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feat(correspondence): improve keep imu sequence

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This commit is contained in:
John Zhao
2019-03-06 17:06:30 +08:00
parent b48cc6d98e
commit ce7071db2c
2 changed files with 52 additions and 9 deletions
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7
samples/tutorials/data/get_imu_correspondence.cc
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@@ -48,6 +48,7 @@ int main(int argc, char *argv[]) {
std::uint8_t prev_imu_flag = 0;
std::uint64_t imu_count = 0;
std::uint64_t imu_disorder_count = 0;
bool exit = false;
#endif
while (true) {
api->WaitForStreams();
@@ -98,6 +99,9 @@ int main(int argc, char *argv[]) {
ss << (ok ? " ✓" : " x");
if (!ok) ++imu_disorder_count;
prev_imu_flag = imu_flag;
if (!exit) {
if (!ok) exit = true;
}
}
#endif
LOG(INFO) << ss.str();
@@ -107,6 +111,7 @@ int main(int argc, char *argv[]) {
LOG(INFO);
#ifdef CHECK_ACCEL_THEN_GYRO
imu_count += motion_datas.size();
if (exit) break;
#endif
/*
@@ -130,6 +135,8 @@ int main(int argc, char *argv[]) {
if (imu_disorder_count > 0) {
LOG(INFO) << "accel_then_gyro, disorder_count: " << imu_disorder_count
<< "/" << imu_count;
} else {
LOG(INFO) << "accel_then_gyro, ok";
}
#endif
return 0;