From cdd98925b5ebe026bfa5bc64acb32667c9077a7d Mon Sep 17 00:00:00 2001 From: John Zhao Date: Sat, 21 Apr 2018 15:45:33 +0800 Subject: [PATCH] Add device writer tools --- src/device/device.h | 8 +- src/public/types.cc | 20 +- tools/CMakeLists.txt | 4 + tools/README.md | 22 ++ tools/writer/CMakeLists.txt | 51 ++++ tools/writer/config/device.info | 5 + tools/writer/config/img.params | 32 +++ tools/writer/config/img.params.old | 41 ++++ tools/writer/config/imu.params | 15 ++ tools/writer/device_info_writer.cc | 27 +++ tools/writer/device_writer.cc | 361 +++++++++++++++++++++++++++++ tools/writer/device_writer.h | 56 +++++ tools/writer/img_params_writer.cc | 27 +++ tools/writer/imu_params_writer.cc | 27 +++ 14 files changed, 689 insertions(+), 7 deletions(-) create mode 100644 tools/writer/CMakeLists.txt create mode 100644 tools/writer/config/device.info create mode 100644 tools/writer/config/img.params create mode 100644 tools/writer/config/img.params.old create mode 100644 tools/writer/config/imu.params create mode 100644 tools/writer/device_info_writer.cc create mode 100644 tools/writer/device_writer.cc create mode 100644 tools/writer/device_writer.h create mode 100644 tools/writer/img_params_writer.cc create mode 100644 tools/writer/imu_params_writer.cc diff --git a/src/device/device.h b/src/device/device.h index 71542cc..ce57c14 100644 --- a/src/device/device.h +++ b/src/device/device.h @@ -21,6 +21,12 @@ struct device; } // namespace uvc +namespace tools { + +class DeviceWriter; + +} // namespace tools + struct DeviceInfo; class Channels; @@ -145,7 +151,7 @@ class Device { return channels_; } - // friend DeviceWriter; + friend tools::DeviceWriter; }; MYNTEYE_END_NAMESPACE diff --git a/src/public/types.cc b/src/public/types.cc index a6aa160..ec352b0 100644 --- a/src/public/types.cc +++ b/src/public/types.cc @@ -2,6 +2,12 @@ #include +#include +#include + +#define FULL_PRECISION \ + std::fixed << std::setprecision(std::numeric_limits::max_digits10) + MYNTEYE_BEGIN_NAMESPACE const char *to_string(const Model &value) { @@ -146,16 +152,17 @@ std::ostream &operator<<(std::ostream &os, const StreamRequest &request) { } std::ostream &operator<<(std::ostream &os, const Intrinsics &in) { - os << "width: " << in.width << ", height: " << in.height << ", fx: " << in.fx - << ", fy: " << in.fy << ", cx: " << in.cx << ", cy: " << in.cy - << ", model: " << static_cast(in.model) << ", coeffs: ["; + os << FULL_PRECISION << "width: " << in.width << ", height: " << in.height + << ", fx: " << in.fx << ", fy: " << in.fy << ", cx: " << in.cx + << ", cy: " << in.cy << ", model: " << static_cast(in.model) + << ", coeffs: ["; for (int i = 0; i <= 3; i++) os << in.coeffs[i] << ", "; return os << in.coeffs[4] << "]"; } std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in) { - os << "scale: ["; + os << FULL_PRECISION << "scale: ["; for (int i = 0; i <= 2; i++) os << in.scale[0][i] << ", "; for (int i = 0; i <= 2; i++) @@ -183,11 +190,12 @@ std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in) { } std::ostream &operator<<(std::ostream &os, const MotionIntrinsics &in) { - return os << "accel: {" << in.accel << "}, gyro: {" << in.gyro << "}"; + return os << FULL_PRECISION << "accel: {" << in.accel << "}, gyro: {" + << in.gyro << "}"; } std::ostream &operator<<(std::ostream &os, const Extrinsics &ex) { - os << "rotation: ["; + os << FULL_PRECISION << "rotation: ["; for (int i = 0; i <= 2; i++) os << ex.rotation[0][i] << ", "; for (int i = 0; i <= 2; i++) diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt index 48ba0aa..3f12957 100644 --- a/tools/CMakeLists.txt +++ b/tools/CMakeLists.txt @@ -52,3 +52,7 @@ include_directories( # dataset add_subdirectory(dataset) + +# writer + +add_subdirectory(writer) diff --git a/tools/README.md b/tools/README.md index f250ccc..0e70c01 100644 --- a/tools/README.md +++ b/tools/README.md @@ -73,6 +73,28 @@ python tools/analytics/stamp_analytics.py -i mynteye.bag --- +## Writer + +### device_info_writer.cc + +```bash +./tools/_output/bin/writer/device_info_writer tools/writer/config/device.info +``` + +### img_params_writer.cc + +```bash +./tools/_output/bin/writer/img_params_writer tools/writer/config/img.params +``` + +### imu_params_writer.cc + +```bash +./tools/_output/bin/writer/imu_params_writer tools/writer/config/imu.params +``` + +--- + ## Checksum ```bash diff --git a/tools/writer/CMakeLists.txt b/tools/writer/CMakeLists.txt new file mode 100644 index 0000000..c720b39 --- /dev/null +++ b/tools/writer/CMakeLists.txt @@ -0,0 +1,51 @@ +get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME) + +set_outdir( + "${OUT_DIR}/lib/${DIR_NAME}" + "${OUT_DIR}/lib/${DIR_NAME}" + "${OUT_DIR}/bin/${DIR_NAME}" +) + +include_directories( + ${PRO_DIR}/src +) + +## device_writer + +add_library(device_writer STATIC device_writer.cc) +target_link_libraries(device_writer mynteye ${OpenCV_LIBS}) + +set(LINK_LIBS device_writer) + +## device_info_writer + +add_executable(device_info_writer device_info_writer.cc) +target_link_libraries(device_info_writer ${LINK_LIBS}) + +if(OS_WIN) + target_compile_definitions(device_info_writer + PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES + ) +endif() + +## img_params_writer + +add_executable(img_params_writer img_params_writer.cc) +target_link_libraries(img_params_writer ${LINK_LIBS}) + +if(OS_WIN) + target_compile_definitions(img_params_writer + PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES + ) +endif() + +## imu_params_writer + +add_executable(imu_params_writer imu_params_writer.cc) +target_link_libraries(imu_params_writer ${LINK_LIBS}) + +if(OS_WIN) + target_compile_definitions(imu_params_writer + PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES + ) +endif() diff --git a/tools/writer/config/device.info b/tools/writer/config/device.info new file mode 100644 index 0000000..fcf9289 --- /dev/null +++ b/tools/writer/config/device.info @@ -0,0 +1,5 @@ +%YAML:1.0 +--- +lens_type: "0000" +imu_type: "0000" +nominal_baseline: 120 diff --git a/tools/writer/config/img.params b/tools/writer/config/img.params new file mode 100644 index 0000000..5eaa0e1 --- /dev/null +++ b/tools/writer/config/img.params @@ -0,0 +1,32 @@ +%YAML:1.0 +--- +in_left: + - + width: 752 + height: 480 + fx: 7.3638305001095546e+02 + fy: 7.2350066150722432e+02 + cx: 3.5691961817119693e+02 + cy: 2.1727271340923883e+02 + model: 0 + coeffs: [ -5.4898645145016478e-01, 5.2837141203888638e-01, 0., 0., + 0. ] +in_right: + - + width: 752 + height: 480 + fx: 7.3638305001095546e+02 + fy: 7.2350066150722432e+02 + cx: 4.5668367112303980e+02 + cy: 2.5070083335536796e+02 + model: 0 + coeffs: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0., + 0. ] +ex_left_to_right: + rotation: [ 9.9701893306553813e-01, -9.5378124886236681e-04, + -7.7151392794850615e-02, 1.4493996762830500e-03, + 9.9997867219985104e-01, 6.3682325649414354e-03, + 7.7143673424555026e-02, -6.4610716411527686e-03, + 9.9699905125522237e-01 ] + translation: [ -1.1888991734400047e+02, -4.5605803870530912e-02, + -3.9531373691193386e+00 ] diff --git a/tools/writer/config/img.params.old b/tools/writer/config/img.params.old new file mode 100644 index 0000000..54f6f39 --- /dev/null +++ b/tools/writer/config/img.params.old @@ -0,0 +1,41 @@ +%YAML:1.0 +--- +M1: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 7.3638305001095546e+02, 0., 3.5691961817119693e+02, 0., + 7.2350066150722432e+02, 2.1727271340923883e+02, 0., 0., 1. ] +D1: !!opencv-matrix + rows: 1 + cols: 14 + dt: d + data: [ -5.4898645145016478e-01, 5.2837141203888638e-01, 0., 0., 0., + 0., 0., 4.3563985766435476e-01, 0., 0., 0., 0., 0., 0. ] +M2: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 7.3638305001095546e+02, 0., 4.5668367112303980e+02, 0., + 7.2350066150722432e+02, 2.5070083335536796e+02, 0., 0., 1. ] +D2: !!opencv-matrix + rows: 1 + cols: 14 + dt: d + data: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0., 0., + 0., 0., 2.5629798245273044e-01, 0., 0., 0., 0., 0., 0. ] +R: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 9.9701893306553813e-01, -9.5378124886236681e-04, + -7.7151392794850615e-02, 1.4493996762830500e-03, + 9.9997867219985104e-01, 6.3682325649414354e-03, + 7.7143673424555026e-02, -6.4610716411527686e-03, + 9.9699905125522237e-01 ] +T: !!opencv-matrix + rows: 3 + cols: 1 + dt: d + data: [ -1.1888991734400047e+02, -4.5605803870530912e-02, + -3.9531373691193386e+00 ] diff --git a/tools/writer/config/imu.params b/tools/writer/config/imu.params new file mode 100644 index 0000000..070f13a --- /dev/null +++ b/tools/writer/config/imu.params @@ -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. ] diff --git a/tools/writer/device_info_writer.cc b/tools/writer/device_info_writer.cc new file mode 100644 index 0000000..34f92fc --- /dev/null +++ b/tools/writer/device_info_writer.cc @@ -0,0 +1,27 @@ +#include "mynteye/glog_init.h" + +#include "mynteye/device.h" +#include "mynteye/utils.h" + +#include "writer/device_writer.h" + +MYNTEYE_USE_NAMESPACE + +int main(int argc, char *argv[]) { + glog_init _(argc, argv); + + const char *filepath; + if (argc >= 2) { + filepath = argv[1]; + } else { + LOG(ERROR) << "Usage: ./device_info_writer "; + return 2; + } + + auto &&device = device::select(); + + tools::DeviceWriter writer(device); + writer.WriteDeviceInfo(filepath); + + return 0; +} diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc new file mode 100644 index 0000000..5164764 --- /dev/null +++ b/tools/writer/device_writer.cc @@ -0,0 +1,361 @@ +#include "writer/device_writer.h" + +#include + +#include + +#include + +#include "mynteye/device.h" +#include "mynteye/files.h" + +MYNTEYE_BEGIN_NAMESPACE + +namespace tools { + +DeviceWriter::DeviceWriter(std::shared_ptr device) : device_(device) { + VLOG(2) << __func__; +} + +DeviceWriter::~DeviceWriter() { + VLOG(2) << __func__; +} + +bool DeviceWriter::WriteDeviceInfo(const dev_info_t &info) { + auto &&channels = device_->channels(); + auto &&dev_info = device_->GetInfo(); + dev_info->lens_type = Type(info.lens_type); + dev_info->imu_type = Type(info.imu_type); + dev_info->nominal_baseline = info.nominal_baseline; + if (channels->SetFiles(dev_info.get(), nullptr, nullptr)) { + LOG(INFO) << "Write device info success"; + LOG(INFO) << "Device info: {name: " << dev_info->name + << ", serial_number: " << dev_info->serial_number + << ", firmware_version: " + << dev_info->firmware_version.to_string() + << ", hardware_version: " + << dev_info->hardware_version.to_string() + << ", spec_version: " << dev_info->spec_version.to_string() + << ", lens_type: " << dev_info->lens_type.to_string() + << ", imu_type: " << dev_info->imu_type.to_string() + << ", nominal_baseline: " << dev_info->nominal_baseline << "}"; + return true; + } else { + LOG(ERROR) << "Write device info failed"; + return false; + } +} + +bool DeviceWriter::WriteDeviceInfo(const std::string &filepath) { + return WriteDeviceInfo(LoadDeviceInfo(filepath)); +} + +bool DeviceWriter::WriteImgParams(const img_params_t ¶ms) { + auto &&channels = device_->channels(); + auto &&dev_info = device_->GetInfo(); + if (channels->SetFiles( + nullptr, const_cast(¶ms), 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_left_to_right + << "}"; + return true; + } else { + LOG(ERROR) << "Write img params failed"; + return false; + } +} + +bool DeviceWriter::WriteImgParams(const std::string &filepath) { + return WriteImgParams(LoadImgParams(filepath)); +} + +bool DeviceWriter::WriteImuParams(const imu_params_t ¶ms) { + auto &&channels = device_->channels(); + auto &&dev_info = device_->GetInfo(); + if (channels->SetFiles( + nullptr, nullptr, const_cast(¶ms), + &dev_info->spec_version)) { + LOG(INFO) << "Write imu params success"; + LOG(INFO) << "Imu intrinsics accel: {" << params.in_accel << "}"; + LOG(INFO) << "Imu intrinsics gyro: {" << params.in_gyro << "}"; + LOG(INFO) << "Imu extrinsics left to imu: {" << params.ex_left_to_imu + << "}"; + return true; + } else { + LOG(ERROR) << "Write imu params failed"; + return false; + } +} + +bool DeviceWriter::WriteImuParams(const std::string &filepath) { + return WriteImuParams(LoadImuParams(filepath)); +} + +namespace { + +cv::FileStorage &operator<<(cv::FileStorage &fs, const Intrinsics &in) { + fs << "{" + << "width" << in.width << "height" << in.height << "fx" << in.fx << "fy" + << in.fy << "cx" << in.cx << "cy" << in.cy << "model" << in.model + << "coeffs" << std::vector(in.coeffs, in.coeffs + 5) << "}"; + return fs; +} + +cv::FileStorage &operator<<( + cv::FileStorage &fs, const std::vector &vec) { + fs << "["; + for (auto &&in : vec) + fs << in; + fs << "]"; + return fs; +} + +cv::FileStorage &operator<<(cv::FileStorage &fs, const ImuIntrinsics &in) { + std::vector scales; + for (std::size_t i = 0; i < 3; i++) { + for (std::size_t j = 0; j < 3; j++) { + scales.push_back(in.scale[i][j]); + } + } + fs << "{" + << "scale" << scales << "drift" + << std::vector(in.drift, in.drift + 3) << "noise" + << std::vector(in.noise, in.noise + 3) << "bias" + << std::vector(in.bias, in.bias + 3) << "}"; + return fs; +} + +cv::FileStorage &operator<<(cv::FileStorage &fs, const Extrinsics &ex) { + std::vector rotations; + for (std::size_t i = 0; i < 3; i++) { + for (std::size_t j = 0; j < 3; j++) { + rotations.push_back(ex.rotation[i][j]); + } + } + fs << "{" + << "rotation" << rotations << "translation" + << std::vector(ex.translation, ex.translation + 3) << "}"; + return fs; +} + +} // namespace + +bool DeviceWriter::SaveDeviceInfo( + const dev_info_t &info, const std::string &filepath) { + using FileStorage = cv::FileStorage; + FileStorage fs(filepath, FileStorage::WRITE); + if (!fs.isOpened()) { + LOG(ERROR) << "Failed to save file: " << filepath; + return false; + } + fs << "lens_type" << info.lens_type.to_string(); + fs << "imu_type" << info.imu_type.to_string(); + fs << "nominal_baseline" << info.nominal_baseline; + fs.release(); + return true; +} + +bool DeviceWriter::SaveImgParams( + const img_params_t ¶ms, const std::string &filepath) { + using FileStorage = cv::FileStorage; + FileStorage fs(filepath, FileStorage::WRITE); + if (!fs.isOpened()) { + LOG(ERROR) << "Failed to save file: " << filepath; + return false; + } + fs << "in_left" << std::vector{params.in_left} << "in_right" + << std::vector{params.in_right} << "ex_left_to_right" + << params.ex_left_to_right; + fs.release(); + return true; +} + +bool DeviceWriter::SaveImuParams( + const imu_params_t ¶ms, const std::string &filepath) { + using FileStorage = cv::FileStorage; + FileStorage fs(filepath, FileStorage::WRITE); + if (!fs.isOpened()) { + LOG(ERROR) << "Failed to save file: " << filepath; + return false; + } + fs << "in_accel" << params.in_accel << "in_gyro" << params.in_gyro + << "ex_left_to_imu" << params.ex_left_to_imu; + fs.release(); + return true; +} + +void DeviceWriter::SaveAllInfos(const std::string &dir) { + if (!files::mkdir(dir)) { + LOG(FATAL) << "Create directory failed: " << dir; + } + SaveDeviceInfo(*device_->GetInfo(), dir + OS_SEP "device.info"); + SaveImgParams( + {false, device_->GetIntrinsics(Stream::LEFT), + device_->GetIntrinsics(Stream::RIGHT), + device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT)}, + dir + OS_SEP "img.params"); + auto &&m_in = device_->GetMotionIntrinsics(); + SaveImuParams( + { + false, m_in.accel, m_in.gyro, + device_->GetMotionExtrinsics(Stream::LEFT), + }, + dir + OS_SEP "imu.params"); +} + +namespace { + +void to_intrinsics( + const std::uint16_t &width, const std::uint16_t &height, + const std::uint8_t &model, const cv::Mat &M, const cv::Mat &D, + Intrinsics *in) { + in->width = width; + in->height = height; + /* + fx, 0, cx, + 0, fy, cy, + 0, 0, 1 + */ + in->fx = M.at(0, 0); + in->fy = M.at(1, 1); + in->cx = M.at(0, 2); + in->cy = M.at(1, 2); + /* k1, k2, p1, p2, k3 */ + in->model = model; + LOG_IF(FATAL, D.cols < 5) << "Distortion coefficients must >= 5 columns"; + for (std::size_t i = 0; i < 5; i++) { + in->coeffs[i] = D.at(i); + } +} + +void to_extrinsics(const cv::Mat &R, const cv::Mat &T, Extrinsics *ex) { + for (std::size_t i = 0; i < 3; i++) { + for (std::size_t j = 0; j < 3; j++) { + ex->rotation[i][j] = R.at(i, j); + } + } + for (std::size_t i = 0; i < 3; i++) { + ex->translation[i] = T.at(i); + } +} + +void operator>>(const cv::FileNode &n, Intrinsics &in) { + n["width"] >> in.width; + n["height"] >> in.height; + n["fx"] >> in.fx; + n["fy"] >> in.fy; + n["cx"] >> in.cx; + n["cy"] >> in.cy; + n["model"] >> in.model; + for (std::size_t i = 0; i < 5; i++) { + in.coeffs[i] = n["coeffs"][i]; + } +} + +void operator>>(const cv::FileNode &n, ImuIntrinsics &in) { + for (std::size_t i = 0; i < 3; i++) { + for (std::size_t j = 0; j < 3; j++) { + in.scale[i][j] = n["scale"][3 * i + j]; + } + } + for (std::size_t i = 0; i < 3; i++) { + in.drift[i] = n["drift"][i]; + } + for (std::size_t i = 0; i < 3; i++) { + in.noise[i] = n["noise"][i]; + } + for (std::size_t i = 0; i < 3; i++) { + in.bias[i] = n["bias"][i]; + } +} + +void operator>>(const cv::FileNode &n, Extrinsics &ex) { + for (std::size_t i = 0; i < 3; i++) { + for (std::size_t j = 0; j < 3; j++) { + ex.rotation[i][j] = n["rotation"][3 * i + j]; + } + } + for (std::size_t i = 0; i < 3; i++) { + ex.translation[i] = n["translation"][i]; + } +} + +} // namespace + +DeviceWriter::dev_info_t DeviceWriter::LoadDeviceInfo( + const std::string &filepath) { + using FileStorage = cv::FileStorage; + FileStorage fs(filepath, FileStorage::READ); + if (!fs.isOpened()) { + LOG(FATAL) << "Failed to load file: " << filepath; + } + DeviceInfo info; + info.lens_type = Type(fs["lens_type"].string()); + info.imu_type = Type(fs["imu_type"].string()); + fs["nominal_baseline"] >> info.nominal_baseline; + fs.release(); + return info; +} + +DeviceWriter::img_params_t DeviceWriter::LoadImgParams( + const std::string &filepath) { + using FileStorage = cv::FileStorage; + FileStorage fs(filepath, FileStorage::READ); + if (!fs.isOpened()) { + LOG(FATAL) << "Failed to load file: " << filepath; + } + + img_params_t params; + if (fs["in_left"].isNone()) { + std::uint16_t w = 752; + std::uint16_t h = 480; + std::uint8_t m = 0; + if (!fs["width"].isNone()) + w = static_cast(fs["width"]); + if (!fs["height"].isNone()) + h = static_cast(fs["height"]); + if (!fs["model"].isNone()) + m = static_cast(fs["model"]); + + cv::Mat M1, D1, M2, D2, R, T; + fs["M1"] >> M1; + fs["D1"] >> D1; + fs["M2"] >> M2; + fs["D2"] >> D2; + fs["R"] >> R; + fs["T"] >> T; + + to_intrinsics(w, h, m, M1, D1, ¶ms.in_left); + to_intrinsics(w, h, m, M2, D2, ¶ms.in_right); + to_extrinsics(R, T, ¶ms.ex_left_to_right); + } else { + fs["in_left"][0] >> params.in_left; + fs["in_right"][0] >> params.in_right; + fs["ex_left_to_right"] >> params.ex_left_to_right; + } + + fs.release(); + return params; +} + +DeviceWriter::imu_params_t DeviceWriter::LoadImuParams( + const std::string &filepath) { + using FileStorage = cv::FileStorage; + FileStorage fs(filepath, FileStorage::READ); + if (!fs.isOpened()) { + LOG(FATAL) << "Failed to load file: " << filepath; + } + imu_params_t params; + fs["in_accel"] >> params.in_accel; + fs["in_gyro"] >> params.in_gyro; + fs["ex_left_to_imu"] >> params.ex_left_to_imu; + fs.release(); + return params; +} + +} // namespace tools + +MYNTEYE_END_NAMESPACE diff --git a/tools/writer/device_writer.h b/tools/writer/device_writer.h new file mode 100644 index 0000000..e58e8aa --- /dev/null +++ b/tools/writer/device_writer.h @@ -0,0 +1,56 @@ +#ifndef MYNTEYE_TOOLS_DEVICE_WRITER_H_ // NOLINT +#define MYNTEYE_TOOLS_DEVICE_WRITER_H_ +#pragma once + +#include +#include + +#include "mynteye/mynteye.h" + +#include "internal/channels.h" +#include "internal/types.h" + +MYNTEYE_BEGIN_NAMESPACE + +class Device; + +namespace tools { + +class DeviceWriter { + public: + using dev_info_t = DeviceInfo; + using img_params_t = Channels::img_params_t; + using imu_params_t = Channels::imu_params_t; + + explicit DeviceWriter(std::shared_ptr device); + ~DeviceWriter(); + + bool WriteDeviceInfo(const dev_info_t &info); + bool WriteDeviceInfo(const std::string &filepath); + + bool WriteImgParams(const img_params_t ¶ms); + bool WriteImgParams(const std::string &filepath); + + bool WriteImuParams(const imu_params_t ¶ms); + bool WriteImuParams(const std::string &filepath); + + bool SaveDeviceInfo(const dev_info_t &info, const std::string &filepath); + bool SaveImgParams(const img_params_t ¶ms, const std::string &filepath); + bool SaveImuParams(const imu_params_t ¶ms, const std::string &filepath); + + /** Save all infos of this device */ + void SaveAllInfos(const std::string &dir); + + private: + dev_info_t LoadDeviceInfo(const std::string &filepath); + img_params_t LoadImgParams(const std::string &filepath); + imu_params_t LoadImuParams(const std::string &filepath); + + std::shared_ptr device_; +}; + +} // namespace tools + +MYNTEYE_END_NAMESPACE + +#endif // MYNTEYE_TOOLS_DEVICE_WRITER_H_ NOLINT diff --git a/tools/writer/img_params_writer.cc b/tools/writer/img_params_writer.cc new file mode 100644 index 0000000..e6503c0 --- /dev/null +++ b/tools/writer/img_params_writer.cc @@ -0,0 +1,27 @@ +#include "mynteye/glog_init.h" + +#include "mynteye/device.h" +#include "mynteye/utils.h" + +#include "writer/device_writer.h" + +MYNTEYE_USE_NAMESPACE + +int main(int argc, char *argv[]) { + glog_init _(argc, argv); + + const char *filepath; + if (argc >= 2) { + filepath = argv[1]; + } else { + LOG(ERROR) << "Usage: ./img_params_writer "; + return 2; + } + + auto &&device = device::select(); + + tools::DeviceWriter writer(device); + writer.WriteImgParams(filepath); + + return 0; +} diff --git a/tools/writer/imu_params_writer.cc b/tools/writer/imu_params_writer.cc new file mode 100644 index 0000000..7617a05 --- /dev/null +++ b/tools/writer/imu_params_writer.cc @@ -0,0 +1,27 @@ +#include "mynteye/glog_init.h" + +#include "mynteye/device.h" +#include "mynteye/utils.h" + +#include "writer/device_writer.h" + +MYNTEYE_USE_NAMESPACE + +int main(int argc, char *argv[]) { + glog_init _(argc, argv); + + const char *filepath; + if (argc >= 2) { + filepath = argv[1]; + } else { + LOG(ERROR) << "Usage: ./imu_params_writer "; + return 2; + } + + auto &&device = device::select(); + + tools::DeviceWriter writer(device); + writer.WriteImuParams(filepath); + + return 0; +}