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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into HEAD

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Tiny 2018-12-27 10:32:16 +08:00
commit c8f5528bf7
11 changed files with 206 additions and 131 deletions
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10
tools/writer/config/S1030/device.info Normal file
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@ -0,0 +1,10 @@
%YAML:1.0
---
device_name: MYNT-EYE-S1030
serial_number: "02811F3B00090807"
firmware_version: "2.2"
hardware_version: "2.0"
spec_version: "1.0"
lens_type: "0000"
imu_type: "0000"
nominal_baseline: 120

33
tools/writer/config/S1030/img.params Normal file
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@ -0,0 +1,33 @@
%YAML:1.0
---
version: "1.0"
img_params_map:
-
in_left:
width: 752
height: 480
fx: 3.6220059643202876e+02
fy: 3.6350065250745848e+02
cx: 4.0658699068023441e+02
cy: 2.3435161110061483e+02
model: 0
coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
-7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
in_right:
width: 752
height: 480
fx: 3.6514014888558478e+02
fy: 3.6513385298966961e+02
cx: 3.8932395100630907e+02
cy: 2.3495160212312547e+02
model: 0
coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
ex_right_to_left:
rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
5.0988459509619687e-02, 5.9890316389333252e-03,
9.9995670037792639e-01, 7.1224201868366971e-03,
-5.1031440326695092e-02, -6.8076406092671274e-03,
9.9867384471984544e-01 ]
translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-5.2058205159996538e+00 ]

0
tools/writer/config/img.params.old → tools/writer/config/S1030/img.params.old
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24
tools/writer/config/S1030/imu.params Normal file
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@ -0,0 +1,24 @@
%YAML:1.0
---
in_accel:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
1.7452487504590969e-02 ]
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
5.4490537096493644e-04 ]
in_gyro:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
1.1003229919806443e-03 ]
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
1.4970418056326829e-05 ]
ex_left_to_imu:
rotation: [ -6.4662000000000001e-03, -9.9994994000000004e-01,
-7.6356499999999999e-03, 9.9997908999999996e-01,
-6.4656599999999998e-03, -9.5580000000000003e-05,
4.6199999999999998e-05, -7.6361099999999998e-03,
9.9997084000000003e-01 ]
translation: [ 5.3364600000000003e-03, -4.3029220000000000e-02,
2.3031240000000001e-02 ]

6
tools/writer/config/device.info → tools/writer/config/S210A/device.info
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@ -1,10 +1,10 @@
%YAML:1.0
---
device_name: MYNT-EYE-S210A
serial_number: "0386322C0009070E"
firmware_version: "1.0"
serial_number: "07C40D1C0009071F"
firmware_version: "0.1"
hardware_version: "1.0"
spec_version: "1.1"
lens_type: "0000"
imu_type: "0000"
nominal_baseline: 120
nominal_baseline: 0

62
tools/writer/config/S210A/img.params Normal file
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@ -0,0 +1,62 @@
%YAML:1.0
---
version: "1.1"
img_params_map:
-
in_left:
width: 640
height: 400
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
width: 640
height: 400
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]
-
in_left:
width: 1280
height: 800
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
width: 1280
height: 800
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]

15
tools/writer/config/S210A/imu.params Normal file
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@ -0,0 +1,15 @@
%YAML:1.0
---
in_accel:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
in_gyro:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
ex_left_to_imu:
rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
translation: [ 0., 0., 0. ]

53
tools/writer/config/img.params
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@ -1,53 +0,0 @@
%YAML:1.0
---
version: "1.1"
in_left_map:
-
width: 640
height: 400
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
-
width: 1280
height: 800
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right_map:
-
width: 640
height: 400
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
-
width: 1280
height: 800
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]

15
tools/writer/config/imu.params
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@ -1,15 +0,0 @@
%YAML:1.0
---
in_accel:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0.0, 0.0, 0.0 ]
noise: [ 0.016925432397973516, 0.016735310195561025, 0.017452487504590969 ]
bias: [ 0.00019031356589714596, 0.00016996777864587261, 0.00054490537096493644 ]
in_gyro:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 0.0010848026158819934, 0.0012466367883501759, 0.0011003229919806443 ]
bias: [ 0.000023404834136742844, 0.000023596771567764949, 0.000014970418056326829 ]
ex_left_to_imu:
rotation: [ -0.0064662, -0.99994994, -0.00763565, 0.99997909, -0.00646566, -0.00009558, 0.0000462, -0.00763611, 0.99997084 ]
translation: [ 0.00533646, -0.04302922, 0.02303124 ]

109
tools/writer/device_writer.cc
View File

@ -13,7 +13,6 @@
// limitations under the License.
#include "writer/device_writer.h"
#include <map>
#include <vector>
#include <opencv2/core/core.hpp>
@ -63,17 +62,22 @@ bool DeviceWriter::WriteDeviceInfo(const std::string &filepath) {
return WriteDeviceInfo(LoadDeviceInfo(filepath));
}
bool DeviceWriter::WriteImgParams(const img_params_t &params) {
bool DeviceWriter::WriteImgParams(const img_params_map_t &img_params_map) {
auto &&channels = device_->channels();
auto &&dev_info = device_->GetInfo();
if (channels->SetFiles(
nullptr, const_cast<img_params_t *>(&params), nullptr,
nullptr, const_cast<img_params_map_t *>(&img_params_map), nullptr,
&dev_info->spec_version)) {
LOG(INFO) << "Write img params success";
// LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
// LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
LOG(INFO) << "Extrinsics left to right: {" << params.ex_right_to_left
<< "}";
std::map<Resolution, device::img_params_t>::const_iterator it;
for (it = img_params_map.begin(); it != img_params_map.end(); it++) {
LOG(INFO) << "Image params for resolution "
<< (*it).first.width << "x" << (*it).first.height << " :";
LOG(INFO) << "Intrinsics left: {" << (*it).second.in_left << "}";
LOG(INFO) << "Intrinsics right: {" << (*it).second.in_right << "}";
LOG(INFO) << "Extrinsics left to right: {"
<< (*it).second.ex_right_to_left << "}";
}
return true;
} else {
LOG(ERROR) << "Write img params failed";
@ -117,25 +121,6 @@ cv::FileStorage &operator<<(cv::FileStorage &fs, const Intrinsics &in) {
return fs;
}
cv::FileStorage &operator<<(
cv::FileStorage &fs, const std::vector<Intrinsics> &vec) {
fs << "[";
for (auto &&in : vec)
fs << in;
fs << "]";
return fs;
}
cv::FileStorage &operator<<(
cv::FileStorage &fs, const std::map<Resolution, Intrinsics> &mapIn) {
fs << "[";
std::map<Resolution, Intrinsics>::const_iterator it;
for (it = mapIn.begin(); it != mapIn.end(); it++)
fs << (*it).second;
fs << "]";
return fs;
}
cv::FileStorage &operator<<(cv::FileStorage &fs, const ImuIntrinsics &in) {
std::vector<double> scales;
for (std::size_t i = 0; i < 3; i++) {
@ -164,6 +149,25 @@ cv::FileStorage &operator<<(cv::FileStorage &fs, const Extrinsics &ex) {
return fs;
}
cv::FileStorage &operator<<(
cv::FileStorage &fs, const device::img_params_t &params) {
fs << "{"
<< "in_left" << params.in_left
<< "in_right" << params.in_right
<< "ex_right_to_left" << params.ex_right_to_left << "}";
return fs;
}
cv::FileStorage &operator<<(
cv::FileStorage &fs, const DeviceWriter::img_params_map_t &img_params_map) {
fs << "[";
std::map<Resolution, device::img_params_t>::const_iterator it;
for (it = img_params_map.begin(); it != img_params_map.end(); it++)
fs << (*it).second;
fs << "]";
return fs;
}
} // namespace
bool DeviceWriter::SaveDeviceInfo(
@ -187,7 +191,7 @@ bool DeviceWriter::SaveDeviceInfo(
}
bool DeviceWriter::SaveImgParams(
const dev_info_t &info, const img_params_t &params,
const dev_info_t &info, const img_params_map_t &img_params_map,
const std::string &filepath) {
using FileStorage = cv::FileStorage;
FileStorage fs(filepath, FileStorage::WRITE);
@ -195,17 +199,10 @@ bool DeviceWriter::SaveImgParams(
LOG(ERROR) << "Failed to save file: " << filepath;
return false;
}
if (params.in_left_map.size() == params.in_right_map.size()) {
fs << "version" << info.spec_version.to_string() << "in_left_map"
<< params.in_left_map << "in_right_map" << params.in_right_map
<< "ex_right_to_left" << params.ex_right_to_left;
fs.release();
return true;
} else {
fs.release();
return false;
}
fs << "version" << info.spec_version.to_string();
fs << "img_params_map" << img_params_map;
fs.release();
return true;
}
bool DeviceWriter::SaveImuParams(
@ -316,6 +313,12 @@ void operator>>(const cv::FileNode &n, Extrinsics &ex) {
}
}
void operator>>(const cv::FileNode &n, DeviceWriter::img_params_t &paramas) {
n["in_left"] >> paramas.in_left;
n["in_right"] >> paramas.in_right;
n["ex_right_to_left"] >> paramas.ex_right_to_left;
}
} // namespace
DeviceWriter::dev_info_t DeviceWriter::LoadDeviceInfo(
@ -333,7 +336,7 @@ DeviceWriter::dev_info_t DeviceWriter::LoadDeviceInfo(
return info;
}
DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
DeviceWriter::img_params_map_t DeviceWriter::LoadImgParams(
const std::string &filepath) {
using FileStorage = cv::FileStorage;
FileStorage fs(filepath, FileStorage::READ);
@ -341,7 +344,7 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
LOG(FATAL) << "Failed to load file: " << filepath;
}
img_params_t params;
img_params_map_t img_params_map;
if (fs["version"].isNone()) {
if (fs["in_left"].isNone()) {
std::uint16_t w = 752;
@ -363,32 +366,26 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
fs["T"] >> T;
to_intrinsics(
w, h, m, M1, D1, &params.in_left_map[Resolution::RES_752x480]);
w, h, m, M1, D1, &img_params_map[{752, 480}].in_left);
to_intrinsics(
w, h, m, M2, D2, &params.in_right_map[Resolution::RES_752x480]);
to_extrinsics(R, T, &params.ex_right_to_left);
w, h, m, M2, D2, &img_params_map[{752, 480}].in_right);
to_extrinsics(R, T, &img_params_map[{752, 480}].ex_right_to_left);
} else {
fs["in_left"][0] >> params.in_left_map[Resolution::RES_752x480];
fs["in_right"][0] >> params.in_right_map[Resolution::RES_752x480];
fs["ex_right_to_left"] >> params.ex_right_to_left;
fs["in_left"][0] >> img_params_map[{752, 480}].in_left;
fs["in_right"][0] >> img_params_map[{752, 480}].in_right;
fs["ex_right_to_left"] >> img_params_map[{752, 480}].ex_right_to_left;
}
} else {
// TODO(Kalman): Is there a more reasonable way?
if (static_cast<std::string>(fs["version"]) == "1.0") {
fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];
fs["ex_right_to_left"] >> params.ex_right_to_left;
fs["img_params_map"][0] >> img_params_map[{752, 480}];
}
if (static_cast<std::string>(fs["version"]) == "1.1") {
fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_1280x400];
fs["in_left_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_1280x400];
fs["in_right_map"][1] >> params.in_right_map[Resolution::RES_2560x800];
fs["ex_right_to_left"] >> params.ex_right_to_left;
fs["img_params_map"][0] >> img_params_map[{1280, 400}];
fs["img_params_map"][1] >> img_params_map[{2560, 800}];
}
}
fs.release();
return params;
return img_params_map;
}
DeviceWriter::imu_params_t DeviceWriter::LoadImuParams(

10
tools/writer/device_writer.h
View File

@ -15,6 +15,7 @@
#define MYNTEYE_TOOLS_DEVICE_WRITER_H_
#pragma once
#include <map>
#include <memory>
#include <string>
@ -31,8 +32,9 @@ namespace tools {
class DeviceWriter {
public:
using dev_info_t = DeviceInfo;
using img_params_t = device::img_params_t;
using imu_params_t = device::imu_params_t;
using img_params_t = device::img_params_t;
using img_params_map_t = std::map<Resolution, device::img_params_t>;
explicit DeviceWriter(std::shared_ptr<Device> device);
~DeviceWriter();
@ -40,7 +42,7 @@ class DeviceWriter {
bool WriteDeviceInfo(const dev_info_t &info);
bool WriteDeviceInfo(const std::string &filepath);
bool WriteImgParams(const img_params_t &params);
bool WriteImgParams(const img_params_map_t &img_params_map);
bool WriteImgParams(const std::string &filepath);
bool WriteImuParams(const imu_params_t &params);
@ -48,7 +50,7 @@ class DeviceWriter {
bool SaveDeviceInfo(const dev_info_t &info, const std::string &filepath);
bool SaveImgParams(
const dev_info_t &info, const img_params_t &params,
const dev_info_t &info, const img_params_map_t &img_params_map,
const std::string &filepath);
bool SaveImuParams(const imu_params_t &params, const std::string &filepath);
@ -57,7 +59,7 @@ class DeviceWriter {
private:
dev_info_t LoadDeviceInfo(const std::string &filepath);
img_params_t LoadImgParams(const std::string &filepath);
img_params_map_t LoadImgParams(const std::string &filepath);
imu_params_t LoadImuParams(const std::string &filepath);
std::shared_ptr<Device> device_;