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[Update]: imu assembly

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This commit is contained in:
Jacob.lsx 2021-05-31 14:10:01 +08:00
parent 2cb4fe3f05
commit bc53e73549
6 changed files with 13 additions and 3 deletions
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2
samples/camera_with_junior_device_api.cc
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@ -31,6 +31,8 @@ int main(int argc, char *argv[]) {
auto &&request = device::select_request(device, &ok); auto &&request = device::select_request(device, &ok);
if (!ok) return 1; if (!ok) return 1;
device->ConfigStreamRequest(request); device->ConfigStreamRequest(request);
device->EnableImuCorrespondence(true);
device->EnableProcessMode(ProcessMode::PROC_IMU_ASSEMBLY);
std::size_t left_count = 0; std::size_t left_count = 0;
device->SetStreamCallback( device->SetStreamCallback(

1
samples/get_depth_with_region.cc
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@ -170,6 +170,7 @@ int main(int argc, char *argv[]) {
api->SetOptionValue(Option::IR_CONTROL, 80); api->SetOptionValue(Option::IR_CONTROL, 80);
api->SetDisparityComputingMethodType(DisparityComputingMethod::SGBM);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED); api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
api->EnableStreamData(Stream::DEPTH); api->EnableStreamData(Stream::DEPTH);

1
samples/get_imu.cc
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@ -33,6 +33,7 @@ int main(int argc, char *argv[]) {
api->EnableMotionDatas(); api->EnableMotionDatas();
// Enable imu timestamp correspondence int device; // Enable imu timestamp correspondence int device;
api->EnableImuTimestampCorrespondence(true); api->EnableImuTimestampCorrespondence(true);
api->EnableProcessMode(ProcessMode::PROC_IMU_ASSEMBLY);
api->Start(Source::ALL); api->Start(Source::ALL);

4
wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard.yaml
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@ -56,3 +56,7 @@ standard/gyro_range: -1
# index_s_1: 1 # index_s_1: 1
standard/request_index: 0 standard/request_index: 0
# 0 - none process, 1 - scale and assembly process, 2 - temperature process, 3 - both
standard/imu_process_mode: 1

2
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -89,7 +89,7 @@
<rosparam file="$(find mynt_eye_ros_wrapper)/config/mesh/mesh.yaml" command="load" /> <rosparam file="$(find mynt_eye_ros_wrapper)/config/mesh/mesh.yaml" command="load" />
<param name="gravity" value="$(arg gravity)" /> <param name="gravity" value="$(arg gravity)" />
<!-- <param name="ros_output_framerate_cut" value="2" /> --> <!-- <param name="ros_output_framerate_cut" value="4" />-->
</node> </node>
<!-- disable compressed depth plugin for image topics --> <!-- disable compressed depth plugin for image topics -->

6
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -1177,12 +1177,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
break; break;
} }
} }
std::int32_t process_mode = 0;
if (model_ == Model::STANDARD) { if (model_ == Model::STANDARD) {
private_nh_.getParamCached("standard/request_index", request_index); private_nh_.getParamCached("standard/request_index", request_index);
frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE); frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
private_nh_.getParamCached("standard/imu_process_mode", process_mode);
api_->EnableProcessMode(process_mode);
} }
std::int32_t process_mode = 0;
if (model_ == Model::STANDARD2 || if (model_ == Model::STANDARD2 ||
model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) { model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
private_nh_.getParamCached("standard2/imu_process_mode", process_mode); private_nh_.getParamCached("standard2/imu_process_mode", process_mode);