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feat(*): add function to querry some hardware info

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This commit is contained in:
kalman
2019-02-28 14:56:18 +08:00
parent b6d4037357
commit c24e2806b3
17 changed files with 83 additions and 13 deletions
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2
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@@ -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] -->

2
wrappers/ros/src/mynt_eye_ros_wrapper/scripts/get_device_info.py
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@@ -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))

6
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@@ -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);

10
wrappers/ros/src/mynt_eye_ros_wrapper/srv/GetInfo.srv
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@@ -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