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Complete enable motion datas

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This commit is contained in:
John Zhao 2018-04-12 12:22:55 +08:00
parent d15ce48a28
commit c3f4386a52
3 changed files with 31 additions and 2 deletions
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19
samples/device/camera.cc
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@ -100,10 +100,13 @@ int main(int argc, char *argv[]) {
<< ", temperature: " << data.imu->temperature;
});
// Enable this will cache the motion datas until you get them.
device->EnableMotionDatas();
device->Start(Source::ALL);
cv::namedWindow("frame");
std::size_t motion_count = 0;
auto &&time_beg = times::now();
while (true) {
device->WaitForStreams();
@ -111,6 +114,20 @@ int main(int argc, char *argv[]) {
device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
auto &&motion_datas = device->GetMotionDatas();
motion_count += motion_datas.size();
for (auto &&data : motion_datas) {
LOG(INFO) << " frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]
<< ", gyro_x: " << data.imu->gyro[0]
<< ", gyro_y: " << data.imu->gyro[1]
<< ", gyro_z: " << data.imu->gyro[2]
<< ", temperature: " << data.imu->temperature;
}
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC1,
left_data.frame->data());
@ -142,5 +159,7 @@ int main(int argc, char *argv[]) {
<< ", fps: " << (1000.f * right_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
// LOG(INFO) << "Motion count: " << motion_count
// << ", hz: " << (1000.f * motion_count / elapsed_ms);
return 0;
}

11
src/internal/motions.cc
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@ -45,8 +45,12 @@ void Motions::StartMotionTracking() {
imu->gyro[1] = seg.gyro[1] * 1000.f / 0x10000;
imu->gyro[2] = seg.gyro[2] * 1000.f / 0x10000;
imu->temperature = seg.temperature / 326.8f + 25;
std::lock_guard<std::mutex> _(mtx_datas_);
motion_data_t data = {imu};
motion_datas_.push_back(data);
if (motion_callback_) {
motion_callback_({imu});
motion_callback_(data);
}
}
});
@ -77,7 +81,10 @@ Motions::motion_datas_t Motions::GetMotionDatas() {
LOG(FATAL) << "Must enable motion datas before getting them, or you set "
"motion callback instead";
}
return motion_datas_;
std::lock_guard<std::mutex> _(mtx_datas_);
motion_datas_t datas = motion_datas_;
motion_datas_.clear();
return datas;
}
MYNTEYE_END_NAMESPACE

3
src/internal/motions.h
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@ -3,6 +3,7 @@
#pragma once
#include <memory>
#include <mutex>
#include <vector>
#include "mynteye/mynteye.h"
@ -41,6 +42,8 @@ class Motions {
std::size_t motion_datas_max_size;
bool is_imu_tracking;
std::mutex mtx_datas_;
};
MYNTEYE_END_NAMESPACE