From 2d1989fc2b6f7c8916a89da7997a929592e53474 Mon Sep 17 00:00:00 2001
From: Osenberg <junyangqu@slightech.com>
Date: Fri, 15 Mar 2019 21:01:49 +0800
Subject: [PATCH 1/3] feat(src): determines whether the imu assembly parameter
 is null

n
---
 src/mynteye/device/motions.cc | 40 +++++++++++++++++++++++++++++++++--
 src/mynteye/device/motions.h  |  1 +
 2 files changed, 39 insertions(+), 2 deletions(-)

diff --git a/src/mynteye/device/motions.cc b/src/mynteye/device/motions.cc
index 6fbaea4..de708d5 100644
--- a/src/mynteye/device/motions.cc
+++ b/src/mynteye/device/motions.cc
@@ -169,7 +169,9 @@ Motions::motion_datas_t Motions::GetMotionDatas() {
 }
 
 void Motions::ProcImuAssembly(std::shared_ptr<ImuData> data) const {
-  if (nullptr == motion_intrinsics_) return;
+  if (nullptr == motion_intrinsics_ ||
+      IsNullAssemblyOrTempDrift(ProcessMode::PROC_IMU_ASSEMBLY))
+    return;
 
   double dst[3][3] = {0};
   if (data->flag == 1) {
@@ -200,7 +202,9 @@ void Motions::ProcImuAssembly(std::shared_ptr<ImuData> data) const {
 }
 
 void Motions::ProcImuTempDrift(std::shared_ptr<ImuData> data) const {
-  if (nullptr == motion_intrinsics_) return;
+  if (nullptr == motion_intrinsics_ ||
+      IsNullAssemblyOrTempDrift(ProcessMode::PROC_IMU_TEMP_DRIFT))
+    return;
 
   double temp = data->temperature;
   if (data->flag == 1) {
@@ -228,4 +232,36 @@ void Motions::EnableProcessMode(const std::int32_t& mode) {
   proc_mode_ = mode;
 }
 
+bool Motions::IsNullAssemblyOrTempDrift(const ProcessMode& mode) const {
+  if (mode == ProcessMode::PROC_IMU_ASSEMBLY) {
+    for (int i = 0; i < 3; i++) {
+      for (int j = 0; j < 3; j++) {
+        if (motion_intrinsics_->accel.assembly[i][j] != 0.0)
+          return false;
+      }
+    }
+    for (int i = 0; i < 3; i++) {
+      for (int j = 0; j < 3; j++) {
+        if (motion_intrinsics_->gyro.assembly[i][j] != 0.0)
+          return false;
+      }
+    }
+  } else if (mode == ProcessMode::PROC_IMU_TEMP_DRIFT) {
+    for (int i = 0; i < 2; i++) {
+      if (motion_intrinsics_->accel.x[i] != 0.0 ||
+          motion_intrinsics_->accel.y[i] != 0.0 ||
+          motion_intrinsics_->accel.z[i] != 0.0)
+        return false;
+    }
+    for (int i = 0; i < 2; i++) {
+      if (motion_intrinsics_->gyro.x[i] != 0 ||
+          motion_intrinsics_->gyro.y[i] != 0 ||
+          motion_intrinsics_->gyro.z[i] != 0)
+        return false;
+    }
+  }
+
+  return true;
+}
+
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/motions.h b/src/mynteye/device/motions.h
index 74f42a0..6e8296e 100644
--- a/src/mynteye/device/motions.h
+++ b/src/mynteye/device/motions.h
@@ -52,6 +52,7 @@ class Motions {
  private:
   void ProcImuAssembly(std::shared_ptr<ImuData> data) const;
   void ProcImuTempDrift(std::shared_ptr<ImuData> data) const;
+  bool IsNullAssemblyOrTempDrift(const ProcessMode& mode) const;
 
   std::shared_ptr<Channels> channels_;
 

From 5f63df740d8e184aedd6f8e135803aee49b3295c Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Sat, 16 Mar 2019 11:13:36 +0800
Subject: [PATCH 2/3] fix(api): points cloud ghost data

---
 src/mynteye/api/processor/points_processor.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/mynteye/api/processor/points_processor.cc b/src/mynteye/api/processor/points_processor.cc
index 6903121..ea5b08e 100644
--- a/src/mynteye/api/processor/points_processor.cc
+++ b/src/mynteye/api/processor/points_processor.cc
@@ -105,6 +105,9 @@ bool PointsProcessor::OnProcess(
 
       // Missing points denoted by NaNs
       if (!DepthTraits<uint16_t>::valid(depth)) {
+        dptr[u][0] = 0;
+        dptr[u][1] = 0;
+        dptr[u][2] = 0;
         continue;
       }
       dptr[u][0] = (u - center_x) * depth * constant_x ;

From e0d61a9c48f8d72a5981b6010953f32c9a84fc02 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Sat, 16 Mar 2019 11:37:57 +0800
Subject: [PATCH 3/3] fix: 2.3 firmware core

---
 src/mynteye/device/channel/channels.cc | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/mynteye/device/channel/channels.cc b/src/mynteye/device/channel/channels.cc
index 0794aa7..39ba12f 100644
--- a/src/mynteye/device/channel/channels.cc
+++ b/src/mynteye/device/channel/channels.cc
@@ -475,7 +475,9 @@ bool Channels::GetFiles(
           if (file_size > 0) {
             auto &&n = file_channel_.GetImgParamsFromData(
                 data + i, file_size, img_params);
-            CHECK_EQ(n, file_size);
+            CHECK_EQ(n, file_size)
+              << "The firmware not support getting device info, you could "
+                 "upgrade to latest";
           }
         } break;
         case FID_IMU_PARAMS: {
@@ -483,7 +485,9 @@ bool Channels::GetFiles(
           if (imu_params->ok) {
             auto &&n = file_channel_.GetImuParamsFromData(
                 data + i, file_size, imu_params);
-            CHECK_EQ(n, file_size);
+            CHECK_EQ(n, file_size)
+              << "The firmware not support getting device info, you could "
+                 "upgrade to latest";
           }
         } break;
         default: