPTION = "pass";
|
||||
|
||||
/** firmware/sdk version matched table */
|
||||
/**----device type-----sdk version---firmware version-----pass tag-----*/
|
||||
static const firmware_version_match_table_unit FSVM_TABLE[] ={
|
||||
/** S1030 */
|
||||
{"MYNT-EYE-S1030", ">2.3.0", ">2.2.0", PASS_DESCRIPTION},
|
||||
{"MYNT-EYE-S1030", ">2.3.0", "2.2.0", WARN_DESCRIPTION_F},
|
||||
{"MYNT-EYE-S1030", ">2.3.0", "<2.2.0", ERRO_DESCRIPTION_F},
|
||||
{"MYNT-EYE-S1030", "<2.3.1", "<2.2.0", WARN_DESCRIPTION_S},
|
||||
/** S2100 */
|
||||
{"MYNT-EYE-S2100", ">2.3.0", "1.0", PASS_DESCRIPTION},
|
||||
{"MYNT-EYE-S2100", "<2.3.1", "1.0", ERRO_DESCRIPTION_S},
|
||||
/** S210A */
|
||||
{"MYNT-EYE-S210A", ">2.3.0", "1.0", PASS_DESCRIPTION},
|
||||
{"MYNT-EYE-S210A", "<2.3.1", "1.0", ERRO_DESCRIPTION_S},
|
||||
};
|
||||
|
||||
void getVersion(const std::string &str, char *version) {
|
||||
std::string st1("");
|
||||
int j = 0;
|
||||
for (size_t i = 0; i < str.size(); i++) {
|
||||
if (str[i] == '.') {
|
||||
version[j++] = atoi(st1.c_str());
|
||||
st1 = "";
|
||||
} else {
|
||||
st1 += str[i];
|
||||
}
|
||||
}
|
||||
version[j++] = atoi(st1.c_str());
|
||||
}
|
||||
|
||||
bool conditionMatch(const std::string& condition, const std::string& target) {
|
||||
char version[4] = {0};
|
||||
char version_c[4] = {0};
|
||||
getVersion(target, version);
|
||||
int tag_c = 0;
|
||||
std::string condition_c;
|
||||
if (condition[0] == '>') {
|
||||
tag_c = 1;
|
||||
condition_c = condition.substr(1);
|
||||
} else if (condition[0] == '<') {
|
||||
tag_c = -1;
|
||||
condition_c = condition.substr(1);
|
||||
} else {
|
||||
tag_c = 0;
|
||||
condition_c = condition;
|
||||
}
|
||||
getVersion(condition_c, version_c);
|
||||
int tag_big = memcmp(version, version_c, 4);
|
||||
if (tag_big * tag_c > 0 || (tag_big == 0 && tag_c == 0)) return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
enum STATUS_UNIT {
|
||||
ST_PASS,
|
||||
ST_ERRO_F,
|
||||
ST_ERRO_S,
|
||||
ST_NOT_PASS
|
||||
};
|
||||
|
||||
STATUS_UNIT checkUnit(const std::string& sdkv,
|
||||
const std::string& devn,
|
||||
const std::string& firmv,
|
||||
const firmware_version_match_table_unit& condition) {
|
||||
if (condition.device_type == devn &&
|
||||
conditionMatch(condition.sdk_version, sdkv) &&
|
||||
conditionMatch(condition.firmware_version, firmv)) {
|
||||
if (condition.status == ERRO_DESCRIPTION_F) return ST_ERRO_F;
|
||||
if (condition.status == ERRO_DESCRIPTION_S) return ST_ERRO_S;
|
||||
if (condition.status == WARN_DESCRIPTION_F ||
|
||||
condition.status == WARN_DESCRIPTION_S) {
|
||||
LOG(WARNING) << condition.status;
|
||||
}
|
||||
return ST_PASS;
|
||||
}
|
||||
return ST_NOT_PASS;
|
||||
}
|
||||
|
||||
bool checkFirmwareVersion(const std::shared_ptr<API> api) {
|
||||
auto sdkv = api->GetSDKVersion();
|
||||
auto devn = api->GetInfo(Info::DEVICE_NAME);
|
||||
auto firmv = api->GetInfo(Info::FIRMWARE_VERSION);
|
||||
|
||||
for (size_t i =0;
|
||||
i < sizeof(FSVM_TABLE)/sizeof(firmware_version_match_table_unit);
|
||||
i++) {
|
||||
auto res = checkUnit(sdkv, devn, firmv, FSVM_TABLE[i]);
|
||||
if (res == ST_PASS) {
|
||||
return true;
|
||||
} else if (res == ST_ERRO_S || res == ST_ERRO_F) {
|
||||
LOG(ERROR) << FSVM_TABLE[i].status;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
LOG(ERROR) << ERRO_DESCRIPTION_S;
|
||||
return false;
|
||||
}
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
||||
25
src/mynteye/api/version_checker.h
Normal file
25
src/mynteye/api/version_checker.h
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#ifndef MYNTEYE_API_VERSION_CHECKER_H_
|
||||
#define MYNTEYE_API_VERSION_CHECKER_H_
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include "mynteye/api/api.h"
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
bool checkFirmwareVersion(const std::shared_ptr<API> api);
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
||||
#endif // MYNTEYE_API_VERSION_CHECKER_H_
|
||||
|
|
@ -460,6 +460,7 @@ bool Channels::GetFiles(
|
|||
while (i < end) {
|
||||
std::uint8_t file_id = *(data + i);
|
||||
std::uint16_t file_size = bytes::_from_data<std::uint16_t>(data + i + 1);
|
||||
LOG(INFO) << "GetFiles:data_size : " << file_size;
|
||||
VLOG(2) << "GetFiles id: " << static_cast<int>(file_id)
|
||||
<< ", size: " << file_size;
|
||||
i += 3;
|
||||
|
|
|
|||
|
|
@ -32,6 +32,7 @@ std::size_t FileChannel::GetDeviceInfoFromData(
|
|||
const std::uint8_t *data, const std::uint16_t &data_size,
|
||||
device_info_t *info) {
|
||||
auto n = dev_info_parser_->GetFromData(data, data_size, info);
|
||||
LOG(INFO) << "GetDeviceInfoFromData:data_size : " << data_size;
|
||||
auto spec_version = info->spec_version;
|
||||
img_params_parser_->SetSpecVersion(spec_version);
|
||||
imu_params_parser_->SetSpecVersion(spec_version);
|
||||
|
|
@ -113,6 +114,22 @@ std::size_t DeviceInfoParser::GetFromData(
|
|||
info->nominal_baseline = bytes::_from_data<std::uint16_t>(data + i);
|
||||
i += 2;
|
||||
|
||||
if (info->spec_version >= Version(1, 2)) {
|
||||
// auxiliary_chip_version, 2
|
||||
info->auxiliary_chip_version.set_major(data[i]);
|
||||
info->auxiliary_chip_version.set_minor(data[i + 1]);
|
||||
i += 2;
|
||||
// isp_version, 2
|
||||
info->isp_version.set_major(data[i]);
|
||||
info->isp_version.set_minor(data[i + 1]);
|
||||
i += 2;
|
||||
} else {
|
||||
info->auxiliary_chip_version.set_major(0);
|
||||
info->auxiliary_chip_version.set_minor(0);
|
||||
info->isp_version.set_major(0);
|
||||
info->isp_version.set_minor(0);
|
||||
}
|
||||
|
||||
// get other infos according to spec_version
|
||||
|
||||
MYNTEYE_UNUSED(data_size)
|
||||
|
|
@ -155,6 +172,17 @@ std::size_t DeviceInfoParser::SetToData(
|
|||
bytes::_to_data(info->nominal_baseline, data + i);
|
||||
i += 2;
|
||||
|
||||
if (info->spec_version >= Version(1, 2)) {
|
||||
// auxiliary_chip_version, 2
|
||||
data[i] = info->auxiliary_chip_version.major();
|
||||
data[i + 1] = info->auxiliary_chip_version.minor();
|
||||
i += 2;
|
||||
// isp_version, 2
|
||||
data[i] = info->isp_version.major();
|
||||
data[i + 1] = info->isp_version.minor();
|
||||
i += 2;
|
||||
}
|
||||
|
||||
// set other infos according to spec_version
|
||||
|
||||
// others
|
||||
|
|
@ -181,7 +209,7 @@ std::size_t ImgParamsParser::GetFromData(
|
|||
return GetFromData_v1_0(data, data_size, img_params);
|
||||
}
|
||||
// s210a old params
|
||||
if (spec_version_ == Version(1, 1) && data_size == 404) {
|
||||
if (spec_version_ >= Version(1, 1) && data_size == 404) {
|
||||
return GetFromData_v1_1(data, data_size, img_params);
|
||||
}
|
||||
// get img params with new version format
|
||||
|
|
@ -406,7 +434,7 @@ std::size_t ImuParamsParser::GetFromData(
|
|||
return GetFromData_old(data, data_size, imu_params);
|
||||
}
|
||||
// s210a old params
|
||||
if (spec_version_ == Version(1, 1) && data_size == 384) {
|
||||
if (spec_version_ >= Version(1, 1) && data_size == 384) {
|
||||
return GetFromData_old(data, data_size, imu_params);
|
||||
}
|
||||
// get imu params with new version format
|
||||
|
|
|
|||
|
|
@ -234,6 +234,10 @@ std::string Device::GetInfo(const Info &info) const {
|
|||
return device_info_->imu_type.to_string();
|
||||
case Info::NOMINAL_BASELINE:
|
||||
return std::to_string(device_info_->nominal_baseline);
|
||||
case Info::AUXILIARY_CHIP_VERSION:
|
||||
return device_info_->auxiliary_chip_version.to_string();
|
||||
case Info::ISP_VERSION:
|
||||
return device_info_->isp_version.to_string();
|
||||
default:
|
||||
LOG(WARNING) << "Unknown device info";
|
||||
return "";
|
||||
|
|
@ -349,6 +353,9 @@ OptionInfo Device::GetOptionInfo(const Option &option) const {
|
|||
|
||||
std::int32_t Device::GetOptionValue(const Option &option) const {
|
||||
if (!Supports(option)) {
|
||||
if (option == Option::FRAME_RATE) {
|
||||
return GetStreamRequest().fps;
|
||||
}
|
||||
LOG(WARNING) << "Unsupported option: " << option;
|
||||
return -1;
|
||||
}
|
||||
|
|
@ -466,6 +473,11 @@ std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
|
|||
return streams_->GetStreamDatas(stream);
|
||||
}
|
||||
|
||||
void Device::DisableMotionDatas() {
|
||||
CHECK_NOTNULL(motions_);
|
||||
motions_->DisableMotionDatas();
|
||||
}
|
||||
|
||||
void Device::EnableMotionDatas() {
|
||||
EnableMotionDatas(std::numeric_limits<std::size_t>::max());
|
||||
}
|
||||
|
|
|
|||
|
|
@ -66,7 +66,10 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
|
|||
|
||||
std::lock_guard<std::mutex> _(mtx_datas_);
|
||||
motion_data_t data = {imu};
|
||||
if (motion_datas_enabled_) {
|
||||
if (motion_datas_enabled_ && motion_datas_max_size_ > 0) {
|
||||
if (motion_datas_.size() >= motion_datas_max_size_) {
|
||||
motion_datas_.erase(motion_datas_.begin());
|
||||
}
|
||||
motion_datas_.push_back(data);
|
||||
}
|
||||
|
||||
|
|
@ -98,13 +101,21 @@ void Motions::StopMotionTracking() {
|
|||
}
|
||||
}
|
||||
|
||||
void Motions::DisableMotionDatas() {
|
||||
std::lock_guard<std::mutex> _(mtx_datas_);
|
||||
motion_datas_enabled_ = false;
|
||||
motion_datas_max_size_ = 0;
|
||||
motion_datas_.clear();
|
||||
}
|
||||
|
||||
void Motions::EnableMotionDatas(std::size_t max_size) {
|
||||
if (max_size <= 0) {
|
||||
LOG(WARNING) << "Could not enable motion datas with max_size <= 0";
|
||||
return;
|
||||
}
|
||||
std::lock_guard<std::mutex> _(mtx_datas_);
|
||||
motion_datas_enabled_ = true;
|
||||
motion_datas_max_size = max_size;
|
||||
motion_datas_max_size_ = max_size;
|
||||
}
|
||||
|
||||
Motions::motion_datas_t Motions::GetMotionDatas() {
|
||||
|
|
|
|||
|
|
@ -42,6 +42,7 @@ class Motions {
|
|||
void StartMotionTracking();
|
||||
void StopMotionTracking();
|
||||
|
||||
void DisableMotionDatas();
|
||||
void EnableMotionDatas(std::size_t max_size);
|
||||
motion_datas_t GetMotionDatas();
|
||||
|
||||
|
|
@ -52,7 +53,7 @@ class Motions {
|
|||
|
||||
motion_datas_t motion_datas_;
|
||||
bool motion_datas_enabled_;
|
||||
std::size_t motion_datas_max_size;
|
||||
std::size_t motion_datas_max_size_;
|
||||
|
||||
bool is_imu_tracking;
|
||||
|
||||
|
|
|
|||
|
|
@ -92,6 +92,8 @@ const char *to_string(const Info &value) {
|
|||
CASE(LENS_TYPE)
|
||||
CASE(IMU_TYPE)
|
||||
CASE(NOMINAL_BASELINE)
|
||||
CASE(AUXILIARY_CHIP_VERSION)
|
||||
CASE(ISP_VERSION)
|
||||
default:
|
||||
CHECK(is_valid(value));
|
||||
return "Info::UNKNOWN";
|
||||
|
|
|
|||
|
|
@ -53,6 +53,8 @@ TEST(Info, VerifyToString) {
|
|||
EXPECT_STREQ("Info::LENS_TYPE", to_string(Info::LENS_TYPE));
|
||||
EXPECT_STREQ("Info::IMU_TYPE", to_string(Info::IMU_TYPE));
|
||||
EXPECT_STREQ("Info::NOMINAL_BASELINE", to_string(Info::NOMINAL_BASELINE));
|
||||
EXPECT_STREQ("Info::AUXILIARY_CHIP_VERSION", to_string(Info::AUXILIARY_CHIP_VERSION));
|
||||
EXPECT_STREQ("Info::ISP_VERSION", to_string(Info::ISP_VERSION));
|
||||
}
|
||||
|
||||
TEST(Option, VerifyToString) {
|
||||
|
|
|
|||
|
|
@ -2,9 +2,11 @@
|
|||
---
|
||||
device_name: MYNT-EYE-S210A
|
||||
serial_number: "07C40D1C0009071F"
|
||||
firmware_version: "0.1"
|
||||
firmware_version: "1.1"
|
||||
hardware_version: "1.0"
|
||||
spec_version: "1.1"
|
||||
lens_type: "0000"
|
||||
imu_type: "0000"
|
||||
spec_version: "1.2"
|
||||
lens_type: "0001"
|
||||
imu_type: "0001"
|
||||
nominal_baseline: 0
|
||||
auxiliary_chip_version: "1.0"
|
||||
isp_version: "1.0"
|
||||
|
|
|
|||
|
|
@ -52,7 +52,11 @@ bool DeviceWriter::WriteDeviceInfo(const dev_info_t &info) {
|
|||
<< ", spec_version: " << dev_info->spec_version.to_string()
|
||||
<< ", lens_type: " << dev_info->lens_type.to_string()
|
||||
<< ", imu_type: " << dev_info->imu_type.to_string()
|
||||
<< ", nominal_baseline: " << dev_info->nominal_baseline << "}";
|
||||
<< ", nominal_baseline: " << dev_info->nominal_baseline
|
||||
<< ", auxiliary_chip_version: "
|
||||
<< dev_info->auxiliary_chip_version.to_string()
|
||||
<< ", isp_version: "
|
||||
<< dev_info->isp_version.to_string()<< "}";
|
||||
return true;
|
||||
} else {
|
||||
LOG(ERROR) << "Write device info failed";
|
||||
|
|
@ -215,6 +219,8 @@ bool DeviceWriter::SaveDeviceInfo(
|
|||
fs << "lens_type" << info.lens_type.to_string();
|
||||
fs << "imu_type" << info.imu_type.to_string();
|
||||
fs << "nominal_baseline" << info.nominal_baseline;
|
||||
fs << "auxiliary_chip_version" << info.auxiliary_chip_version.to_string();
|
||||
fs << "isp_version" << info.isp_version.to_string();
|
||||
// save other infos according to spec_version
|
||||
fs.release();
|
||||
return true;
|
||||
|
|
|
|||
|
|
@ -247,6 +247,8 @@ BOOST_PYTHON_MODULE(mynteye_py) {
|
|||
.value("LENS_TYPE", Info::LENS_TYPE)
|
||||
.value("IMU_TYPE", Info::IMU_TYPE)
|
||||
.value("NOMINAL_BASELINE", Info::NOMINAL_BASELINE)
|
||||
.value("AUXILIARY_CHIP_VERSION", Info::AUXILIARY_CHIP_VERSION)
|
||||
.value("ISP_VERSION", Info::ISP_VERSION)
|
||||
#ifdef ENUM_EXPORT_VALUES
|
||||
.export_values()
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -153,7 +153,7 @@
|
|||
<!-- <arg name="standard2/ir_control" default="0" /> -->
|
||||
|
||||
<!-- standard2/accel_range range: [6,48] -->
|
||||
<arg name="standard2/accel_range" default="-1" />
|
||||
<arg name="standard2/accel_range" default="24" />
|
||||
<!-- <arg name="standard2/accel_range" default="6" /> -->
|
||||
|
||||
<!-- standard2/gyro_range range: [250,4000] -->
|
||||
|
|
@ -347,6 +347,10 @@
|
|||
- 'image_transport/compressedDepth'
|
||||
</rosparam>
|
||||
</group>
|
||||
|
||||
<group ns="$(arg depth_topic)">
|
||||
<rosparam param="disable_pub_plugins">
|
||||
- 'image_transport/compressedDepth'
|
||||
</rosparam>
|
||||
</group>
|
||||
</group> <!-- mynteye -->
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -54,6 +54,8 @@ def main():
|
|||
'LENS_TYPE': GetInfoRequest.LENS_TYPE,
|
||||
'IMU_TYPE': GetInfoRequest.IMU_TYPE,
|
||||
'NOMINAL_BASELINE': GetInfoRequest.NOMINAL_BASELINE,
|
||||
'AUXILIARY_CHIP_VERSION': GetInfoRequest.AUXILIARY_CHIP_VERSION,
|
||||
'ISP_VERSION': GetInfoRequest.ISP_VERSION,
|
||||
}
|
||||
for k, v in get_device_info(**keys).items():
|
||||
print('{}: {}'.format(k, v))
|
||||
|
|
|
|||
|
|
@ -315,7 +315,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
|
||||
auto &&topic = mono_topics[it->first];
|
||||
if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {
|
||||
mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
|
||||
mono_publishers_[it->first] = it_mynteye.advertise(topic, 1);
|
||||
}
|
||||
NODELET_INFO_STREAM("Advertized on topic " << topic);
|
||||
}
|
||||
|
|
@ -407,6 +407,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
case Request::NOMINAL_BASELINE:
|
||||
res.value = api_->GetInfo(Info::NOMINAL_BASELINE);
|
||||
break;
|
||||
case Request::AUXILIARY_CHIP_VERSION:
|
||||
res.value = api_->GetInfo(Info::AUXILIARY_CHIP_VERSION);
|
||||
break;
|
||||
case Request::ISP_VERSION:
|
||||
res.value = api_->GetInfo(Info::ISP_VERSION);
|
||||
break;
|
||||
case Request::IMG_INTRINSICS:
|
||||
{
|
||||
auto intri_left = api_->GetIntrinsicsBase(Stream::LEFT);
|
||||
|
|
@ -554,86 +560,53 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
return true;
|
||||
}
|
||||
|
||||
void SetIsPublished(const Stream &stream) {
|
||||
is_published_[stream] = false;
|
||||
switch (stream) {
|
||||
case Stream::LEFT_RECTIFIED: {
|
||||
if (is_published_[Stream::RIGHT_RECTIFIED]) {
|
||||
SetIsPublished(Stream::RIGHT_RECTIFIED);
|
||||
}
|
||||
if (is_published_[Stream::DISPARITY]) {
|
||||
SetIsPublished(Stream::DISPARITY);
|
||||
}
|
||||
} break;
|
||||
case Stream::RIGHT_RECTIFIED: {
|
||||
if (is_published_[Stream::LEFT_RECTIFIED]) {
|
||||
SetIsPublished(Stream::LEFT_RECTIFIED);
|
||||
}
|
||||
if (is_published_[Stream::DISPARITY]) {
|
||||
SetIsPublished(Stream::DISPARITY);
|
||||
}
|
||||
} break;
|
||||
case Stream::DISPARITY: {
|
||||
if (is_published_[Stream::DISPARITY_NORMALIZED]) {
|
||||
SetIsPublished(Stream::DISPARITY_NORMALIZED);
|
||||
}
|
||||
if (is_published_[Stream::POINTS]) {
|
||||
SetIsPublished(Stream::POINTS);
|
||||
}
|
||||
} break;
|
||||
case Stream::DISPARITY_NORMALIZED: {
|
||||
} break;
|
||||
case Stream::POINTS: {
|
||||
if (is_published_[Stream::DEPTH]) {
|
||||
SetIsPublished(Stream::DEPTH);
|
||||
}
|
||||
} break;
|
||||
case Stream::DEPTH: {
|
||||
} break;
|
||||
default:
|
||||
return;
|
||||
void publishData(
|
||||
const Stream &stream, const api::StreamData &data, std::uint32_t seq,
|
||||
ros::Time stamp) {
|
||||
if (stream == Stream::LEFT || stream == Stream::RIGHT) {
|
||||
return;
|
||||
} else if (stream == Stream::POINTS) {
|
||||
publishPoints(data, seq, stamp);
|
||||
} else {
|
||||
publishCamera(stream, data, seq, stamp);
|
||||
}
|
||||
}
|
||||
|
||||
void publishPoint(const Stream &stream) {
|
||||
auto &&points_num = points_publisher_.getNumSubscribers();
|
||||
if (points_num == 0 && is_published_[stream]) {
|
||||
SetIsPublished(stream);
|
||||
api_->DisableStreamData(stream);
|
||||
} else if (points_num > 0 && !is_published_[Stream::POINTS]) {
|
||||
api_->EnableStreamData(Stream::POINTS);
|
||||
api_->SetStreamCallback(
|
||||
Stream::POINTS, [this](const api::StreamData &data) {
|
||||
// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
|
||||
ros::Time stamp = checkUpTimeStamp(
|
||||
data.img->timestamp, Stream::POINTS);
|
||||
static std::size_t count = 0;
|
||||
++count;
|
||||
publishPoints(data, count, stamp);
|
||||
});
|
||||
is_published_[Stream::POINTS] = true;
|
||||
int getStreamSubscribers(const Stream &stream) {
|
||||
if (stream == Stream::POINTS) {
|
||||
return points_publisher_.getNumSubscribers();
|
||||
}
|
||||
auto pub = camera_publishers_[stream];
|
||||
if (pub)
|
||||
return pub.getNumSubscribers();
|
||||
return -1;
|
||||
}
|
||||
|
||||
void publishOthers(const Stream &stream) {
|
||||
auto stream_num = camera_publishers_[stream].getNumSubscribers();
|
||||
if (stream_num == 0 && is_published_[stream]) {
|
||||
// Stop computing when was not subcribed
|
||||
SetIsPublished(stream);
|
||||
api_->DisableStreamData(stream);
|
||||
} else if (stream_num > 0 && !is_published_[stream]) {
|
||||
// Start computing and publishing when was subcribed
|
||||
if (getStreamSubscribers(stream) > 0 && !is_published_[stream]) {
|
||||
api_->EnableStreamData(stream);
|
||||
api_->SetStreamCallback(
|
||||
stream, [this, stream](const api::StreamData &data) {
|
||||
// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
|
||||
ros::Time stamp = checkUpTimeStamp(
|
||||
data.img->timestamp, stream);
|
||||
static std::size_t count = 0;
|
||||
++count;
|
||||
publishCamera(stream, data, count, stamp);
|
||||
publishData(stream, data, count, stamp);
|
||||
});
|
||||
is_published_[stream] = true;
|
||||
return;
|
||||
}
|
||||
|
||||
int disable_tag = 0;
|
||||
api_->DisableStreamData(stream, [&](const Stream &stream) {
|
||||
disable_tag += getStreamSubscribers(stream);
|
||||
}, true);
|
||||
if (disable_tag == 0 && is_published_[stream]) {
|
||||
api_->DisableStreamData(stream, [&](const Stream &stream) {
|
||||
api_->SetStreamCallback(stream, nullptr);
|
||||
is_published_[stream] = false;
|
||||
});
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -648,17 +621,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
|
||||
ros::Time stamp = checkUpTimeStamp(
|
||||
data.img->timestamp, Stream::LEFT);
|
||||
|
||||
// static double img_time_prev = -1;
|
||||
// NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
|
||||
// ros_time_beg
|
||||
// << ", img_time_elapsed: " << FULL_PRECISION
|
||||
// << ((data.img->timestamp - img_time_beg) * 0.00001f)
|
||||
// << ", img_time_diff: " << FULL_PRECISION
|
||||
// << ((img_time_prev < 0) ? 0
|
||||
// : (data.img->timestamp - img_time_prev) * 0.01f) << "
|
||||
// ms");
|
||||
// img_time_prev = data.img->timestamp;
|
||||
publishCamera(Stream::LEFT, data, left_count_, stamp);
|
||||
publishMono(Stream::LEFT, data, left_count_, stamp);
|
||||
NODELET_DEBUG_STREAM(
|
||||
|
|
@ -698,14 +660,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
std::vector<Stream> other_streams{
|
||||
Stream::LEFT_RECTIFIED, Stream::RIGHT_RECTIFIED,
|
||||
Stream::DISPARITY, Stream::DISPARITY_NORMALIZED,
|
||||
Stream::POINTS, Stream::DEPTH};
|
||||
|
||||
Stream::POINTS, Stream::DEPTH
|
||||
};
|
||||
for (auto &&stream : other_streams) {
|
||||
if (stream != Stream::POINTS) {
|
||||
publishOthers(stream);
|
||||
} else {
|
||||
publishPoint(stream);
|
||||
}
|
||||
publishOthers(stream);
|
||||
}
|
||||
|
||||
if (!is_motion_published_) {
|
||||
|
|
@ -822,9 +780,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
|
||||
auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
|
||||
pthread_mutex_unlock(&mutex_data_);
|
||||
auto &&info = getCameraInfo(stream);
|
||||
info->header.stamp = msg->header.stamp;
|
||||
mono_publishers_[stream].publish(msg, info);
|
||||
mono_publishers_[stream].publish(msg);
|
||||
}
|
||||
|
||||
void publishPoints(
|
||||
|
|
@ -1284,7 +1240,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
}
|
||||
for (int i = 0; i < p.rows; i++) {
|
||||
for (int j = 0; j < p.cols; j++) {
|
||||
camera_info->P.at(i * p.cols + j) = p.at<double>(i, j);
|
||||
int scale = (i == 2 && j == 2)?1:1000;
|
||||
camera_info->P.at(i * p.cols + j) = p.at<double>(i, j) / scale;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1510,7 +1467,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
std::map<Stream, std::string> image_encodings_;
|
||||
|
||||
// mono: LEFT, RIGHT
|
||||
std::map<Stream, image_transport::CameraPublisher> mono_publishers_;
|
||||
std::map<Stream, image_transport::Publisher> mono_publishers_;
|
||||
|
||||
// pointcloud: POINTS
|
||||
ros::Publisher points_publisher_;
|
||||
|
|
|
|||
|
|
@ -6,10 +6,12 @@ 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 AUXILIARY_CHIP_VERSION=8
|
||||
uint32 ISP_VERSION=9
|
||||
uint32 IMG_INTRINSICS=10
|
||||
uint32 IMG_EXTRINSICS_RTOL=11
|
||||
uint32 IMU_INTRINSICS=12
|
||||
uint32 IMU_EXTRINSICS=13
|
||||
uint32 key
|
||||
---
|
||||
string value
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user