From 2482ff5bf6d4def24d1494cf1090150821185de5 Mon Sep 17 00:00:00 2001 From: TinyO Date: Fri, 30 Aug 2019 11:23:05 +0800 Subject: [PATCH 01/13] doc(*): remove tools things. --- docs/src/sdk/contents.rst | 1 - docs/src/sdk/tools/analytics_dataset.rst | 58 ----- docs/src/sdk/tools/analytics_imu.rst | 38 ---- docs/src/sdk/tools/analytics_stamp.rst | 55 ----- docs/src/sdk/tools/contents.rst | 9 - docs/src/tools/calibration_tool.rst | 269 ----------------------- docs/src/tools/contents.rst | 8 - 7 files changed, 438 deletions(-) delete mode 100644 docs/src/sdk/tools/analytics_dataset.rst delete mode 100644 docs/src/sdk/tools/analytics_imu.rst delete mode 100644 docs/src/sdk/tools/analytics_stamp.rst delete mode 100644 docs/src/sdk/tools/contents.rst delete mode 100644 docs/src/tools/calibration_tool.rst delete mode 100644 docs/src/tools/contents.rst diff --git a/docs/src/sdk/contents.rst b/docs/src/sdk/contents.rst index ddf1d1b..f8a819a 100644 --- a/docs/src/sdk/contents.rst +++ b/docs/src/sdk/contents.rst @@ -8,6 +8,5 @@ SDK sdk_install data/contents control/contents - tools/contents project/contents sdk_changelog diff --git a/docs/src/sdk/tools/analytics_dataset.rst b/docs/src/sdk/tools/analytics_dataset.rst deleted file mode 100644 index 6efbf0d..0000000 --- a/docs/src/sdk/tools/analytics_dataset.rst +++ /dev/null @@ -1,58 +0,0 @@ -.. _analytics_dataset: - -Recording Data Sets -==================== - -The SDK provides the tool ``record`` for recording data sets. Tool details can be seen in `tools/README.md `_ . - -Reference run command: - -.. code-block:: bash - - ./tools/_output/bin/dataset/record2 - - # Windows - .\tools\_output\bin\dataset\record2.bat - -Reference run results on Linux: - -.. code-block:: bash - - $ ./tools/_output/bin/dataset/record - I0513 21:28:57.128947 11487 utils.cc:26] Detecting MYNT EYE devices - I0513 21:28:57.807116 11487 utils.cc:33] MYNT EYE devices: - I0513 21:28:57.807155 11487 utils.cc:37] index: 0, name: MYNT-EYE-S1000 - I0513 21:28:57.807163 11487 utils.cc:43] Only one MYNT EYE device, select index: 0 - I0513 21:28:57.808437 11487 channels.cc:114] Option::GAIN: min=0, max=48, def=24, cur=24 - I0513 21:28:57.809999 11487 channels.cc:114] Option::BRIGHTNESS: min=0, max=240, def=120, cur=120 - I0513 21:28:57.818678 11487 channels.cc:114] Option::CONTRAST: min=0, max=255, def=127, cur=127 - I0513 21:28:57.831529 11487 channels.cc:114] Option::FRAME_RATE: min=10, max=60, def=25, cur=25 - I0513 21:28:57.848914 11487 channels.cc:114] Option::IMU_FREQUENCY: min=100, max=500, def=200, cur=500 - I0513 21:28:57.865185 11487 channels.cc:114] Option::EXPOSURE_MODE: min=0, max=1, def=0, cur=0 - I0513 21:28:57.881434 11487 channels.cc:114] Option::MAX_GAIN: min=0, max=48, def=48, cur=48 - I0513 21:28:57.897598 11487 channels.cc:114] Option::MAX_EXPOSURE_TIME: min=0, max=240, def=240, cur=240 - I0513 21:28:57.913918 11487 channels.cc:114] Option::DESIRED_BRIGHTNESS: min=0, max=255, def=192, cur=192 - I0513 21:28:57.930177 11487 channels.cc:114] Option::IR_CONTROL: min=0, max=160, def=0, cur=0 - I0513 21:28:57.946341 11487 channels.cc:114] Option::HDR_MODE: min=0, max=1, def=0, cur=0 - Saved 1007 imgs, 20040 imus to ./dataset - I0513 21:29:38.608772 11487 record.cc:118] Time beg: 2018-05-13 21:28:58.255395, end: 2018-05-13 21:29:38.578696, cost: 40323.3ms - I0513 21:29:38.608853 11487 record.cc:121] Img count: 1007, fps: 24.9732 - I0513 21:29:38.608873 11487 record.cc:123] Imu count: 20040, hz: 496.983 - -Results save into ``/dataset`` by default. You can also add parameter, select other directory to save. - -Record contents: - -.. code-block:: none - - / - └─dataset/ - ├─left/ - │ ├─stream.txt # Image infomation - │ ├─000000.png # Image，index 0 - │ └─... - ├─right/ - │ ├─stream.txt # Image information - │ ├─000000.png # Image，index 0 - │ └─... - └─motion.txt # IMU information diff --git a/docs/src/sdk/tools/analytics_imu.rst b/docs/src/sdk/tools/analytics_imu.rst deleted file mode 100644 index 834c42b..0000000 --- a/docs/src/sdk/tools/analytics_imu.rst +++ /dev/null @@ -1,38 +0,0 @@ -.. _analytics_imu: - -Analyzing IMU -============== - -The SDK provides the script ``imu_analytics.py`` for IMU analysis. The tool details can be seen in `tools/README.md `_ . -Refer to run commands and results on Linux: - -.. code-block:: bash - - $ python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml -al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl= - imu analytics ... - input: dataset - outdir: dataset - gyro_limits: None - accel_limits: [(-1.2, 1.2), (-1.2, 1.2), (-1.2, 1.2), (-1.2, 1.2)] - time_unit: None - time_limits: None - auto: False - gyro_show_unit: d - gyro_data_unit: d - temp_limits: None - open dataset ... - imu: 20040, temp: 20040 - timebeg: 4.384450, timeend: 44.615550, duration: 40.231100 - save figure to: - dataset/imu_analytics.png - imu analytics done - -The analysis result graph will be saved in the data set directory, as follows: - -.. image:: ../../../images/sdk/tools/imu_analytics.png - -In addition, the script specific options can be executed ``-h``: - -.. code-block:: bash - - $ python tools/analytics/imu_analytics.py -h diff --git a/docs/src/sdk/tools/analytics_stamp.rst b/docs/src/sdk/tools/analytics_stamp.rst deleted file mode 100644 index db155b6..0000000 --- a/docs/src/sdk/tools/analytics_stamp.rst +++ /dev/null @@ -1,55 +0,0 @@ -.. _analytics_stamp: - -Analyze Time Stamps -==================== - -SDK provides a script for timestamp analysis ``stamp_analytics.py`` . Tool details are visible in `tools/README.md `_ . - -Reference run commands and results on Linux: - -.. code-block:: bash - - $ python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml - stamp analytics ... - input: dataset - outdir: dataset - open dataset ... - save to binary files ... - binimg: dataset/stamp_analytics_img.bin - binimu: dataset/stamp_analytics_imu.bin - img: 1007, imu: 20040 - - rate (Hz) - img: 25, imu: 500 - sample period (s) - img: 0.04, imu: 0.002 - - diff count - imgs: 1007, imus: 20040 - imgs_t_diff: 1006, imus_t_diff: 20039 - - diff where (factor=0.1) - imgs where diff > 0.04*1.1 (0) - imgs where diff < 0.04*0.9 (0) - imus where diff > 0.002*1.1 (0) - imus where diff < 0.002*0.9 (0) - - image timestamp duplicates: 0 - - save figure to: - dataset/stamp_analytics.png - stamp analytics done - -The analysis result graph will be saved in the dataset directory, as follows: - -.. image:: ../../../images/sdk/tools/stamp_analytics.png - -In addition, the script specific options can be executed ``-h`` to understand: - -.. code-block:: bash - - $ python tools/analytics/stamp_analytics.py -h - -.. tip:: - - Suggestions when recording data sets ``record.cc`` annotation display image inside ``cv::imshow()``, ``dataset.cc`` annotation display image inside ``cv::imwrite()`` . Because these operations are time-consuming, they can cause images to be discarded. In other words, consumption can't keep up with production, so some images are discarded. ``GetStreamDatas()`` used in ``record.cc`` only caches the latest 4 images. diff --git a/docs/src/sdk/tools/contents.rst b/docs/src/sdk/tools/contents.rst deleted file mode 100644 index 9c0c922..0000000 --- a/docs/src/sdk/tools/contents.rst +++ /dev/null @@ -1,9 +0,0 @@ -SDK Tools -================== - -.. toctree:: - :maxdepth: 2 - - analytics_dataset - analytics_imu - analytics_stamp diff --git a/docs/src/tools/calibration_tool.rst b/docs/src/tools/calibration_tool.rst deleted file mode 100644 index fd29d68..0000000 --- a/docs/src/tools/calibration_tool.rst +++ /dev/null @@ -1,269 +0,0 @@ -.. _calibration_tool: - -Calibration Tool Manual -======================= - -Introduction --------- - -1.1 Support Platform --------- - -Currently the calibration tool only supports Ubuntu 16.04 LTS, but support the official, ROS multiple version of OpenCV dependencies. - -==================== ==================== ====================== -Platform Architecture Different dependence -==================== ==================== ====================== -Ubuntu 16.04 LTS x64(amd64) libopencv-dev -Ubuntu 16.04 LTS x64(amd64) ros-kinetic-opencv3 -==================== ==================== ====================== - - - -1.2 Tools description --------- - -Deb/ppa installation package is available on Ubuntu. The architecture, dependencies, and versions will be distinguished from the name: - -* mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb -* mynteye-s-calibrator-opencv-ros-kinetic-1.0.0_amd64.deb - -======================= ==================== ============================================================ -Dependency identifier Dependency package Detailed description -======================= ==================== ============================================================ -opencv-official libopencv-dev https://packages.ubuntu.com/xenial/libopencv-dev -opencv-ros-kinetic ros-kinetic-opencv3 http://wiki.ros.org/opencv3 -======================= ==================== ============================================================ - - -1.3 Deb Toolkit Get --------- - -==================== ======================================================================== -Method of Obtaining Get address -==================== ======================================================================== -Baidu Cloud https://pan.baidu.com/s/19rW0fPKUlQj6eldZpZFoAA Extraction code: a6ps -Google Drive https://drive.google.com/open?id=1RsV2WEKAsfxbn-Z5nGjk5g3ml1UDEsDc -==================== ======================================================================== - - -Installation --------- - -2.1 Installation Preparation --------- -* Ubuntu 16.04 LTS environment, x64 architecture -* Deb package for the calibration tool, select OpenCV dependencies as needed - (this step is not required for PPA installation) - -2.2 Install ppa Package --------- -.. code-block:: bash - - $ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk - $ sudo apt-get update - $ sudo apt-get install mynteye-s-calibrator - $ sudo ln -sf /opt/myntai/mynteye-s-calibrator/mynteye-s-calibrator /usr/local/bin/ mynteye-s-calibrator - - -2.3 Install deb Package --------- -Install the deb package with udo dpkg -i: - -.. code-block:: bash - - $ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb - ... - (Reading database ... 359020 files and directories currently installed.) - Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ... - Unpacking mynteye-s-calibrator (1.0.0) over (1.0.0) ... - Setting up mynteye-s-calibrator (1.0.0) ... - -If you encounter an error that the dependency package is not installed, for example: - -.. code-block:: bash - - $ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb - Selecting previously unselected package mynteye-s-calibrator. - (Reading database ... 358987 files and directories currently installed.) - Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ... - Unpacking mynteye-s-calibrator (1.0.0) ... - dpkg: dependency problems prevent configuration of mynteye-s-calibrator: - mynteye-s-calibrator depends on libatlas-base-dev; however: - Package libatlas-base-dev is not installed. - dpkg: error processing package mynteye-s-calibrator (--install): - dependency problems - leaving unconfigured - Errors were encountered while processing: - mynteye-s-calibrator - -You can continue use sudo apt-get -f install to finished install - -.. code-block:: bash - - $ sudo apt-get -f install - Reading package lists... Done - Building dependency tree - Reading state information... Done - Correcting dependencies... Done - The following additional packages will be installed: - libatlas-base-dev - Suggested packages: - libblas-doc liblapack-doc - The following NEW packages will be installed: - libatlas-base-dev - 0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded. - 1 not fully installed or removed. - Need to get 3,596 kB of archives. - After this operation, 30.8 MB of additional disk space will be used. - Do you want to continue? [Y/n] - Get:1 http://cn.archive.ubuntu.com/ubuntu xenial/universe amd64 libatlas-base-dev amd64 3.10.2-9 [3,596 kB] - Fetched 3,596 kB in 3s (1,013 kB/s) - Selecting previously unselected package libatlas-base-dev. - (Reading database ... 358993 files and directories currently installed.) - Preparing to unpack .../libatlas-base-dev_3.10.2-9_amd64.deb ... - Unpacking libatlas-base-dev (3.10.2-9) ... - Setting up libatlas-base-dev (3.10.2-9) ... - update-alternatives: using /usr/lib/atlas-base/atlas/libblas.so to provide /usr/lib/libblas.so (libblas.so) in auto mode - update-alternatives: using /usr/lib/atlas-base/atlas/liblapack.so to provide /usr/lib/liblapack.so (liblapack.so) in auto mode - Setting up mynteye-s-calibrator (1.0.0) ... - - -How To Use --------- - -3.1 Preparation For Use --------- -* MYNT EYE S Camera -* Checkerboard -* Evenly illuminated scene - -3.2 Use Command --------- - -* After installing the calibration tool, you can run the `mynteye-s-calibrator` command directly on the terminal to calibrate. -h can see its options: - -.. code-block:: bash - - $ mynteye-s-calibrator -h - Usage: mynteye-s-calibrator [options] - help: mynteye-s-calibrator -h - calibrate: mynteye-s-calibrator -x 11 -y 7 -s 0.036 - Calibrate MYNT EYE S device. - -Options: - --h, --help show this help message and exit --x WIDTH, --width=WIDTH The chessboard width, default: 11 --y HEIGHT, --height=HEIGHT The chessboard height, default: 7 --s METERS, --square=METERS The chessboard square size in meters, default: 0.036 --n NUMBER, --number=NUMBER The number of imagestools to use for calibration, default: 11 --p PATH, --path=PATH The path to save the result, default: folder name using device's SN - -* -x -y -s Used to set the width, height, and grid size of the calibration plate. Width and height refer to the number of black and white intersections in the horizontal and vertical directions of the checkerboard. Square size in meters. - - -3.3 Steps For Usage --------- - -* First, connect the MYNT EYE S camera. - -* Then, run the mynteye-s-calibrator command in the terminal. - -.. image:: ../../images/tools/calibration001.png - :width: 60% - -* Follow the prompts to select an index for the camera's resolution, perform image calibration at this resolution - -* The S1030 camera only need calibrate 752*480 resolution. The S2100 camera need calibrate 2560*800 and 1280*400 resolutions. - -* As far as possible, let the calibration plate cover the left and right eye images of the camera, -and take care of the surroundings (maximum distortion). The calibration tool will automatically -evaluate the qualified image for the calibration calculation and will indicate on the terminal how many have been selected. - -Reference acquisition image, as follows: - -.. image:: ../../images/tools/calibration002.png - :width: 60% - -.. image:: ../../images/tools/calibration003.png - :width: 60% - -.. image:: ../../images/tools/calibration004.png - :width: 60% - -.. image:: ../../images/tools/calibration005.png - :width: 60% - -.. image:: ../../images/tools/calibration006.png - :width: 60% - - -* Note: p_x, p_y, size, skew respectively indicate the scale of the calibration plate on the x-axis, y-axis, - zoom, and tilt when the image is acquired. Make a point for reference. - -* Once the number of images acquired by the calibration needs is reached, - the calibration calculation will be performed. The output is as follows: - - -.. image:: ../../images/tools/calibration007.png - :width: 60% - - -* 1. The terminal will print out the left and right purpose calibration results. - -* 2. The calibration results will be written into the files in directory. - - a) camera_left.yaml: Left eye parameter - b) camera_right.yaml: Right eye parameter - c) extrinsics.yaml: Binocular external parameter - d) img.params.equidistant: Camera parameters, which can be used for S SDK writing - e) stereo_reprojection_error.yaml: Reprojection error - -* Finally, you will also be asked if you want to write to the camera device. Enter or `y` to confirm - -.. image:: ../../images/tools/calibration008.png - :width: 60% - -* After writing to the device, you will be prompted with "Write to device done". - - - -3.4 Calibration result --------- -Calibration result, It is desirable to have a reprojection error of 0.2 or less. If exceeds 1, it needs to be recalibrated. - -Reprojection error, visible output after calibration completion "Final reprojection error: 0.201 - -Pixels", or see the calibration result file "stereo_reprojection_error.yaml". - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/docs/src/tools/contents.rst b/docs/src/tools/contents.rst deleted file mode 100644 index 8d8df5f..0000000 --- a/docs/src/tools/contents.rst +++ /dev/null @@ -1,8 +0,0 @@ -.. _tools: - -TOOLS SUPPORT -============== - -.. toctree:: - - calibration_tool From 3d29e62ccfaf4b676bf0025f4c686beb89ef6412 Mon Sep 17 00:00:00 2001 From: TinyO Date: Fri, 30 Aug 2019 12:01:24 +0800 Subject: [PATCH 02/13] chore(*): update readme. --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 38efe91..2527eb2 100644 --- a/README.md +++ b/README.md @@ -53,7 +53,7 @@ Init project, build samples and run someone. ```bash make init make samples -./samples/_output/bin/device/camera_d +./samples/_output/bin/camera_with_junior_device_api ``` ## Mirrors From 5e105b424ab86cbe2261d38d2a8ce921e545d4b5 Mon Sep 17 00:00:00 2001 From: wangruixue Date: Fri, 30 Aug 2019 15:38:24 +0800 Subject: [PATCH 03/13] ci(*): modify jenkinsfile --- Jenkinsfile | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 21737e9..e7489c2 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -80,20 +80,22 @@ pipeline { post { always { echo 'This will always run' + /* dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344', imageUrl: 'http://icon-park.com/imagefiles/loading7_gray.gif', message: '开始构建', jenkinsUrl: "${JENKINS_URL}" - + */ } success { echo 'This will run only if successful' + /* dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344', imageUrl: 'http://icons.iconarchive.com/icons/paomedia/small-n-flat/1024/sign-check-icon.png', message: '构建成功', jenkinsUrl: "${JENKINS_URL}" - +*/ } failure { echo 'This will run only if failed' From ed2398fedc8c06c60a8b22e38b3028e639d333bc Mon Sep 17 00:00:00 2001 From: TinyO Date: Fri, 30 Aug 2019 15:03:36 +0800 Subject: [PATCH 04/13] refactor(*): doc and samples update tools contents. --- docs/src/sdk/control/auto_exposure.rst | 6 +- docs/src/sdk/control/framerate.rst | 6 +- docs/src/sdk/control/iic_address.rst | 4 +- docs/src/sdk/control/imu_low_pass_filter.rst | 4 +- docs/src/sdk/control/imu_range.rst | 6 +- docs/src/sdk/control/infrared.rst | 4 +- docs/src/sdk/control/manual_exposure.rst | 6 +- docs/src/sdk/data/contents.rst | 1 - docs/src/sdk/data/get_depth.rst | 4 +- docs/src/sdk/data/get_device_info.rst | 4 +- docs/src/sdk/data/get_disparity.rst | 2 +- docs/src/sdk/data/get_from_callbacks.rst | 2 +- docs/src/sdk/data/get_img_params.rst | 4 +- docs/src/sdk/data/get_imu.rst | 11 +- docs/src/sdk/data/get_imu_correspondence.rst | 4 +- docs/src/sdk/data/get_imu_params.rst | 2 +- docs/src/sdk/data/get_points.rst | 57 -- docs/src/sdk/data/get_stereo.rst | 2 +- docs/src/sdk/data/get_stereo_rectified.rst | 2 +- docs/src/sdk/data/get_with_plugin.rst | 2 +- docs/src/sdk/data/save_params.rst | 8 +- docs/src/sdk/data/save_single_image.rst | 2 +- docs/src/sdk/data/write_img_params.rst | 12 +- docs/src/sdk/data/write_imu_params.rst | 8 +- docs/src/sdk/project/cmake.rst | 2 +- docs/src/sdk/project/vs2017.rst | 2 +- samples/CMakeLists.txt | 36 ++ .../config/S1030/deprecated/img.params.old | 41 ++ .../config/S1030/deprecated/img.params.old2 | 30 + .../config/S1030/deprecated/img.params.old3 | 33 + .../config/S1030/deprecated/imu.params.old | 24 + samples/config/S1030/device.info | 10 + samples/config/S1030/img.params.equidistant | 28 + samples/config/S1030/img.params.pinhole | 38 ++ samples/config/S1030/imu.params | 33 + .../config/S210A/deprecated/img.params.old | 62 ++ .../config/S210A/deprecated/imu.params.old | 15 + samples/config/S210A/device.info | 12 + samples/config/S210A/img.params.equidistant | 51 ++ samples/config/S210A/img.params.pinhole | 62 ++ samples/config/S210A/imu.params | 33 + samples/device_writer.cc | 590 ++++++++++++++++++ samples/device_writer.h | 69 ++ samples/save_all_infos.cc | 43 ++ samples/write_device_info.cc | 41 ++ samples/write_img_params.cc | 41 ++ samples/write_imu_params.cc | 41 ++ 47 files changed, 1390 insertions(+), 110 deletions(-) delete mode 100644 docs/src/sdk/data/get_points.rst create mode 100644 samples/config/S1030/deprecated/img.params.old create mode 100644 samples/config/S1030/deprecated/img.params.old2 create mode 100644 samples/config/S1030/deprecated/img.params.old3 create mode 100644 samples/config/S1030/deprecated/imu.params.old create mode 100644 samples/config/S1030/device.info create mode 100644 samples/config/S1030/img.params.equidistant create mode 100644 samples/config/S1030/img.params.pinhole create mode 100644 samples/config/S1030/imu.params create mode 100644 samples/config/S210A/deprecated/img.params.old create mode 100644 samples/config/S210A/deprecated/imu.params.old create mode 100644 samples/config/S210A/device.info create mode 100644 samples/config/S210A/img.params.equidistant create mode 100644 samples/config/S210A/img.params.pinhole create mode 100644 samples/config/S210A/imu.params create mode 100644 samples/device_writer.cc create mode 100644 samples/device_writer.h create mode 100644 samples/save_all_infos.cc create mode 100644 samples/write_device_info.cc create mode 100644 samples/write_img_params.cc create mode 100644 samples/write_imu_params.cc diff --git a/docs/src/sdk/control/auto_exposure.rst b/docs/src/sdk/control/auto_exposure.rst index e117140..935699a 100644 --- a/docs/src/sdk/control/auto_exposure.rst +++ b/docs/src/sdk/control/auto_exposure.rst @@ -86,7 +86,7 @@ s1030： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_auto_exposure + $ ./samples/_output/bin/ctrl_auto_exposure I0513 14:07:57.963943 31845 utils.cc:26] Detecting MYNT EYE devices I0513 14:07:58.457536 31845 utils.cc:33] MYNT EYE devices: I0513 14:07:58.457563 31845 utils.cc:37] index: 0, name: MYNT-EYE-S1000 @@ -101,7 +101,7 @@ s2100/s210a： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_auto_exposure + $ ./samples/_output/bin/ctrl_auto_exposure I/utils.cc:30 Detecting MYNT EYE devices I/utils.cc:40 MYNT EYE devices: I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F @@ -126,4 +126,4 @@ s2100/s210a： The sample program displays an image with a real exposure time in the upper left corner, in milliseconds. -Complete code examples, see `auto_exposure.cc `_ . +Complete code examples, see `ctrl_auto_exposure.cc `_ . diff --git a/docs/src/sdk/control/framerate.rst b/docs/src/sdk/control/framerate.rst index 37af436..a14e617 100644 --- a/docs/src/sdk/control/framerate.rst +++ b/docs/src/sdk/control/framerate.rst @@ -67,7 +67,7 @@ s1030： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_framerate + $ ./samples/_output/bin/ctrl_framerate I0513 14:05:57.218222 31813 utils.cc:26] Detecting MYNT EYE devices I0513 14:05:57.899404 31813 utils.cc:33] MYNT EYE devices: I0513 14:05:57.899430 31813 utils.cc:37] index: 0, name: MYNT-EYE-S1000 @@ -82,7 +82,7 @@ s2100/s210a： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_framerate + $ ./samples/_output/bin/ctrl_framerate I/utils.cc:30 Detecting MYNT EYE devices I/utils.cc:40 MYNT EYE devices: I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F @@ -105,4 +105,4 @@ s2100/s210a： After the sample program finishes running with ``ESC/Q``, it will output the calculated value of the frame rate of image & IMU frequency. -Complete code samples，please see `framerate.cc `_ . +Complete code samples，please see `ctrl_framerate.cc `_ . diff --git a/docs/src/sdk/control/iic_address.rst b/docs/src/sdk/control/iic_address.rst index 25587f2..352e22c 100644 --- a/docs/src/sdk/control/iic_address.rst +++ b/docs/src/sdk/control/iic_address.rst @@ -37,7 +37,7 @@ s210a/s2100： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_iic_adress + $ ./samples/_output/bin/ctrl_iic_adress I/utils.cc:30 Detecting MYNT EYE devices I/utils.cc:40 MYNT EYE devices: I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F @@ -55,4 +55,4 @@ s210a/s2100： I/imu_range.cc:51 Set iic address to 0x31 After the sample program finishes running with ``ESC/Q``. -Complete code samples，please see `iic_address.cc `_ . +Complete code samples，please see `ctrl_iic_address.cc `_ . diff --git a/docs/src/sdk/control/imu_low_pass_filter.rst b/docs/src/sdk/control/imu_low_pass_filter.rst index 096f3df..4590e91 100644 --- a/docs/src/sdk/control/imu_low_pass_filter.rst +++ b/docs/src/sdk/control/imu_low_pass_filter.rst @@ -37,7 +37,7 @@ Reference running results on Linux: .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_imu_low_pass_filter + $ ./samples/_output/bin/ctrl_imu_low_pass_filter I/utils.cc:30 Detecting MYNT EYE devices I/utils.cc:40 MYNT EYE devices: I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F @@ -60,4 +60,4 @@ Reference running results on Linux: After the sample program finishes running with ``ESC/Q``, the low-pass filter of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off. -Complete code samples，please see `imu_low_pass_filter.cc `_ 。 +Complete code samples，please see `ctrl_imu_low_pass_filter.cc `_ 。 diff --git a/docs/src/sdk/control/imu_range.rst b/docs/src/sdk/control/imu_range.rst index 9e63271..4248fcf 100644 --- a/docs/src/sdk/control/imu_range.rst +++ b/docs/src/sdk/control/imu_range.rst @@ -67,7 +67,7 @@ s1030： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_imu_range + $ ./samples/_output/bin/ctrl_imu_range I/utils.cc:28 Detecting MYNT EYE devices I/utils.cc:38 MYNT EYE devices: I/utils.cc:41 index: 0, name: MYNT-EYE-S1030, sn: 4B4C1F1100090712 @@ -82,7 +82,7 @@ s2100/s210a： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_imu_range + $ ./samples/_output/bin/ctrl_imu_range I/utils.cc:30 Detecting MYNT EYE devices I/utils.cc:40 MYNT EYE devices: I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F @@ -105,4 +105,4 @@ s2100/s210a： After the sample program finishes running with ``ESC/Q``, the ranges of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off. -Complete code samples，please see `imu_range.cc `_. +Complete code samples，please see `ctrl_imu_range.cc `_. diff --git a/docs/src/sdk/control/infrared.rst b/docs/src/sdk/control/infrared.rst index 6d01e29..83bf925 100644 --- a/docs/src/sdk/control/infrared.rst +++ b/docs/src/sdk/control/infrared.rst @@ -33,7 +33,7 @@ Reference running results on Linux: .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_infrared + $ ./samples/_output/bin/ctrl_infrared I0504 16:16:28.016624 25848 utils.cc:13] Detecting MYNT EYE devices I0504 16:16:28.512462 25848 utils.cc:20] MYNT EYE devices: I0504 16:16:28.512473 25848 utils.cc:24] index: 0, name: MYNT-EYE-S1000 @@ -51,4 +51,4 @@ At this point, if the image is displayed, you can see IR speckle on the image, a The hardware will not record the IR value after being turned off. In order to keep IR enabled, you must set the IR value after turning on the device. -Complete code samples，see `infrared.cc `_ . +Complete code samples，see `ctrl_infrared.cc `_ . diff --git a/docs/src/sdk/control/manual_exposure.rst b/docs/src/sdk/control/manual_exposure.rst index c95f9ee..da944f0 100644 --- a/docs/src/sdk/control/manual_exposure.rst +++ b/docs/src/sdk/control/manual_exposure.rst @@ -71,7 +71,7 @@ s1030： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_manual_exposure + $ ./samples/_output/bin/ctrl_manual_exposure I0513 14:09:17.104431 31908 utils.cc:26] Detecting MYNT EYE devices I0513 14:09:17.501519 31908 utils.cc:33] MYNT EYE devices: I0513 14:09:17.501551 31908 utils.cc:37] index: 0, name: MYNT-EYE-S1000 @@ -85,7 +85,7 @@ s2100/s210a： .. code-block:: bash - $ ./samples/_output/bin/tutorials/ctrl_manual_exposure + $ ./samples/_output/bin/ctrl_manual_exposure I/utils.cc:30 Detecting MYNT EYE devices I/utils.cc:40 MYNT EYE devices: I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F @@ -107,4 +107,4 @@ s2100/s210a： The sample program displays an image with a real exposure time in the upper left corner, in milliseconds. -Complete code samples，see `manual_exposure.cc `_ . +Complete code samples，see `ctrl_manual_exposure.cc `_ . diff --git a/docs/src/sdk/data/contents.rst b/docs/src/sdk/data/contents.rst index 7f5de77..a381091 100644 --- a/docs/src/sdk/data/contents.rst +++ b/docs/src/sdk/data/contents.rst @@ -12,7 +12,6 @@ SDK Data Samples get_stereo_rectified get_disparity get_depth - get_points get_imu get_imu_correspondence get_from_callbacks diff --git a/docs/src/sdk/data/get_depth.rst b/docs/src/sdk/data/get_depth.rst index 0e178a2..13f41c2 100644 --- a/docs/src/sdk/data/get_depth.rst +++ b/docs/src/sdk/data/get_depth.rst @@ -47,8 +47,8 @@ Reference code snippet: The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program. -Complete code examples, see `get_depth.cc `_ . +Complete code examples, see `get_depth.cc `_ . .. tip:: -Preview the value of a region of the depth image, see `get_depth_with_region.cc `_ . +Preview the value of a region of the depth image, see `get_depth_with_region.cc `_ . diff --git a/docs/src/sdk/data/get_device_info.rst b/docs/src/sdk/data/get_device_info.rst index 33ffdcf..afa5e95 100644 --- a/docs/src/sdk/data/get_device_info.rst +++ b/docs/src/sdk/data/get_device_info.rst @@ -24,7 +24,7 @@ Reference result on Linux: .. code-block:: bash - $ ./samples/_output/bin/tutorials/get_device_info + $ ./samples/_output/bin/get_device_info I0503 16:40:21.109391 32106 utils.cc:13] Detecting MYNT EYE devices I0503 16:40:21.604116 32106 utils.cc:20] MYNT EYE devices: I0503 16:40:21.604127 32106 utils.cc:24] index: 0, name: MYNT-EYE-S1000 @@ -38,4 +38,4 @@ Reference result on Linux: I0503 16:40:21.615164 32106 get_device_info.cc:16] IMU type: 0000 I0503 16:40:21.615171 32106 get_device_info.cc:17] Nominal baseline: 120 -Complete code examples, see `get_device_info.cc `_ . +Complete code examples, see `get_device_info.cc `_ . diff --git a/docs/src/sdk/data/get_disparity.rst b/docs/src/sdk/data/get_disparity.rst index f2acb0b..59799bf 100644 --- a/docs/src/sdk/data/get_disparity.rst +++ b/docs/src/sdk/data/get_disparity.rst @@ -59,4 +59,4 @@ Reference code snippet: The above code uses OpenCV to display the image. Select the display window, press ``ESC/Q`` to exit in the program. -Complete code examples, see `get_disparity.cc `_ . +Complete code examples, see `get_disparity.cc `_ . diff --git a/docs/src/sdk/data/get_from_callbacks.rst b/docs/src/sdk/data/get_from_callbacks.rst index d9ae0a6..b6df3c0 100644 --- a/docs/src/sdk/data/get_from_callbacks.rst +++ b/docs/src/sdk/data/get_from_callbacks.rst @@ -116,4 +116,4 @@ Reference code snippet: OpenCV is used to display images and data above. When the window is selected, pressing ``ESC/Q`` will exit program. -Complete code examples, see `get_from_callbacks.cc `_ . +Complete code examples, see `get_from_callbacks.cc `_ . diff --git a/docs/src/sdk/data/get_img_params.rst b/docs/src/sdk/data/get_img_params.rst index b2e05f1..bd68bfb 100644 --- a/docs/src/sdk/data/get_img_params.rst +++ b/docs/src/sdk/data/get_img_params.rst @@ -27,7 +27,7 @@ Reference result on Linux: .. code-block:: bash - $ ./samples/_output/bin/tutorials/get_img_params + $ ./samples/_output/bin/get_img_params I0510 15:00:22.643263 6980 utils.cc:26] Detecting MYNT EYE devices I0510 15:00:23.138811 6980 utils.cc:33] MYNT EYE devices: I0510 15:00:23.138849 6980 utils.cc:37] index: 0, name: MYNT-EYE-S1000 @@ -36,4 +36,4 @@ Reference result on Linux: I0510 15:00:23.210551 6980 get_img_params.cc:24] Intrinsics right: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 456.68367112303980093, cy: 250.70083335536796199, model: 0, coeffs: [-0.51012886039889305, 0.38764476500996770, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]} I0510 15:00:23.210577 6980 get_img_params.cc:26] Extrinsics left to right: {rotation: [0.99701893306553813, -0.00095378124886237, -0.07715139279485062, 0.00144939967628305, 0.99997867219985104, 0.00636823256494144, 0.07714367342455503, -0.00646107164115277, 0.99699905125522237], translation: [-118.88991734400046596, -0.04560580387053091, -3.95313736911933855]} -Complete code examples, see `get_img_params.cc `_ . +Complete code examples, see `get_img_params.cc `_ . diff --git a/docs/src/sdk/data/get_imu.rst b/docs/src/sdk/data/get_imu.rst index 99b961f..5039a85 100644 --- a/docs/src/sdk/data/get_imu.rst +++ b/docs/src/sdk/data/get_imu.rst @@ -47,8 +47,13 @@ Sample code snippet: */ painter.DrawImgData(img, *left_data.img); - if (!motion_datas.empty()) { - painter.DrawImuData(img, *motion_datas[0].imu); + static std::vector motion_datas_s = motion_datas; + + if (!motion_datas.empty() && motion_datas.size() > 0) { + motion_datas_s = motion_datas; + } + if (!motion_datas_s.empty() && motion_datas_s.size() > 0) { + painter.DrawImuData(img, *motion_datas_s[0].imu); } cv::imshow("frame", img); @@ -63,4 +68,4 @@ Sample code snippet: OpenCV is used to display image and data. When window is selected, press ``ESC/Q`` to exit program. -Complete code examples, see `get_imu.cc `_ . +Complete code examples, see `get_imu.cc `_ . diff --git a/docs/src/sdk/data/get_imu_correspondence.rst b/docs/src/sdk/data/get_imu_correspondence.rst index 0266bb2..b496a50 100644 --- a/docs/src/sdk/data/get_imu_correspondence.rst +++ b/docs/src/sdk/data/get_imu_correspondence.rst @@ -58,7 +58,7 @@ Reference result on Linux: .. code-block:: bash - $ ./samples/_output/bin/tutorials/get_imu_correspondence + $ ./samples/_output/bin/get_imu_correspondence I/utils.cc:30 Detecting MYNT EYE devices I/utils.cc:40 MYNT EYE devices: I/utils.cc:43 index: 0, name: MYNT-EYE-S1030, sn: 0281351000090807 @@ -106,4 +106,4 @@ Reference result on Linux: I/get_imu_correspondence.cc:61 Imu timestamp: 171419650, diff_prev=2020, diff_img=16608 I/get_imu_correspondence.cc:61 Imu timestamp: 171421660, diff_prev=2010, diff_img=18624 -Complete code examples, see `get_imu_correspondence.cc `_ . +Complete code examples, see `get_imu_correspondence.cc `_ . diff --git a/docs/src/sdk/data/get_imu_params.rst b/docs/src/sdk/data/get_imu_params.rst index c7c5043..9bd44f7 100644 --- a/docs/src/sdk/data/get_imu_params.rst +++ b/docs/src/sdk/data/get_imu_params.rst @@ -15,4 +15,4 @@ Reference commands: LOG(INFO) << "Motion extrinsics left to imu: {" << api->GetMotionExtrinsics(Stream::LEFT) << "}"; -Complete code examples, see `get_imu_params.cc `_ . +Complete code examples, see `get_imu_params.cc `_ . diff --git a/docs/src/sdk/data/get_points.rst b/docs/src/sdk/data/get_points.rst deleted file mode 100644 index 767b4e6..0000000 --- a/docs/src/sdk/data/get_points.rst +++ /dev/null @@ -1,57 +0,0 @@ -.. _data_get_points: - -Get Point Image -================ - -Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use. - -For detail process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` . - -It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` for detail. - -Sample code snippet: - -.. code-block:: c++ - - auto &&api = API::Create(argc, argv); - - api->EnableStreamData(Stream::POINTS); - - api->Start(Source::VIDEO_STREAMING); - - cv::namedWindow("frame"); - PCViewer pcviewer; - - while (true) { - api->WaitForStreams(); - - auto &&left_data = api->GetStreamData(Stream::LEFT); - auto &&right_data = api->GetStreamData(Stream::RIGHT); - - cv::Mat img; - cv::hconcat(left_data.frame, right_data.frame, img); - cv::imshow("frame", img); - - auto &&points_data = api->GetStreamData(Stream::POINTS); - if (!points_data.frame.empty()) { - pcviewer.Update(points_data.frame); - } - - char key = static_cast(cv::waitKey(1)); - if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q - break; - } - if (pcviewer.WasStopped()) { - break; - } - } - - api->Stop(Source::VIDEO_STREAMING); - -`PCL `_ is used to display point images above. Program will close when point image window is closed. - -Complete code examples, see `get_points.cc `_ . - -.. attention:: - - Sample code only compiles when `PCL `_ is ready. If your PCL was installed in a different directory, please set ``CMAKE_PREFIX_PATH`` in `tutorials/CMakeLists.txt `_ to the path of ``PCLConfig.cmake`` . You can find ``CMAKE_PREFIX_PATH`` near ``find_package(PCL)`` . diff --git a/docs/src/sdk/data/get_stereo.rst b/docs/src/sdk/data/get_stereo.rst index 8e1f8ab..f746d6b 100644 --- a/docs/src/sdk/data/get_stereo.rst +++ b/docs/src/sdk/data/get_stereo.rst @@ -37,4 +37,4 @@ Reference commands: The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program. -Complete code examples, see `get_stereo.cc `_ . +Complete code examples, see `get_stereo.cc `_ . diff --git a/docs/src/sdk/data/get_stereo_rectified.rst b/docs/src/sdk/data/get_stereo_rectified.rst index 8875a55..28ebd61 100644 --- a/docs/src/sdk/data/get_stereo_rectified.rst +++ b/docs/src/sdk/data/get_stereo_rectified.rst @@ -48,4 +48,4 @@ Reference code snippet: OpenCV is used to display the image above. Select the display window, press ``ESC/Q`` to exit the program. -Complete code examples, see `get_stereo_rectified.cc `_ . +Complete code examples, see `get_stereo_rectified.cc `_ . diff --git a/docs/src/sdk/data/get_with_plugin.rst b/docs/src/sdk/data/get_with_plugin.rst index 1f7c91a..072461b 100644 --- a/docs/src/sdk/data/get_with_plugin.rst +++ b/docs/src/sdk/data/get_with_plugin.rst @@ -83,7 +83,7 @@ In addition, the following command can be executed to check whether the dependen If the plugin's dependent library is not found, it will report an error \"Open plugin failed\" when loading. -Complete code sample, see `get_with_plugin.cc `_ . +Complete code sample, see `get_with_plugin.cc `_ . .. tip:: diff --git a/docs/src/sdk/data/save_params.rst b/docs/src/sdk/data/save_params.rst index ec36086..45cd55e 100644 --- a/docs/src/sdk/data/save_params.rst +++ b/docs/src/sdk/data/save_params.rst @@ -3,22 +3,22 @@ Save Device Infomation And Parameters ===================================== -The SDK provides a tool ``save_all_infos`` for save information and parameters. For more information, please read `tools/README.md `_ . +The SDK provides a tool ``save_all_infos`` for save information and parameters. Reference commands: .. code-block:: bash - ./tools/_output/bin/writer/save_all_infos + ./samples/_output/bin/save_all_infos # Windows - .\tools\_output\bin\writer\save_all_infos.bat + .\samples\_output\bin\save_all_infos.bat Reference result on Linux: .. code-block:: bash - $ ./tools/_output/bin/writer/save_all_infos + $ ./samples/_output/bin/save_all_infos I0512 21:40:08.687088 4092 utils.cc:26] Detecting MYNT EYE devices I0512 21:40:09.366693 4092 utils.cc:33] MYNT EYE devices: I0512 21:40:09.366734 4092 utils.cc:37] index: 0, name: MYNT-EYE-S1000 diff --git a/docs/src/sdk/data/save_single_image.rst b/docs/src/sdk/data/save_single_image.rst index b8ab965..8cbe818 100644 --- a/docs/src/sdk/data/save_single_image.rst +++ b/docs/src/sdk/data/save_single_image.rst @@ -49,4 +49,4 @@ Reference commands: The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program. -Complete code examples, see `save_single_image.cc `_ . +Complete code examples, see `save_single_image.cc `_ . diff --git a/docs/src/sdk/data/write_img_params.rst b/docs/src/sdk/data/write_img_params.rst index 06b3f57..9911b9c 100644 --- a/docs/src/sdk/data/write_img_params.rst +++ b/docs/src/sdk/data/write_img_params.rst @@ -3,7 +3,7 @@ Write Image Parameters ======================= -The SDK provides a tool ``img_params_writer`` for writing image parameters. For details, read `tools/README.md `_ . +The SDK provides a tool ``write_img_params`` for writing image parameters. For getting image parameters, please read :ref:`get_img_params`. This is used to calculate the deviation. @@ -11,21 +11,21 @@ Reference commands: .. code-block:: bash - ./tools/_output/bin/writer/img_params_writer tools/writer/config/img.params + ./samples/_output/bin/write_img_params samples/config/img.params # Windows - .\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params + .\samples\_output\bin\write_img_params.bat samples\config\img.params .. warning:: Please don't override parameters, you can use ``save_all_infos`` to backup parameters. -And, `tools/writer/config/S1030/img.params.pinhole `_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices. +And, `samples/config/S1030/img.params.pinhole `_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices. .. tip:: - The image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A`` - The image calibration parameters of S1030 are in ``tools/writer/config/S1030`` + The image calibration parameters of S2100/S210A are in ``samples/config/S210A`` + The image calibration parameters of S1030 are in ``samples/config/S1030`` .. tip:: diff --git a/docs/src/sdk/data/write_imu_params.rst b/docs/src/sdk/data/write_imu_params.rst index b91f50a..88864cb 100644 --- a/docs/src/sdk/data/write_imu_params.rst +++ b/docs/src/sdk/data/write_imu_params.rst @@ -3,7 +3,7 @@ Write IMU Parameters ===================== -SDK provides the tool ``imu_params_writer`` to write IMU parameters. For deltail, please read `tools/README.md `_ . +SDK provides the tool ``write_imu_params`` to write IMU parameters. Information about how to get IMU parameters, please read :ref:`get_imu_params` . @@ -11,12 +11,12 @@ Reference commands: .. code-block:: bash - ./tools/_output/bin/writer/imu_params_writer tools/writer/config/imu.params + ./samples/_output/bin/write_imu_params samples/config/imu.params # Windows - .\tools\_output\bin\writer\imu_params_writer.bat tools\writer\config\imu.params + .\samples\_output\bin\write_imu_params.bat samples\config\imu.params -The path of parameters file can be found in `tools/writer/config/img.params `_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device. +The path of parameters file can be found in `samples/config/img.params `_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device. .. warning:: diff --git a/docs/src/sdk/project/cmake.rst b/docs/src/sdk/project/cmake.rst index a15c5de..1f96361 100644 --- a/docs/src/sdk/project/cmake.rst +++ b/docs/src/sdk/project/cmake.rst @@ -5,7 +5,7 @@ How to use SDK with CMake This tutorial will create a project with CMake to start using SDK. - You could find the project demo in ``/platforms/projects/cmake directory`` . + You could find the project demo in ``/samples/simple_demo/project_cmake directory`` . Preparation ----------- diff --git a/docs/src/sdk/project/vs2017.rst b/docs/src/sdk/project/vs2017.rst index 605a999..31f4aa6 100644 --- a/docs/src/sdk/project/vs2017.rst +++ b/docs/src/sdk/project/vs2017.rst @@ -5,7 +5,7 @@ How to use SDK with Visual Studio 2017 This tutorial will create a project with Visual Studio 2017 to start using SDK. - You could find the project demo in ``/platforms/projects/vs2017`` directory. + You could find the project demo in ``/samples/simple_demo/project_vs2017`` directory. Preparation ------------ diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt index 2e7b8db..74212b8 100644 --- a/samples/CMakeLists.txt +++ b/samples/CMakeLists.txt @@ -242,4 +242,40 @@ if(WITH_API) endif() endif() +## device_writer + +add_library(device_writer STATIC device_writer.cc) +target_link_libraries(device_writer mynteye ${OpenCV_LIBS}) + +## device_info_writer + +make_executable(write_device_info + SRCS write_device_info.cc + LINK_LIBS device_writer + DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} +) + +## img_params_writer + +make_executable(write_img_params + SRCS write_img_params.cc + LINK_LIBS device_writer + DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} +) + +## imu_params_writer + +make_executable(write_imu_params + SRCS write_imu_params.cc + LINK_LIBS device_writer + DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} +) + +## save_all_infos + +make_executable(save_all_infos + SRCS save_all_infos.cc + LINK_LIBS device_writer + DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} +) diff --git a/samples/config/S1030/deprecated/img.params.old b/samples/config/S1030/deprecated/img.params.old new file mode 100644 index 0000000..54f6f39 --- /dev/null +++ b/samples/config/S1030/deprecated/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/samples/config/S1030/deprecated/img.params.old2 b/samples/config/S1030/deprecated/img.params.old2 new file mode 100644 index 0000000..350a171 --- /dev/null +++ b/samples/config/S1030/deprecated/img.params.old2 @@ -0,0 +1,30 @@ +%YAML:1.0 +--- +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 ] diff --git a/samples/config/S1030/deprecated/img.params.old3 b/samples/config/S1030/deprecated/img.params.old3 new file mode 100644 index 0000000..28d2f6a --- /dev/null +++ b/samples/config/S1030/deprecated/img.params.old3 @@ -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 ] diff --git a/samples/config/S1030/deprecated/imu.params.old b/samples/config/S1030/deprecated/imu.params.old new file mode 100644 index 0000000..4500d4e --- /dev/null +++ b/samples/config/S1030/deprecated/imu.params.old @@ -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 ] diff --git a/samples/config/S1030/device.info b/samples/config/S1030/device.info new file mode 100644 index 0000000..0c9e26b --- /dev/null +++ b/samples/config/S1030/device.info @@ -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 diff --git a/samples/config/S1030/img.params.equidistant b/samples/config/S1030/img.params.equidistant new file mode 100644 index 0000000..06600b5 --- /dev/null +++ b/samples/config/S1030/img.params.equidistant @@ -0,0 +1,28 @@ +%YAML:1.0 +--- +version: "1.2" +img_params: + - + model: 1 + width: 752 + height: 480 + in_left: + # coeffs: k2,k3,k4,k5,mu,mv,u0,v0 + coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02, + 5.3814579203036512e-02, -3.6663721418756977e-02, + 3.6797709792391299e+02, 3.6808712539453859e+02, + 3.7414963027144353e+02, 2.3125000326472903e+02 ] + in_right: + # coeffs: k2,k3,k4,k5,mu,mv,u0,v0 + coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02, + 4.0863326732708288e-02, -2.1522718578606163e-02, + 3.6807315003638877e+02, 3.6806204885853174e+02, + 3.8499216569965887e+02, 2.3183027347834383e+02 ] + 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 ] diff --git a/samples/config/S1030/img.params.pinhole b/samples/config/S1030/img.params.pinhole new file mode 100644 index 0000000..a375acc --- /dev/null +++ b/samples/config/S1030/img.params.pinhole @@ -0,0 +1,38 @@ +%YAML:1.0 +--- +version: "1.2" +img_params: + - + model: 0 + width: 752 + height: 480 + in_left: + # [fx 0 cx] + # [ 0 fy cy] + # [ 0 0 1] + fx: 3.6220059643202876e+02 + fy: 3.6350065250745848e+02 + cx: 4.0658699068023441e+02 + cy: 2.3435161110061483e+02 + # coeffs: k1,k2,p1,p2,k3 + coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02, + -7.0536676161976066e-04, -8.5255451307033846e-03, 0. ] + in_right: + # [fx 0 cx] + # [ 0 fy cy] + # [ 0 0 1] + fx: 3.6514014888558478e+02 + fy: 3.6513385298966961e+02 + cx: 3.8932395100630907e+02 + cy: 2.3495160212312547e+02 + # coeffs: k1,k2,p1,p2,k3 + 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 ] diff --git a/samples/config/S1030/imu.params b/samples/config/S1030/imu.params new file mode 100644 index 0000000..93ad7e8 --- /dev/null +++ b/samples/config/S1030/imu.params @@ -0,0 +1,33 @@ +%YAML:1.0 +--- +version: "1.2" +in_accel: + scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] + assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] + drift: [ 0., 0., 0. ] + noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02, + 1.7452487504590969e-02 ] + bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04, + 5.4490537096493644e-04 ] + x: [ 0.0, 0.0 ] + y: [ 0.0, 0.0 ] + z: [ 0.0, 0.0 ] +in_gyro: + scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] + assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] + drift: [ 0., 0., 0. ] + noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03, + 1.1003229919806443e-03 ] + bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05, + 1.4970418056326829e-05 ] + x: [ 0.0, 0.0 ] + y: [ 0.0, 0.0 ] + z: [ 0.0, 0.0 ] +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 ] diff --git a/samples/config/S210A/deprecated/img.params.old b/samples/config/S210A/deprecated/img.params.old new file mode 100644 index 0000000..a368dbb --- /dev/null +++ b/samples/config/S210A/deprecated/img.params.old @@ -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 ] diff --git a/samples/config/S210A/deprecated/imu.params.old b/samples/config/S210A/deprecated/imu.params.old new file mode 100644 index 0000000..070f13a --- /dev/null +++ b/samples/config/S210A/deprecated/imu.params.old @@ -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/samples/config/S210A/device.info b/samples/config/S210A/device.info new file mode 100644 index 0000000..d7f4e16 --- /dev/null +++ b/samples/config/S210A/device.info @@ -0,0 +1,12 @@ +%YAML:1.0 +--- +device_name: MYNT-EYE-S210A +serial_number: "07C40D1C0009071F" +firmware_version: "1.1" +hardware_version: "1.0" +spec_version: "1.2" +lens_type: "0001" +imu_type: "0001" +nominal_baseline: 80 +auxiliary_chip_version: "1.0" +isp_version: "1.0" diff --git a/samples/config/S210A/img.params.equidistant b/samples/config/S210A/img.params.equidistant new file mode 100644 index 0000000..8949748 --- /dev/null +++ b/samples/config/S210A/img.params.equidistant @@ -0,0 +1,51 @@ +%YAML:1.0 +--- +version: "1.2" +img_params: + # There are two params of resolution [640x400], [1280x800]. + # If you only set one of them, write will keep another params if it exists. + - + model: 1 + width: 640 + height: 400 + in_left: + # coeffs: k2,k3,k4,k5,mu,mv,u0,v0 + coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02, + 5.3814579203036512e-02, -3.6663721418756977e-02, + 3.6797709792391299e+02, 3.6808712539453859e+02, + 3.7414963027144353e+02, 2.3125000326472903e+02 ] + in_right: + coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02, + 4.0863326732708288e-02, -2.1522718578606163e-02, + 3.6807315003638877e+02, 3.6806204885853174e+02, + 3.8499216569965887e+02, 2.3183027347834383e+02 ] + 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 ] + - + model: 1 + width: 1280 + height: 800 + in_left: + coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02, + 5.3814579203036512e-02, -3.6663721418756977e-02, + 3.6797709792391299e+02, 3.6808712539453859e+02, + 3.7414963027144353e+02, 2.3125000326472903e+02 ] + in_right: + coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02, + 5.3814579203036512e-02, -3.6663721418756977e-02, + 3.6797709792391299e+02, 3.6808712539453859e+02, + 3.7414963027144353e+02, 2.3125000326472903e+02 ] + 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 ] diff --git a/samples/config/S210A/img.params.pinhole b/samples/config/S210A/img.params.pinhole new file mode 100644 index 0000000..eb1b2a7 --- /dev/null +++ b/samples/config/S210A/img.params.pinhole @@ -0,0 +1,62 @@ +%YAML:1.0 +--- +version: "1.2" +img_params: + # There are two params of resolution [640x400], [1280x800]. + # If you only set one of them, write will keep another params if it exists. + - + model: 0 + width: 640 + height: 400 + in_left: + # [fx 0 cx] + # [ 0 fy cy] + # [ 0 0 1] + fx: 1.9739641213416058e+02 + fy: 1.9772337597617189e+02 + cx: 3.2611983633916327e+02 + cy: 1.9986969132833946e+02 + # coeffs: k1,k2,p1,p2,k3 + coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02, + 2.4914898631983504e-03, -3.7752063658256863e-03, 0. ] + in_right: + fx: 2.0335498653655989e+02 + fy: 2.0453858622699008e+02 + cx: 3.1589962248180814e+02 + cy: 2.1871688038954812e+02 + 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 ] + - + model: 0 + width: 1280 + height: 800 + in_left: + fx: 1.9739641213416058e+02 + fy: 1.9772337597617189e+02 + cx: 3.2611983633916327e+02 + cy: 1.9986969132833946e+02 + coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02, + 2.4914898631983504e-03, -3.7752063658256863e-03, 0. ] + in_right: + fx: 2.0335498653655989e+02 + fy: 2.0453858622699008e+02 + cx: 3.1589962248180814e+02 + cy: 2.1871688038954812e+02 + 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 ] diff --git a/samples/config/S210A/imu.params b/samples/config/S210A/imu.params new file mode 100644 index 0000000..93ad7e8 --- /dev/null +++ b/samples/config/S210A/imu.params @@ -0,0 +1,33 @@ +%YAML:1.0 +--- +version: "1.2" +in_accel: + scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] + assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] + drift: [ 0., 0., 0. ] + noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02, + 1.7452487504590969e-02 ] + bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04, + 5.4490537096493644e-04 ] + x: [ 0.0, 0.0 ] + y: [ 0.0, 0.0 ] + z: [ 0.0, 0.0 ] +in_gyro: + scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] + assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] + drift: [ 0., 0., 0. ] + noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03, + 1.1003229919806443e-03 ] + bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05, + 1.4970418056326829e-05 ] + x: [ 0.0, 0.0 ] + y: [ 0.0, 0.0 ] + z: [ 0.0, 0.0 ] +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 ] diff --git a/samples/device_writer.cc b/samples/device_writer.cc new file mode 100644 index 0000000..722a716 --- /dev/null +++ b/samples/device_writer.cc @@ -0,0 +1,590 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "device_writer.h" + +#include + +#include + +#include "mynteye/logger.h" +#include "mynteye/util/files.h" + +#define SAVE_LATEST_VERSION Version(1, 2) + +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) { + // Update device info + 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 (device_->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 + << ", auxiliary_chip_version: " + << dev_info->auxiliary_chip_version.to_string() + << ", isp_version: " + << dev_info->isp_version.to_string()<< "}"; + 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_map_t &img_params_map) { + img_params_map_t *img_params_new = + const_cast(&img_params_map); + // Update image params with raw + auto &&img_params_raw = device_->GetImgParams(); + for (auto entry_raw : img_params_raw) { + // Add raw params if not load this resolution + if (img_params_new->find(entry_raw.first) == img_params_new->end()) { + (*img_params_new)[entry_raw.first] = entry_raw.second; + } + } + + if (device_->SetFiles(nullptr, img_params_new, nullptr)) { + LOG(INFO) << "Write img params success"; + for (auto it = img_params_new->begin(); it != img_params_new->end(); it++) { + LOG(INFO) << "Resolution: {width: " << (*it).first.width + << ", height: " << (*it).first.height << "}"; + LOG(INFO) << "Intrinsics left: {" << *(*it).second.in_left << "}"; + LOG(INFO) << "Intrinsics right: {" << *(*it).second.in_right << "}"; + LOG(INFO) << "Extrinsics right to left: {" + << (*it).second.ex_right_to_left << "}"; + } + 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) { + if (device_->SetFiles( + nullptr, nullptr, const_cast(¶ms))) { + 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 IntrinsicsPinhole &in) { + fs << "{" + << "fx" << in.fx << "fy" << in.fy + << "cx" << in.cx << "cy" << in.cy + << "coeffs" << std::vector(in.coeffs, in.coeffs + 5) << "}"; + return fs; +} + +cv::FileStorage &operator<<(cv::FileStorage &fs, + const IntrinsicsEquidistant &in) { + fs << "{" + << "coeffs" << std::vector(in.coeffs, in.coeffs + 8) << "}"; + return fs; +} + +cv::FileStorage &operator<<(cv::FileStorage &fs, + const std::shared_ptr &in) { + switch (in->calib_model()) { + case CalibrationModel::PINHOLE: + return fs << *std::dynamic_pointer_cast(in); + case CalibrationModel::KANNALA_BRANDT: + return fs << *std::dynamic_pointer_cast(in); + default: + LOG(FATAL) << "Unknown calib model: " << in->calib_model(); + 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]); + } + } + std::vector assembly; + for (std::size_t i = 0; i < 3; i++) { + for (std::size_t j = 0; j < 3; j++) { + assembly.push_back(in.assembly[i][j]); + } + } + fs << "{" + << "scale" << scales << "assembly" << assembly << "drift" + << std::vector(in.drift, in.drift + 3) << "noise" + << std::vector(in.noise, in.noise + 3) << "bias" + << std::vector(in.bias, in.bias + 3) << "x" + << std::vector(in.x, in.x + 2) << "y" + << std::vector(in.y, in.y + 2) << "z" + << std::vector(in.z, in.z + 2) << "}"; + 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; +} + +cv::FileStorage &operator<<( + cv::FileStorage &fs, const device::img_params_t ¶ms) { + fs << "{" + << "model" << static_cast(params.in_left->calib_model()) + << "width" << params.in_left->width + << "height" << params.in_left->height + << "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::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( + 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 << "device_name" << info.name; + fs << "serial_number" << info.serial_number; + fs << "firmware_version" << info.firmware_version.to_string(); + fs << "hardware_version" << info.hardware_version.to_string(); + fs << "spec_version" << info.spec_version.to_string(); + fs << "lens_type" << info.lens_type.to_string(); + fs << "imu_type" << info.imu_type.to_string(); + fs << "nominal_baseline" << info.nominal_baseline; + fs << "auxiliary_chip_version" << info.auxiliary_chip_version.to_string(); + fs << "isp_version" << info.isp_version.to_string(); + // save other infos according to spec_version + fs.release(); + return true; +} + +bool DeviceWriter::SaveImgParams( + const img_params_map_t &img_params_map, + const std::string &filepath) { + if (img_params_map.empty()) { + return false; + } + std::string version = img_params_map.begin()->second.version; + if (Version(version) > SAVE_LATEST_VERSION) { + LOG(ERROR) << "Failed to save img params of version " << version + << ", please use latest SDK."; + return false; + } + + // always save img params with latest version format + using FileStorage = cv::FileStorage; + FileStorage fs(filepath, FileStorage::WRITE); + if (!fs.isOpened()) { + LOG(ERROR) << "Failed to save file: " << filepath; + return false; + } + fs << "version" << SAVE_LATEST_VERSION.to_string() + << "img_params" << img_params_map; + fs.release(); + return true; +} + +bool DeviceWriter::SaveImuParams( + const imu_params_t ¶ms, const std::string &filepath) { + if (!params.ok) return false; + std::string version = params.version; + if (Version(version) > SAVE_LATEST_VERSION) { + LOG(ERROR) << "Failed to save imu params of version " << version + << ", please use latest SDK."; + return false; + } + + // always save imu params with latest version format + using FileStorage = cv::FileStorage; + FileStorage fs(filepath, FileStorage::WRITE); + if (!fs.isOpened()) { + LOG(ERROR) << "Failed to save file: " << filepath; + return false; + } + fs << "version" << SAVE_LATEST_VERSION.to_string() + << "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 + MYNTEYE_OS_SEP "device.info"); + SaveImgParams(device_->GetImgParams(), dir + MYNTEYE_OS_SEP "img.params"); + SaveImuParams(device_->GetImuParams(), dir + MYNTEYE_OS_SEP "imu.params"); +} + +namespace { + +// old +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, + IntrinsicsPinhole *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); + } +} + +// old +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); + } +} +// old +void operator>>(const cv::FileNode &n, IntrinsicsPinhole &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++) { + for (std::size_t j = 0; j < 3; j++) { + in.assembly[i][j] = n["assembly"][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]; + } + for (std::size_t i = 0; i < 2; i++) { + in.x[i] = n["x"][i]; + } + for (std::size_t i = 0; i < 2; i++) { + in.y[i] = n["y"][i]; + } + for (std::size_t i = 0; i < 2; i++) { + in.z[i] = n["z"][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]; + } +} + +// old +void operator>>(const cv::FileNode &n, DeviceWriter::img_params_t ¶ms) { + auto in_left = std::make_shared(); + auto in_right = std::make_shared(); + params.in_left = in_left; + params.in_right = in_right; + n["in_left"] >> *in_left; + n["in_right"] >> *in_right; + n["ex_right_to_left"] >> params.ex_right_to_left; +} + +std::shared_ptr to_intrinsics_pinhole( + const cv::FileNode &n, const std::uint8_t &model, + const std::uint16_t &width, const std::uint16_t &height) { + auto in = std::make_shared(); + in->width = width; + in->height = height; + in->model = model; + n["fx"] >> in->fx; + n["fy"] >> in->fy; + n["cx"] >> in->cx; + n["cy"] >> in->cy; + for (std::size_t i = 0; i < 5; i++) { + in->coeffs[i] = n["coeffs"][i]; + } + return in; +} + +std::shared_ptr to_intrinsics_equidistant( + const cv::FileNode &n, const std::uint8_t &model, + const std::uint16_t &width, const std::uint16_t &height) { + auto in = std::make_shared(); + in->width = width; + in->height = height; + for (std::size_t i = 0; i < 8; i++) { + in->coeffs[i] = n["coeffs"][i]; + } + MYNTEYE_UNUSED(model) + return in; +} + +DeviceWriter::img_params_t to_img_params( + const cv::FileNode &n, const std::uint8_t &model, + const std::uint16_t &width, const std::uint16_t &height) { + DeviceWriter::img_params_t params; + params.ok = false; + + CalibrationModel calib_model = static_cast(model); + switch (calib_model) { + case CalibrationModel::PINHOLE: { + params.ok = true; + params.in_left = to_intrinsics_pinhole( + n["in_left"], model, width, height); + params.in_right = to_intrinsics_pinhole( + n["in_right"], model, width, height); + n["ex_right_to_left"] >> params.ex_right_to_left; + } break; + case CalibrationModel::KANNALA_BRANDT: { + params.ok = true; + params.in_left = to_intrinsics_equidistant( + n["in_left"], model, width, height); + params.in_right = to_intrinsics_equidistant( + n["in_right"], model, width, height); + n["ex_right_to_left"] >> params.ex_right_to_left; + } break; + default: + LOG(FATAL) << "Could not load img params as unknown calib model" + ", please use latest SDK."; + } + return params; +} + +} // 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(std::string(fs["lens_type"])); + info.imu_type = Type(std::string(fs["imu_type"])); + fs["nominal_baseline"] >> info.nominal_baseline; + fs.release(); + return info; +} + +DeviceWriter::img_params_map_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_map_t img_params_map; + if (!fs["version"].isNone()) { + std::string version = std::string(fs["version"]); + // load params according to verison + if (version == "1.0") { + fs["img_params_map"][0] >> img_params_map[{752, 480}]; + } else if (version == "1.1") { + fs["img_params_map"][0] >> img_params_map[{1280, 400}]; + fs["img_params_map"][1] >> img_params_map[{2560, 800}]; + } else if (version == "1.2") { + auto node = fs["img_params"]; + for (auto it = node.begin(); it < node.end(); it++) { + std::uint8_t model; + std::uint16_t width, height; + (*it)["model"] >> model; + (*it)["width"] >> width; + (*it)["height"] >> height; + auto params = to_img_params(*it, model, width, height); + if (params.ok) { + params.version = version; + img_params_map[{width, height}] = params; + } + } + } else { + LOG(ERROR) << "Failed to load img params of version " << version + << ", please use latest SDK."; + } + } else { + // load old params s1030 + auto in_left = std::make_shared(); + auto in_right = std::make_shared(); + Extrinsics ex_right_to_left; + 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, in_left.get()); + to_intrinsics(w, h, m, M2, D2, in_right.get()); + to_extrinsics(R, T, &ex_right_to_left); + } else { + fs["in_left"] >> *in_left; + fs["in_right"] >> *in_right; + fs["ex_right_to_left"] >> ex_right_to_left; + } + img_params_map[{752, 480}] = { + true, "1.0", in_left, in_right, ex_right_to_left + }; + } + + fs.release(); + return img_params_map; +} + +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; + if (!fs["version"].isNone()) { + std::string version = std::string(fs["version"]); + // load params according to verison + if (version == "1.2") { + params.version = version; + fs["in_accel"] >> params.in_accel; + fs["in_gyro"] >> params.in_gyro; + fs["ex_left_to_imu"] >> params.ex_left_to_imu; + } else { + LOG(ERROR) << "Failed to load imu params of version " << version + << ", please use latest SDK."; + } + } else { + // load old 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/samples/device_writer.h b/samples/device_writer.h new file mode 100644 index 0000000..1e36ed5 --- /dev/null +++ b/samples/device_writer.h @@ -0,0 +1,69 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef MYNTEYE_TOOLS_DEVICE_WRITER_H_ // NOLINT +#define MYNTEYE_TOOLS_DEVICE_WRITER_H_ +#pragma once + +#include +#include +#include + +#include "mynteye/device/device.h" + +MYNTEYE_BEGIN_NAMESPACE + +class Device; + +namespace tools { + +class DeviceWriter { + public: + using dev_info_t = DeviceInfo; + using imu_params_t = device::imu_params_t; + using img_params_t = device::img_params_t; + using img_params_map_t = std::map; + + 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_map_t &img_params_map); + 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_map_t &img_params_map, + 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_map_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/samples/save_all_infos.cc b/samples/save_all_infos.cc new file mode 100644 index 0000000..0186107 --- /dev/null +++ b/samples/save_all_infos.cc @@ -0,0 +1,43 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "mynteye/logger.h" +#include "mynteye/device/device.h" +#include "mynteye/device/utils.h" + +#include "device_writer.h" + +MYNTEYE_USE_NAMESPACE + +int main(int argc, char *argv[]) { + glog_init _(argc, argv); + + std::string dir{"config"}; + if (argc >= 2) { + dir = argv[1]; + } + + auto &&device = device::select(); + if (!device) + return 1; + + dir.append(MYNTEYE_OS_SEP).append(device->GetInfo()->name); + dir.append(MYNTEYE_OS_SEP "SN").append(device->GetInfo()->serial_number); + + tools::DeviceWriter writer(device); + writer.SaveAllInfos(dir); + + LOG(INFO) << "Save all infos to \"" << dir << "\""; + + return 0; +} diff --git a/samples/write_device_info.cc b/samples/write_device_info.cc new file mode 100644 index 0000000..428c8a1 --- /dev/null +++ b/samples/write_device_info.cc @@ -0,0 +1,41 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "mynteye/logger.h" +#include "mynteye/device/device.h" +#include "mynteye/device/utils.h" + +#include "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(); + if (!device) + return 1; + + tools::DeviceWriter writer(device); + writer.WriteDeviceInfo(filepath); + + return 0; +} diff --git a/samples/write_img_params.cc b/samples/write_img_params.cc new file mode 100644 index 0000000..5c7c1d7 --- /dev/null +++ b/samples/write_img_params.cc @@ -0,0 +1,41 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "mynteye/logger.h" +#include "mynteye/device/device.h" +#include "mynteye/device/utils.h" + +#include "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(); + if (!device) + return 1; + + tools::DeviceWriter writer(device); + writer.WriteImgParams(filepath); + + return 0; +} diff --git a/samples/write_imu_params.cc b/samples/write_imu_params.cc new file mode 100644 index 0000000..29ae057 --- /dev/null +++ b/samples/write_imu_params.cc @@ -0,0 +1,41 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "mynteye/logger.h" +#include "mynteye/device/device.h" +#include "mynteye/device/utils.h" + +#include "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(); + if (!device) + return 1; + + tools::DeviceWriter writer(device); + writer.WriteImuParams(filepath); + + return 0; +} From 32adc34451ab5e3fc3b94bf4ce8d6146572a2e7e Mon Sep 17 00:00:00 2001 From: TinyO Date: Fri, 30 Aug 2019 16:52:45 +0800 Subject: [PATCH 05/13] doc(*): product things update. --- .../product/mynteye_s2110_imu_coord.jpg | Bin 0 -> 735588 bytes docs/src/product/imu_coord.rst | 1 + docs/src/product/imu_coord_s2110.rst | 8 ++ docs/src/product/product_spec.rst | 1 + docs/src/product/product_surface.rst | 1 + docs/src/product/spec_s2110.rst | 105 ++++++++++++++++++ docs/src/product/surface_s2110.rst | 15 +++ docs/src/sdk/data/get_img_params.rst | 4 + 8 files changed, 135 insertions(+) create mode 100644 docs/images/product/mynteye_s2110_imu_coord.jpg create mode 100644 docs/src/product/imu_coord_s2110.rst create mode 100644 docs/src/product/spec_s2110.rst create mode 100644 docs/src/product/surface_s2110.rst diff --git a/docs/images/product/mynteye_s2110_imu_coord.jpg 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zt*3z=SgbW~Du@SsZPqGQ+^opdR2~zo6Nz8@NwYH<8L7(y7X^m(7tObarJ&?SyDM8< z%Q74a*Pj7lozZr!{R2uVxazbx!z)`iN9_MCX7!&m$TPw^(p4Ra8mlP``%;}JEhF`@ z@zYtCBW$OIv>HYO?(CGgHMrZ#3ry5OwS#(!%B-$fs^I}$lH~JRLQY~y8Zia3Q<2|c zuH1{g^yJMA5dV`1PRCv6^;1U;2Q3E;-I3n=|D=)rn|#bEt!>Gs(K0gsGa0)ny-%8E zAC`zk(A*W6|CG1FQ^K92rWpLI`p;Q*)!9G7oZ2!mh(9t{YYy~I5;}b@Xi=QwbA;3 zQlj=1O-LNxSaocFi1=iYcze&?%+xrSS?A`z3A&SEo)9=8a6;gOzzKm90w)Ac2%Hc& zA#g(Agun@b69Oj$P6(V3I3aLC;Do>lffE8J1WpK?5I7-lLg0kJ34s#=Cj?FioDeu6 Qa6;gOz`r#C&f}r~0VBKgr2qf` literal 0 HcmV?d00001 diff --git a/docs/src/product/imu_coord.rst b/docs/src/product/imu_coord.rst index 4d987ff..eb8e377 100644 --- a/docs/src/product/imu_coord.rst +++ b/docs/src/product/imu_coord.rst @@ -8,3 +8,4 @@ IMU Coordinate System imu_coord_s1030 imu_coord_s2100 + imu_coord_s2110 diff --git a/docs/src/product/imu_coord_s2110.rst b/docs/src/product/imu_coord_s2110.rst new file mode 100644 index 0000000..ff13a6a --- /dev/null +++ b/docs/src/product/imu_coord_s2110.rst @@ -0,0 +1,8 @@ +.. _product_imu_coord_s2110: + +S2110 Coordinate System +==================================== + +IMU coordinate system is right-handed,the axis directions are as follows: + +.. image:: ../../images/product/mynteye_s2110_imu_coord.jpg diff --git a/docs/src/product/product_spec.rst b/docs/src/product/product_spec.rst index 00db9b8..34703d3 100644 --- a/docs/src/product/product_spec.rst +++ b/docs/src/product/product_spec.rst @@ -9,3 +9,4 @@ Product Specification spec_s1030 spec_s1030_ir spec_s2100 + spec_s2110 diff --git a/docs/src/product/product_surface.rst b/docs/src/product/product_surface.rst index 6451216..447d14a 100644 --- a/docs/src/product/product_surface.rst +++ b/docs/src/product/product_surface.rst @@ -8,3 +8,4 @@ Product Surface surface_s1030 surface_s2100 + surface_s2110 diff --git a/docs/src/product/spec_s2110.rst b/docs/src/product/spec_s2110.rst new file mode 100644 index 0000000..9445bcc --- /dev/null +++ b/docs/src/product/spec_s2110.rst @@ -0,0 +1,105 @@ +.. _mynteye_spec_s2110: + + +S2110-146/Color Product Specification +======================================== + +Product Specification +----------------------- + + +========================== ===================================================== + Model S2110-146/Color +-------------------------- ----------------------------------------------------- + Size PCB dimension:15x100mm + Total dimension:125x47x26.6mm +-------------------------- ----------------------------------------------------- + Frame Rate 1280x400\@10/20/30/60fps 2560x800\@10/20/30fps +-------------------------- ----------------------------------------------------- + Resolution 1280x400; 2560x800 +-------------------------- ----------------------------------------------------- + Depth Resolution Based on CPU/GPU Up to 1280*400\@60FPS +-------------------------- ----------------------------------------------------- + Pixel Size 3.0*3.0μm +-------------------------- ----------------------------------------------------- + Baseline 80.0mm +-------------------------- ----------------------------------------------------- + Visual Angle D:141° H:124° V:87° +-------------------------- ----------------------------------------------------- + Focal Length 0.95mm +-------------------------- ----------------------------------------------------- + IR Support No +-------------------------- ----------------------------------------------------- + Color Mode Color +-------------------------- ----------------------------------------------------- + Depth Working Distance 0.26-3m+ +-------------------------- ----------------------------------------------------- + Scanning Mode Global Shutter +-------------------------- ----------------------------------------------------- + Power 1.1W\@5V DC from USB +-------------------------- ----------------------------------------------------- +Synchronization Precision <1ms (up to 0.02ms) +-------------------------- ----------------------------------------------------- + IMU Frequency 200Hz +-------------------------- --------------------------------------- + Output data format YUYV +-------------------------- ----------------------------------------------------- + Data transfer Interface USB3.0 +-------------------------- ----------------------------------------------------- + Time Sync interface DF50A +-------------------------- ----------------------------------------------------- + Weight 62g +-------------------------- ----------------------------------------------------- + UVC MODE Yes +========================== ===================================================== + + +Software +-------- + + +================ ================================================================================= + Support system Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+ +---------------- --------------------------------------------------------------------------------- + SDK http://www.myntai.com/dev/mynteye +---------------- --------------------------------------------------------------------------------- + Support ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB +================ ================================================================================== + + + +Work Environment +----------------- + + +========================= ============================== + Operating Temperature -15°C~55°C +------------------------- ------------------------------ + Storage Temperature -20°C~75°C +------------------------- ------------------------------ + Humidity 0% to 95% non-condensing +========================= ============================== + + +Package +--------- + +=================== ======================================= + Package Contents MYNT EYE x1 USB Micro-B Cable x1 +=================== ======================================= + +Warranty +---------- + +==================== ============================================ + Product Warranty 12 Months Limited Manufacturer's Warranty +==================== ============================================ + +Accuracy +--------- + +============================ ============================================ + Depth Distance Deviation Less than 4% +============================ ============================================ + + diff --git a/docs/src/product/surface_s2110.rst b/docs/src/product/surface_s2110.rst new file mode 100644 index 0000000..50b1be0 --- /dev/null +++ b/docs/src/product/surface_s2110.rst @@ -0,0 +1,15 @@ +.. _mynteye_surface_s2110: + +S2110 Size and Structure +================================ + +============= ============== +Shell(mm) PCBA board(mm) +============= ============== +125x47x40 100x15 +============= ============== + +.. image:: ../../images/product/mynteye_s2_surface_zh-Hans.jpg + +A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation. +B. USB Micro-B interface and set screw holes: during usage, plug in the USB Micro-B cable and secure it by fastening the set screws to avoid damage to the interface and to ensure stability in connection. diff --git a/docs/src/sdk/data/get_img_params.rst b/docs/src/sdk/data/get_img_params.rst index bd68bfb..5511918 100644 --- a/docs/src/sdk/data/get_img_params.rst +++ b/docs/src/sdk/data/get_img_params.rst @@ -10,6 +10,10 @@ Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameter the image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A`` the image calibration parameters of S1030 are in ``tools/writer/config/S1030`` +Note + +Camera Intrinsics/Extrinsics, please ref to: ros `CameraInfo `_. + Reference code snippet: .. code-block:: c++ From a30b4e285bac026d6f73f1fe642ac66dd89c84b8 Mon Sep 17 00:00:00 2001 From: TinyO Date: Fri, 30 Aug 2019 17:06:34 +0800 Subject: [PATCH 06/13] refactor(*): remove tools. --- Makefile | 19 +- tools/CMakeLists.txt | 72 -- tools/README.md | 135 ---- tools/analytics/imu_analytics.py | 671 ------------------ tools/analytics/stamp_analytics.py | 370 ---------- tools/checksum/md5sum.sh | 78 -- tools/config/mynteye/mynteye_config.yaml | 9 - tools/dataset/CMakeLists.txt | 39 - tools/dataset/dataset.cc | 203 ------ tools/dataset/dataset.h | 69 -- tools/dataset/record.cc | 134 ---- tools/dataset/record2.cc | 137 ---- tools/internal/data/__init__.py | 442 ------------ tools/linter | 1 - tools/requirements.txt | 4 - tools/writer/CMakeLists.txt | 58 -- .../config/S1030/deprecated/img.params.old | 41 -- .../config/S1030/deprecated/img.params.old2 | 30 - .../config/S1030/deprecated/img.params.old3 | 33 - .../config/S1030/deprecated/imu.params.old | 24 - tools/writer/config/S1030/device.info | 10 - .../config/S1030/img.params.equidistant | 28 - tools/writer/config/S1030/img.params.pinhole | 38 - tools/writer/config/S1030/imu.params | 33 - .../config/S210A/deprecated/img.params.old | 62 -- .../config/S210A/deprecated/imu.params.old | 15 - tools/writer/config/S210A/device.info | 12 - .../config/S210A/img.params.equidistant | 51 -- tools/writer/config/S210A/img.params.pinhole | 62 -- tools/writer/config/S210A/imu.params | 33 - tools/writer/device_info_writer.cc | 41 -- tools/writer/device_writer.cc | 590 --------------- tools/writer/device_writer.h | 69 -- tools/writer/img_params_writer.cc | 41 -- tools/writer/imu_params_writer.cc | 41 -- tools/writer/save_all_infos.cc | 43 -- 36 files changed, 1 insertion(+), 3737 deletions(-) delete mode 100644 tools/CMakeLists.txt delete mode 100644 tools/README.md delete mode 100644 tools/analytics/imu_analytics.py delete mode 100644 tools/analytics/stamp_analytics.py delete mode 100755 tools/checksum/md5sum.sh delete mode 100644 tools/config/mynteye/mynteye_config.yaml delete mode 100644 tools/dataset/CMakeLists.txt delete mode 100644 tools/dataset/dataset.cc delete mode 100644 tools/dataset/dataset.h delete mode 100644 tools/dataset/record.cc delete mode 100644 tools/dataset/record2.cc delete mode 100644 tools/internal/data/__init__.py delete mode 160000 tools/linter delete mode 100644 tools/requirements.txt delete mode 100644 tools/writer/CMakeLists.txt delete mode 100644 tools/writer/config/S1030/deprecated/img.params.old delete mode 100644 tools/writer/config/S1030/deprecated/img.params.old2 delete mode 100644 tools/writer/config/S1030/deprecated/img.params.old3 delete mode 100644 tools/writer/config/S1030/deprecated/imu.params.old delete mode 100644 tools/writer/config/S1030/device.info delete mode 100644 tools/writer/config/S1030/img.params.equidistant delete mode 100644 tools/writer/config/S1030/img.params.pinhole delete mode 100644 tools/writer/config/S1030/imu.params delete mode 100644 tools/writer/config/S210A/deprecated/img.params.old delete mode 100644 tools/writer/config/S210A/deprecated/imu.params.old delete mode 100644 tools/writer/config/S210A/device.info delete mode 100644 tools/writer/config/S210A/img.params.equidistant delete mode 100644 tools/writer/config/S210A/img.params.pinhole delete mode 100644 tools/writer/config/S210A/imu.params delete mode 100644 tools/writer/device_info_writer.cc delete mode 100644 tools/writer/device_writer.cc delete mode 100644 tools/writer/device_writer.h delete mode 100644 tools/writer/img_params_writer.cc delete mode 100644 tools/writer/imu_params_writer.cc delete mode 100644 tools/writer/save_all_infos.cc diff --git a/Makefile b/Makefile index 2e28fa6..25dec92 100644 --- a/Makefile +++ b/Makefile @@ -43,7 +43,6 @@ help: @echo " make install install project" @echo " make test build test and run" @echo " make samples build samples" - @echo " make tools build tools" @echo " make pkg package sdk" @echo " make ros build ros wrapper" @echo " make py build python wrapper" @@ -51,7 +50,7 @@ help: .PHONY: help -all: init samples tools ros +all: init samples ros .PHONY: all @@ -159,20 +158,6 @@ samples: install .PHONY: samples -# tools - -tools: install - @$(call echo,Make $@) -ifeq ($(HOST_OS),Mac) - $(error "Can't make tools on $(HOST_OS)") -else - @$(call cmake_build,./tools/_build) -endif - - - -.PHONY: tools - # pkg pkg: clean @@ -262,8 +247,6 @@ clean: @$(call rm,./_install/) @$(call rm,./samples/_build/) @$(call rm,./samples/_output/) - @$(call rm,./tools/_build/) - @$(call rm,./tools/_output/) @$(call rm,./test/_build/) @$(call rm,./test/_output/) @$(MAKE) cleanlog diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt deleted file mode 100644 index 4d57c04..0000000 --- a/tools/CMakeLists.txt +++ /dev/null @@ -1,72 +0,0 @@ -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -cmake_minimum_required(VERSION 3.0) - -project(mynteye_tools VERSION 2.0.0 LANGUAGES C CXX) - -get_filename_component(PRO_DIR ${PROJECT_SOURCE_DIR} DIRECTORY) - -include(${PRO_DIR}/cmake/Common.cmake) -include(${PRO_DIR}/cmake/Utils.cmake) - -# flags - -if(OS_WIN) - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall") -else() - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra") -endif() - -include(${PRO_DIR}/cmake/DetectCXX11.cmake) - -set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native") -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native") - -string(STRIP "${CMAKE_C_FLAGS}" CMAKE_C_FLAGS) -string(STRIP "${CMAKE_CXX_FLAGS}" CMAKE_CXX_FLAGS) -message(STATUS "C_FLAGS: ${CMAKE_C_FLAGS}") -message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}") - -# packages - -LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake) -find_package(mynteye REQUIRED) -message(STATUS "Found mynteye: ${mynteye_VERSION}") - -include(${PRO_DIR}/cmake/DetectOpenCV.cmake) - -if(mynteye_WITH_GLOG) - include(${PRO_DIR}/cmake/DetectGLog.cmake) -endif() - -#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake) - -# targets - -set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output") - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} -) - -# dataset - -add_subdirectory(dataset) - -# writer - -add_subdirectory(writer) diff --git a/tools/README.md b/tools/README.md deleted file mode 100644 index 16b7436..0000000 --- a/tools/README.md +++ /dev/null @@ -1,135 +0,0 @@ -# Tools for MYNT® EYE cameras - -## Prerequisites - -[OpenCV](https://opencv.org/), - -```bash -# Linux, macOS -export OpenCV_DIR=~/opencv - -# Windows -set OpenCV_DIR=C:\opencv -``` - -Python packages, - -```bash -cd /tools/ -sudo pip install -r requirements.txt -``` - -[ROS](http://www.ros.org/) if using rosbag. - -## Build - -```bash -cd -make tools -``` - ---- - -## Record data (mynteye dataset) - -```bash -./tools/_output/bin/dataset/record - -# Windows -.\tools\_output\bin\dataset\record.bat -``` - -## Analytics data (mynteye dataset) - -### imu_analytics.py - -```bash -python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \ --al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl= -``` - -### stamp_analytics.py - -```bash -python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml -``` - ---- - -## Record data (rosbag) - -```bash -cd -make ros -``` - -```bash -source wrappers/ros/devel/setup.bash -roslaunch mynt_eye_ros_wrapper mynteye.launch -``` - -```bash -rosbag record -O mynteye.bag /mynteye/left/image_raw /mynteye/imu/data_raw /mynteye/temperature/data_raw -``` - -## Analytics data (rosbag) - -### imu_analytics.py - -```bash -python tools/analytics/imu_analytics.py -i mynteye.bag -``` - -### stamp_analytics.py - -```bash -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 - -# Windows -.\tools\_output\bin\writer\device_info_writer.bat tools\writer\config\device.info -``` - -### img_params_writer.cc - -```bash -./tools/_output/bin/writer/img_params_writer tools/writer/config/img.params - -# Windows -.\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params -``` - -### imu_params_writer.cc - -```bash -./tools/_output/bin/writer/imu_params_writer tools/writer/config/imu.params - -# Windows -.\tools\_output\bin\writer\imu_params_writer.bat tools\writer\config\imu.params -``` - -### save_all_infos.cc - -```bash -./tools/_output/bin/writer/save_all_infos - -# Windows -.\tools\_output\bin\writer\save_all_infos.bat -``` - ---- - -## Checksum - -```bash -./tools/checksum/md5sum.sh -``` diff --git a/tools/analytics/imu_analytics.py b/tools/analytics/imu_analytics.py deleted file mode 100644 index d3afe8a..0000000 --- a/tools/analytics/imu_analytics.py +++ /dev/null @@ -1,671 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# pylint: disable=missing-docstring - -from __future__ import print_function - -import os -import sys - -TOOLBOX_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) -sys.path.append(os.path.join(TOOLBOX_DIR, 'internal')) - -# pylint: disable=import-error,wrong-import-position -from data import DataError, Dataset, ROSBag, MYNTEYE, What - - -TIME_SCALE_FACTORS = { - 's': 1., - 'm': 1. / 60, - 'h': 1. / 3600 -} - - -ANGLE_DEGREES = 'd' -ANGLE_RADIANS = 'r' -ANGLE_UNITS = (ANGLE_DEGREES, ANGLE_RADIANS) - - -BIN_CONFIG_NAME = 'imu_analytics_bin.cfg' -BIN_IMU_NAME = 'imu_analytics_imu.bin' -BIN_TEMP_NAME = 'imu_analytics_temp.bin' - - -class RawDataset(Dataset): - - def __init__(self, path, dataset_creator): - super(RawDataset, self).__init__(path) - self.dataset_creator = dataset_creator - self._digest() - - def _digest(self): - dataset = self.dataset_creator(self.path) - results = dataset.collect(What.imu, What.temp) - self._dataset = dataset - self._results = results - self._has_imu = What.imu in results.keys() - self._has_temp = What.temp in results.keys() - print(' ' + ', '.join('{}: {}'.format(k, len(v)) - for k, v in results.items())) - - @staticmethod - def _hypot(*args): - from math import sqrt - return sqrt(sum(x ** 2 for x in args)) - - def plot(self, t_scale_factor, gryo_converter, - ax_accel_x, ax_accel_y, ax_accel_z, ax_accel, - ax_gyro_x, ax_gyro_y, ax_gyro_z, ax_temp): - results = self._results - - if self._has_imu: - imu_t_beg = results[What.imu][0].timestamp - imu_ts = [(imu.timestamp - imu_t_beg) * t_scale_factor - for imu in results[What.imu]] - - ax_accel_x.plot(imu_ts, [imu.accel_x for imu in results[What.imu]]) - ax_accel_y.plot(imu_ts, [imu.accel_y for imu in results[What.imu]]) - ax_accel_z.plot(imu_ts, [imu.accel_z for imu in results[What.imu]]) - import math - my_gryo_converter = \ - lambda x: gryo_converter(x, math.degrees, math.radians) - ax_gyro_x.plot(imu_ts, [my_gryo_converter(imu.gyro_x) - for imu in results[What.imu]]) - ax_gyro_y.plot(imu_ts, [my_gryo_converter(imu.gyro_y) - for imu in results[What.imu]]) - ax_gyro_z.plot(imu_ts, [my_gryo_converter(imu.gyro_z) - for imu in results[What.imu]]) - - ax_accel.plot(imu_ts, [self._hypot(imu.accel_x, imu.accel_y, imu.accel_z) - for imu in results[What.imu]]) - - if self._has_temp: - temp_t_beg = results[What.temp][0].timestamp - temp_ts = [(temp.timestamp - temp_t_beg) * t_scale_factor - for temp in results[What.temp]] - ax_temp.plot(temp_ts, [temp.value for temp in results[What.temp]]) - - def generate(self, *what): # pylint: disable=unused-argument - raise DataError('DataError: method not implemented') - - def iterate(self, action, *what): # pylint: disable=unused-argument - raise DataError('DataError: method not implemented') - - def collect(self, *what): # pylint: disable=unused-argument - raise DataError('DataError: method not implemented') - - @property - def timebeg(self): - return self._dataset.timebeg - - @property - def timeend(self): - return self._dataset.timeend - - @property - def duration(self): - return self._dataset.duration - - @property - def has_imu(self): - return self._has_imu - - @property - def has_temp(self): - return self._has_temp - - -class BinDataset(RawDataset): - """ - Binary memory-mapped files of large dataset. - - References: - https://stackoverflow.com/questions/5854515/large-plot-20-million-samples-gigabytes-of-data - https://stackoverflow.com/questions/1053928/very-large-matrices-using-python-and-numpy - """ - - # def __init__(self, path, dataset_creator): - # super(BinDataset, self).__init__(path, dataset_creator) - - def _digest(self): - bindir = os.path.splitext(self.path)[0] - bincfg = os.path.join(bindir, BIN_CONFIG_NAME) - if os.path.isfile(bincfg): - with open(bincfg, 'r') as f_cfg: - import yaml - cfg = yaml.load(f_cfg) - self._info = cfg['info'] - self._binimu = os.path.join(bindir, cfg['bins']['imu']) - self._bintemp = os.path.join(bindir, cfg['bins']['temp']) - print('find binary files ...') - print(' binimu: {}'.format(self._binimu)) - print(' bintemp: {}'.format(self._bintemp)) - print(' bincfg: {}'.format(bincfg)) - if self._exists(): - while True: - sys.stdout.write('Do you want to use it directly? [Y/n] ') - choice = raw_input().lower() - if choice == '' or choice == 'y': - return - elif choice == 'n': - break - else: - print('Please respond with \'y\' or \'n\'.') - self._convert() - - def _exists(self): - return os.path.isfile(self._binimu) or os.path.isfile(self._bintemp) - - def _convert(self): - import numpy as np - - dataset = self.dataset_creator(self.path) - bindir = os.path.splitext(self.path)[0] - if not os.path.exists(bindir): - os.makedirs(bindir) - binimu = os.path.join(bindir, BIN_IMU_NAME) - bintemp = os.path.join(bindir, BIN_TEMP_NAME) - bincfg = os.path.join(bindir, BIN_CONFIG_NAME) - print('save to binary files ...') - print(' binimu: {}'.format(binimu)) - print(' bintemp: {}'.format(bintemp)) - print(' bincfg: {}'.format(bincfg)) - - has_imu = False - has_temp = False - with open(binimu, 'wb') as f_imu, open(bintemp, 'wb') as f_temp: - imu_t_beg = -1 - imu_count = 0 - temp_t_beg = -1 - temp_count = 0 - for result in dataset.generate(What.imu, What.temp): - if What.imu in result: - imu = result[What.imu] - if imu_t_beg == -1: - imu_t_beg = imu.timestamp - np.array([( - (imu.timestamp - imu_t_beg), - imu.accel_x, imu.accel_y, imu.accel_z, - self._hypot(imu.accel_x, imu.accel_y, imu.accel_z), - imu.gyro_x, imu.gyro_y, imu.gyro_z - )], dtype="f8, f8, f8, f8, f8, f8, f8, f8").tofile(f_imu) - imu_count = imu_count + 1 - has_imu = True - if What.temp in result: - temp = result[What.temp] - if temp_t_beg == -1: - temp_t_beg = temp.timestamp - np.array([( - (temp.timestamp - temp_t_beg), - temp.value - )], dtype="f8, f8").tofile(f_temp) - temp_count = temp_count + 1 - has_temp = True - sys.stdout.write('\r imu: {}, temp: {}'.format(imu_count, temp_count)) - sys.stdout.write('\n') - - # pylint: disable=attribute-defined-outside-init - self._info = { - 'timebeg': dataset.timebeg, - 'timeend': dataset.timeend, - 'duration': dataset.duration, - 'has_imu': has_imu, - 'has_temp': has_temp - } - self._binimu = binimu - self._bintemp = bintemp - - with open(bincfg, 'w') as f_cfg: - import yaml - yaml.dump({'info': self._info, 'bins': { - 'imu': BIN_IMU_NAME, - 'temp': BIN_TEMP_NAME - }}, f_cfg, default_flow_style=False) - - def plot(self, t_scale_factor, gryo_converter, - ax_accel_x, ax_accel_y, ax_accel_z, ax_accel, - ax_gyro_x, ax_gyro_y, ax_gyro_z, ax_temp): - import numpy as np - if self.has_imu: - imus = np.memmap(self._binimu, dtype=[ - ('t', 'f8'), - ('accel_x', 'f8'), ('accel_y', 'f8'), ('accel_z', 'f8'), - ('accel', 'f8'), - ('gyro_x', 'f8'), ('gyro_y', 'f8'), ('gyro_z', 'f8'), - ], mode='r') - imus_t = imus['t'] * t_scale_factor - ax_accel_x.plot(imus_t, imus['accel_x']) - ax_accel_y.plot(imus_t, imus['accel_y']) - ax_accel_z.plot(imus_t, imus['accel_z']) - ax_accel.plot(imus_t, imus['accel']) - - my_gryo_converter = \ - lambda x: gryo_converter(x, np.degrees, np.radians) - ax_gyro_x.plot(imus_t, my_gryo_converter(imus['gyro_x'])) - ax_gyro_y.plot(imus_t, my_gryo_converter(imus['gyro_y'])) - ax_gyro_z.plot(imus_t, my_gryo_converter(imus['gyro_z'])) - if self.has_temp: - temps = np.memmap(self._bintemp, dtype=[ - ('t', 'f8'), ('value', 'f8') - ], mode='r') - temps_t = temps['t'] * t_scale_factor - ax_temp.plot(temps_t, temps['value']) - - @property - def timebeg(self): - return self._info['timebeg'] - - @property - def timeend(self): - return self._info['timeend'] - - @property - def duration(self): - return self._info['duration'] - - @property - def has_imu(self): - return self._info['has_imu'] - - @property - def has_temp(self): - return self._info['has_temp'] - - -def analyze(dataset, profile): - if not profile.time_unit: - if dataset.duration > 3600: - time_unit = 'h' - elif dataset.duration > 60: - time_unit = 'm' - else: - time_unit = 's' - else: - time_unit = profile.time_unit - - t_name = 'time ({})'.format(time_unit) - t_scale_factor = TIME_SCALE_FACTORS[time_unit] - - time_limits = profile.time_limits - if not time_limits: - time_limits = [0, dataset.duration * t_scale_factor] - accel_limits = profile.accel_limits - gyro_limits = profile.gyro_limits - temp_limits = profile.temp_limits - auto = profile.auto - - import matplotlib.pyplot as plt - - fig_1 = plt.figure(1, [16, 12]) - fig_1.suptitle('IMU Analytics') - fig_1.subplots_adjust(wspace=0.4, hspace=0.2) - - ax_accel_x = fig_1.add_subplot(241) - ax_accel_x.set_title('accel_x') - ax_accel_x.set_xlabel(t_name) - ax_accel_x.set_ylabel('accel_x (m/s^2)') - ax_accel_x.axis('auto') - ax_accel_x.set_xlim(time_limits) - if not auto and accel_limits and accel_limits[0]: - ax_accel_x.set_ylim(accel_limits[0]) - - ax_accel_y = fig_1.add_subplot(242) - ax_accel_y.set_title('accel_y') - ax_accel_y.set_xlabel(t_name) - ax_accel_y.set_ylabel('accel_y (m/s^2)') - ax_accel_y.axis('auto') - ax_accel_y.set_xlim(time_limits) - if not auto and accel_limits and accel_limits[1]: - ax_accel_y.set_ylim(accel_limits[1]) - - ax_accel_z = fig_1.add_subplot(243) - ax_accel_z.set_title('accel_z') - ax_accel_z.set_xlabel(t_name) - ax_accel_z.set_ylabel('accel_z (m/s^2)') - ax_accel_z.axis('auto') - ax_accel_z.set_xlim(time_limits) - if not auto and accel_limits and accel_limits[2]: - ax_accel_z.set_ylim(accel_limits[2]) - - ax_accel = fig_1.add_subplot(244) - ax_accel.set_title('accel hypot(x,y,z)') - ax_accel.set_xlabel(t_name) - ax_accel.set_ylabel('accel (m/s^2)') - ax_accel.axis('auto') - ax_accel.set_xlim(time_limits) - if not auto and accel_limits and accel_limits[3]: - ax_accel.set_ylim(accel_limits[3]) - - ax_gyro_ylabels = { - ANGLE_DEGREES: 'deg/sec', - ANGLE_RADIANS: 'rad/sec' - } - ax_gyro_ylabel = ax_gyro_ylabels[profile.gyro_show_unit] - - ax_gyro_x = fig_1.add_subplot(245) - ax_gyro_x.set_title('gyro_x') - ax_gyro_x.set_xlabel(t_name) - ax_gyro_x.set_ylabel('gyro_x ({})'.format(ax_gyro_ylabel)) - ax_gyro_x.axis('auto') - ax_gyro_x.set_xlim(time_limits) - if not auto and gyro_limits and gyro_limits[0]: - ax_gyro_x.set_ylim(gyro_limits[0]) - - ax_gyro_y = fig_1.add_subplot(246) - ax_gyro_y.set_title('gyro_y') - ax_gyro_y.set_xlabel(t_name) - ax_gyro_y.set_ylabel('gyro_y ({})'.format(ax_gyro_ylabel)) - ax_gyro_y.axis('auto') - ax_gyro_y.set_xlim(time_limits) - if not auto and gyro_limits and gyro_limits[1]: - ax_gyro_y.set_ylim(gyro_limits[1]) - - ax_gyro_z = fig_1.add_subplot(247) - ax_gyro_z.set_title('gyro_z') - ax_gyro_z.set_xlabel(t_name) - ax_gyro_z.set_ylabel('gyro_z ({})'.format(ax_gyro_ylabel)) - ax_gyro_z.axis('auto') - ax_gyro_z.set_xlim(time_limits) - if not auto and gyro_limits and gyro_limits[2]: - ax_gyro_z.set_ylim(gyro_limits[2]) - - ax_temp = None - if dataset.has_temp: - ax_temp = fig_1.add_subplot(248) - ax_temp.set_title('temperature') - ax_temp.set_xlabel(t_name) - ax_temp.set_ylabel('temperature (degree Celsius)') - ax_temp.axis('auto') - ax_temp.set_xlim(time_limits) - if not auto and temp_limits: - ax_temp.set_ylim(temp_limits) - - def gryo_converter(x, degrees, radians): - if profile.gyro_show_unit == profile.gyro_data_unit: - return x - if profile.gyro_show_unit == ANGLE_DEGREES and \ - profile.gyro_data_unit == ANGLE_RADIANS: - return degrees(x) - if profile.gyro_show_unit == ANGLE_RADIANS and \ - profile.gyro_data_unit == ANGLE_DEGREES: - return radians(x) - sys.exit('Error: gryo_converter wrong logic') - - dataset.plot(t_scale_factor, gryo_converter, - ax_accel_x, ax_accel_y, ax_accel_z, ax_accel, - ax_gyro_x, ax_gyro_y, ax_gyro_z, ax_temp) - - outdir = profile.outdir - if outdir: - figpath = os.path.join(outdir, 'imu_analytics.png') - print('save figure to:\n {}'.format(figpath)) - if not os.path.exists(outdir): - os.makedirs(outdir) - fig_1.savefig(figpath, dpi=100) - - plt.show() - - -def _parse_args(): - def limits_type(string, num=1): - if not string: - return None - if num < 1: - sys.exit('Error: limits_type must be greater than one pair') - pairs = string.split(':') - pairs_len = len(pairs) - if pairs_len == 1: - values = pairs[0].split(',') - if len(values) != 2: - sys.exit('Error: limits_type must be two values' - ' as \'min,max\' for each pair') - results = (float(values[0]), float(values[1])) - if num > 1: - return [results for i in xrange(num)] - else: - return results - elif pairs_len == num: - results = [] - for i in xrange(num): - if pairs[i]: - values = pairs[i].split(',') - if len(values) != 2: - sys.exit('Error: limits_type must be two values' - ' as \'min,max\' for each pair') - results.append((float(values[0]), float(values[1]))) - else: - results.append(None) - return results - else: - sys.exit('Error: limits_type must one or {:d} pairs'.format(num)) - - from functools import partial - - import argparse - parser = argparse.ArgumentParser( - prog=os.path.basename(__file__), - formatter_class=argparse.RawTextHelpFormatter, - description='usage examples:' - '\n python %(prog)s -i DATASET' - '\n python %(prog)s -i DATASET -al=-10,10' - '\n python %(prog)s -i DATASET -al=-5,5::5,15: -gl=-0.1,0.1:: -kl=') - parser.add_argument( - '-i', - '--input', - dest='input', - metavar='DATASET', - required=True, - help='the input dataset path') - parser.add_argument( - '-o', - '--outdir', - dest='outdir', - metavar='OUTDIR', - help='the output directory') - parser.add_argument( - '-c', - '--config', - dest='config', - metavar='CONFIG', - help='yaml config file about input dataset') - parser.add_argument( - '-tu', - '--time-unit', - dest='time_unit', - metavar='s|m|h', - help='the time unit (seconds, minutes or hours)') - parser.add_argument( - '-gdu', - '--gyro-data-unit', - dest='gyro_data_unit', - metavar='r|d', - default='r', - help='the gyro data unit (radians or degrees, default: %(default)s)') - parser.add_argument( - '-gsu', - '--gyro-show-unit', - dest='gyro_show_unit', - metavar='r|d', - help='the gyro show unit (radians or degrees, ' - 'default: same as gyro data unit)') - parser.add_argument( - '-tl', - '--time-limits', - dest='time_limits', - metavar='min,max', - type=limits_type, - help='the time limits, in time unit') - parser.add_argument( - '-al', - '--accel-limits', - dest='accel_limits', - metavar='min,max [min,max:...]', - default='-10,10', - type=partial(limits_type, num=4), - help='the accel limits (default: %(default)s)' - '\n or 4 limits of accel_x,y,z,accel like \'min,max:...\'') - parser.add_argument( - '-gl', - '--gyro-limits', - dest='gyro_limits', - metavar='min,max [min,max:...]', - default='-0.02,0.02', - type=partial(limits_type, num=3), - help='the gyro limits (default: %(default)s)' - '\n or 3 limits of gyro_x,y,z like \'min,max:...\'') - parser.add_argument( - '-kl', - '--temp-limits', - dest='temp_limits', - metavar='min,max', - default='-20,80', - type=limits_type, - help='the temperature limits (default: %(default)s)') - parser.add_argument( - '-l', - '--limits', - dest='all_limits', - metavar='min,max [min,max:...]', - # nargs='+', - type=partial(limits_type, num=8), - help='the all limits, absent one will auto scale' - '\n accel_x,y,z,accel,gyro_x,y,z,temp like \'min,max:...\'') - parser.add_argument( - '-a', - '--auto', - dest='auto', - action='store_true', - help='make all limits auto scale to data limits, except the time') - parser.add_argument( - '-b', - '--binary', - dest='binary', - action='store_true', - help='save large dataset to binary files' - ', and plot them with numpy.memmap()') - return parser.parse_args() - - -def _dict2obj(d): - from collections import namedtuple - return namedtuple('X', d.keys())(*d.values()) - - -def _main(): - args = _parse_args() - # print(args) - - dataset_path = args.input - if not dataset_path or not os.path.exists(dataset_path): - sys.exit('Error: the dataset path not exists, %s' % dataset_path) - dataset_path = os.path.normpath(dataset_path) - - outdir = args.outdir - if not outdir: - outdir = os.path.splitext(dataset_path)[0] - else: - outdir = os.path.abspath(outdir) - - print('imu analytics ...') - print(' input: %s' % dataset_path) - print(' outdir: %s' % outdir) - - profile = { - 'auto': False, - 'time_unit': None, - 'gyro_data_unit': None, - 'gyro_show_unit': None, - 'time_limits': None, - 'accel_limits': None, - 'gyro_limits': None, - 'temp_limits': None - } - profile['auto'] = args.auto - - if args.time_unit: - if args.time_unit not in TIME_SCALE_FACTORS.keys(): - sys.exit('Error: the time unit must be \'s|m|h\'') - else: - profile['time_unit'] = args.time_unit - - if args.gyro_data_unit: - if args.gyro_data_unit not in ANGLE_UNITS: - sys.exit('Error: the gyro unit must be \'r|d\'') - else: - profile['gyro_data_unit'] = args.gyro_data_unit - else: - profile['gyro_data_unit'] = ANGLE_RADIANS - - if args.gyro_show_unit: - if args.gyro_show_unit not in ANGLE_UNITS: - sys.exit('Error: the gyro unit must be \'r|d\'') - else: - profile['gyro_show_unit'] = args.gyro_show_unit - else: - profile['gyro_show_unit'] = profile['gyro_data_unit'] - - if args.time_limits: - if not args.time_unit: - sys.exit('Error: the time unit must be set') - profile['time_limits'] = args.time_limits - - if args.all_limits: - profile['accel_limits'] = args.all_limits[:4] - profile['gyro_limits'] = args.all_limits[4:7] - profile['temp_limits'] = args.all_limits[7] - else: - profile['accel_limits'] = args.accel_limits - profile['gyro_limits'] = args.gyro_limits - profile['temp_limits'] = args.temp_limits - - for k, v in profile.items(): - print(' {}: {}'.format(k, v)) - - def dataset_creator(path): - print('open dataset ...') - if args.config: - import yaml - config = yaml.load(file(args.config, 'r')) - model = config['dataset'] - if model == 'rosbag': - dataset = ROSBag(path, **config['rosbag']) - elif model == 'mynteye': - dataset = MYNTEYE(path) - else: - sys.exit('Error: dataset model not supported {}'.format(model)) - else: - dataset = ROSBag( - path, - topic_imu='/mynteye/imu/data_raw', - topic_temp='/mynteye/temp/data_raw') - return dataset - - if args.binary: - dataset = BinDataset(dataset_path, dataset_creator) - else: - dataset = RawDataset(dataset_path, dataset_creator) - print(' timebeg: {:f}, timeend: {:f}, duration: {:f}'.format( - dataset.timebeg, dataset.timeend, dataset.duration)) - - profile['outdir'] = outdir - analyze(dataset, _dict2obj(profile)) - - print('imu analytics done') - - -if __name__ == '__main__': - _main() diff --git a/tools/analytics/stamp_analytics.py b/tools/analytics/stamp_analytics.py deleted file mode 100644 index b36d3fb..0000000 --- a/tools/analytics/stamp_analytics.py +++ /dev/null @@ -1,370 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# pylint: disable=missing-docstring -from __future__ import print_function - -import os -import sys - -TOOLBOX_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) -sys.path.append(os.path.join(TOOLBOX_DIR, 'internal')) - -# pylint: disable=import-error,wrong-import-position -from data import ROSBag, MYNTEYE, What - -ANGLE_DEGREES = 'd' -ANGLE_RADIANS = 'r' -ANGLE_UNITS = (ANGLE_DEGREES, ANGLE_RADIANS) - -BIN_IMG_NAME = 'stamp_analytics_img.bin' -BIN_IMU_NAME = 'stamp_analytics_imu.bin' - -RESULT_FIGURE = 'stamp_analytics.png' - - -IMU_ALL = 0 -IMU_ACCEL = 1 -IMU_GYRO = 2 - - -class BinDataset(object): - - def __init__(self, path, dataset_creator): - self.path = path - self.dataset_creator = dataset_creator - self._digest() - - def _digest(self): - bindir = os.path.splitext(self.path)[0] - binimg = os.path.join(bindir, BIN_IMG_NAME) - binimu = os.path.join(bindir, BIN_IMU_NAME) - if os.path.isfile(binimg) and os.path.isfile(binimu): - print('find binary files ...') - print(' binimg: {}'.format(binimg)) - print(' binimu: {}'.format(binimu)) - while True: - sys.stdout.write('Do you want to use it directly? [Y/n] ') - choice = raw_input().lower() - if choice == '' or choice == 'y': - self._binimg = binimg - self._binimu = binimu - self._has_img = True - self._has_imu = True - return - elif choice == 'n': - break - else: - print('Please respond with \'y\' or \'n\'.') - self._convert() - - def _convert(self): - import numpy as np - - dataset = self.dataset_creator(self.path) - bindir = os.path.splitext(self.path)[0] - if not os.path.exists(bindir): - os.makedirs(bindir) - binimg = os.path.join(bindir, BIN_IMG_NAME) - binimu = os.path.join(bindir, BIN_IMU_NAME) - print('save to binary files ...') - print(' binimg: {}'.format(binimg)) - print(' binimu: {}'.format(binimu)) - - has_img = False - has_imu = False - with open(binimg, 'wb') as f_img, open(binimu, 'wb') as f_imu: - img_count = 0 - imu_count = 0 - for result in dataset.generate(What.img_left, What.imu): - if What.img_left in result: - img = result[What.img_left] - np.array([( - img.timestamp - )], dtype="f8").tofile(f_img) - img_count = img_count + 1 - has_img = True - if What.imu in result: - imu = result[What.imu] - np.array([( - imu.timestamp, imu.flag, - imu.accel_x, imu.accel_y, imu.accel_z, - imu.gyro_x, imu.gyro_y, imu.gyro_z - )], dtype="f8, i4, f8, f8, f8, f8, f8, f8").tofile(f_imu) - imu_count = imu_count + 1 - has_imu = True - sys.stdout.write('\r img: {}, imu: {}'.format(img_count, imu_count)) - sys.stdout.write('\n') - - # pylint: disable=attribute-defined-outside-init - self._binimg = binimg - self._binimu = binimu - self._has_img = has_img - self._has_imu = has_imu - - def stamp_analytics(self, args): - outdir = args.outdir - - import numpy as np - if self.has_img: - # pd.cut fails on readonly arrays - # https://github.com/pandas-dev/pandas/issues/18773 - # imgs = np.memmap(self._binimg, dtype=[ - # ('t', 'f8') - # ], mode='r') - imgs = np.fromfile(self._binimg, dtype=[ - ('t', 'f8') - ]) - else: - sys.exit("Error: there are no imgs.") - - if self.has_imu: - imus = np.memmap(self._binimu, dtype=[ - ('t', 'f8'), ('flag', 'i4'), - ('accel_x', 'f8'), ('accel_y', 'f8'), ('accel_z', 'f8'), - ('gyro_x', 'f8'), ('gyro_y', 'f8'), ('gyro_z', 'f8'), - ], mode='r') - else: - sys.exit("Error: there are no imus.") - - period_img = 1. / args.rate_img - period_imu = 1. / args.rate_imu - print('\nrate (Hz)') - print(' img: {}, imu: {}'.format(args.rate_img, args.rate_imu)) - print('sample period (s)') - print(' img: {}, imu: {}'.format(period_img, period_imu)) - - imgs_t_diff = np.diff(imgs['t']) - # imus_t_diff = np.diff(imus['t']) - - accel = imus[(imus['flag'] == IMU_ALL) | (imus['flag'] == IMU_ACCEL)] - accel_t_diff = np.diff(accel['t']) - gyro = imus[(imus['flag'] == IMU_ALL) | (imus['flag'] == IMU_GYRO)] - gyro_t_diff = np.diff(gyro['t']) - - print('\ncount') - print(' imgs: {}, imus: {}, accel: {}, gyro: {}'.format( - imgs.size, imus.size, accel.size, gyro.size)) - print('\ndiff count') - print(' imgs_t_diff: {}, accel_t_diff: {}, gyro_t_diff: {}'.format( - imgs_t_diff.size, accel_t_diff.size, gyro_t_diff.size)) - - print('\ndiff where (factor={})'.format(args.factor)) - self._print_t_diff_where('imgs', imgs_t_diff, period_img, args.factor) - # self._print_t_diff_where('imus', imus_t_diff, period_imu, args.factor) - self._print_t_diff_where('accel', accel_t_diff, period_imu, args.factor) - self._print_t_diff_where('gyro', gyro_t_diff, period_imu, args.factor) - - import pandas as pd - bins = imgs['t'] - bins_n = imgs['t'].size - bins = pd.Series(data=bins).drop_duplicates(keep='first') - - print('\nimage timestamp duplicates: {}'.format(bins_n - bins.size)) - - def _cut_by_imgs_t(imus_t): - cats = pd.cut(imus_t, bins) - return cats.value_counts() - - self._plot( - outdir, - imgs_t_diff, - accel_t_diff, - _cut_by_imgs_t( - accel['t']), - gyro_t_diff, - _cut_by_imgs_t( - gyro['t'])) - - def _print_t_diff_where(self, name, t_diff, period, factor): - import numpy as np - - where = np.argwhere(t_diff > period * (1 + factor)) - print(' {} where diff > {}*{} ({})'.format( - name, period, 1 + factor, where.size)) - for x in where: - print(' {:8d}: {:.16f}'.format(x[0], t_diff[x][0])) - - where = np.argwhere(t_diff < period * (1 - factor)) - print(' {} where diff < {}*{} ({})'.format( - name, period, 1 - factor, where.size)) - for x in where: - print(' {:8d}: {:.16f}'.format(x[0], t_diff[x][0])) - - def _plot(self, outdir, imgs_t_diff, - accel_t_diff, accel_counts, gyro_t_diff, gyro_counts): - import matplotlib.pyplot as plt - import numpy as np - - fig_1 = plt.figure(1, [16, 12]) - fig_1.suptitle('Stamp Analytics') - fig_1.subplots_adjust( - left=0.1, - right=0.95, - top=0.85, - bottom=0.15, - wspace=0.4, - hspace=0.4) - - ax_imgs_t_diff = fig_1.add_subplot(231) - ax_imgs_t_diff.set_title('Image Timestamp Diff') - ax_imgs_t_diff.set_xlabel('diff index') - ax_imgs_t_diff.set_ylabel('diff (s)') - ax_imgs_t_diff.axis('auto') - - ax_imgs_t_diff.set_xlim([0, imgs_t_diff.size]) - ax_imgs_t_diff.plot(imgs_t_diff) - - def _plot_imus(name, t_diff, counts, pos_offset=0): - ax_imus_t_diff = fig_1.add_subplot(232 + pos_offset) - ax_imus_t_diff.set_title('{} Timestamp Diff'.format(name)) - ax_imus_t_diff.set_xlabel('diff index') - ax_imus_t_diff.set_ylabel('diff (s)') - ax_imus_t_diff.axis('auto') - - ax_imus_t_diff.set_xlim([0, t_diff.size - 1]) - ax_imus_t_diff.plot(t_diff) - - ax_imus_counts = fig_1.add_subplot(233 + pos_offset) - ax_imus_counts.set_title('{} Count Per Image Intervel'.format(name)) - ax_imus_counts.set_xlabel('intervel index') - ax_imus_counts.set_ylabel('imu count') - ax_imus_counts.axis('auto') - - # print(counts.values) - # counts.plot(kind='line', ax=ax_imus_counts) - data = counts.values - ax_imus_counts.set_xlim([0, data.size]) - ax_imus_counts.set_ylim([np.min(data) - 1, np.max(data) + 1]) - ax_imus_counts.plot(data) - - _plot_imus('Accel', accel_t_diff, accel_counts) - _plot_imus('Gyro', gyro_t_diff, gyro_counts, 3) - - if outdir: - figpath = os.path.join(outdir, RESULT_FIGURE) - print('\nsave figure to:\n {}'.format(figpath)) - if not os.path.exists(outdir): - os.makedirs(outdir) - fig_1.savefig(figpath, dpi=100) - - plt.show() - - @property - def has_img(self): - return self._has_img - - @property - def has_imu(self): - return self._has_imu - - -def _parse_args(): - import argparse - parser = argparse.ArgumentParser( - prog=os.path.basename(__file__), - formatter_class=argparse.RawTextHelpFormatter, - description='usage examples:' - '\n python %(prog)s -i DATASET') - parser.add_argument( - '-i', - '--input', - dest='input', - metavar='DATASET', - required=True, - help='the input dataset path') - parser.add_argument( - '-o', - '--outdir', - dest='outdir', - metavar='OUTDIR', - help='the output directory') - parser.add_argument( - '-c', - '--config', - dest='config', - metavar='CONFIG', - help='yaml config file about input dataset') - parser.add_argument( - '-f', - '--factor', - dest='factor', - metavar='FACTOR', - default=0.1, - type=float, - help='the wave factor (default: %(default)s)') - parser.add_argument( - '--rate-img', - dest='rate_img', - metavar='RATE', - default=60, - type=int, - help='the img rate (default: %(default)s)') - parser.add_argument( - '--rate-imu', - dest='rate_imu', - metavar='RATE', - default=200, - type=int, - help='the imu rate (default: %(default)s)') - return parser.parse_args() - - -def _main(): - args = _parse_args() - - dataset_path = args.input - if not dataset_path or not os.path.exists(dataset_path): - sys.exit('Error: the dataset path not exists, %s' % dataset_path) - dataset_path = os.path.normpath(dataset_path) - - outdir = args.outdir - if not args.outdir: - outdir = os.path.splitext(dataset_path)[0] - else: - outdir = os.path.abspath(outdir) - args.outdir = outdir - - print('stamp analytics ...') - print(' input: %s' % dataset_path) - print(' outdir: %s' % outdir) - - def dataset_creator(path): - print('open dataset ...') - if args.config: - import yaml - config = yaml.load(file(args.config, 'r')) - model = config['dataset'] - if model == 'rosbag': - dataset = ROSBag(path, **config['rosbag']) - elif model == 'mynteye': - dataset = MYNTEYE(path) - else: - sys.exit('Error: dataset model not supported {}'.format(model)) - else: - dataset = ROSBag(path, - topic_img_left='/mynteye/left/image_raw', - topic_imu='/mynteye/imu/data_raw') - return dataset - - dataset = BinDataset(dataset_path, dataset_creator) - dataset.stamp_analytics(args) - - print('stamp analytics done') - - -if __name__ == '__main__': - _main() diff --git a/tools/checksum/md5sum.sh b/tools/checksum/md5sum.sh deleted file mode 100755 index 99ec4e4..0000000 --- a/tools/checksum/md5sum.sh +++ /dev/null @@ -1,78 +0,0 @@ -#!/usr/bin/env bash -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -BASE_DIR=$(cd "$(dirname "$0")" && pwd) -ROOT_DIR=$(realpath "$BASE_DIR/../..") -SCRIPTS_DIR="$ROOT_DIR/scripts" - -source "$SCRIPTS_DIR/common/echo.sh" -source "$SCRIPTS_DIR/common/host.sh" - -if [ "$HOST_OS" = "Linux" ]; then - _md5sum() { md5sum "$1"; } -elif [ "$HOST_OS" = "Mac" ]; then - _md5sum() { md5 -q "$1"; } -elif [ "$HOST_OS" = "Win" ]; then - _md5sum() { certutil -hashfile "$1" MD5; } -else # unexpected - _echo_e "Unknown host os :(" - exit 1 -fi - -PYTHON="python" -if [ "$HOST_OS" = "Win" ]; then - # default python on MSYS - PYTHON="python2" -fi - -_get_size() { -PYTHON_ARG="$1" $PYTHON - <" - exit 1 -fi - -if [ -d "$1" ]; then - find "$1" -type f | while read -r f; do - _print_info "$f" - done -else - _print_info "$1" -fi diff --git a/tools/config/mynteye/mynteye_config.yaml b/tools/config/mynteye/mynteye_config.yaml deleted file mode 100644 index a915a17..0000000 --- a/tools/config/mynteye/mynteye_config.yaml +++ /dev/null @@ -1,9 +0,0 @@ -# dataset model: rosbag, mynteye -dataset: "mynteye" - -# rosbag config -rosbag: - topic_img_left: "/mynteye/left/image_raw" - topic_img_right: "/mynteye/right/image_raw" - topic_imu: "/mynteye/imu/data_raw" - topic_temp: "/mynteye/temp/data_raw" diff --git a/tools/dataset/CMakeLists.txt b/tools/dataset/CMakeLists.txt deleted file mode 100644 index 54399da..0000000 --- a/tools/dataset/CMakeLists.txt +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -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 -) - -## record - -# make_executable(record -# SRCS record.cc dataset.cc -# LINK_LIBS mynteye ${OpenCV_LIBS} -# DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} -#) - -make_executable(record2 - SRCS record2.cc dataset.cc - LINK_LIBS mynteye ${OpenCV_LIBS} - DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} -) diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc deleted file mode 100644 index eab794f..0000000 --- a/tools/dataset/dataset.cc +++ /dev/null @@ -1,203 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "dataset/dataset.h" - -#include -#include - -#include -#include -#include -#include - -#include "mynteye/logger.h" -#include "mynteye/util/files.h" - -#define FULL_PRECISION \ - std::fixed << std::setprecision(std::numeric_limits::max_digits10) - -#define IMAGE_FILENAME_WIDTH 6 - -MYNTEYE_BEGIN_NAMESPACE - -namespace tools { - -Dataset::Dataset(std::string outdir) : outdir_(std::move(outdir)) { - VLOG(2) << __func__; - if (!files::mkdir(outdir_)) { - LOG(FATAL) << "Create directory failed: " << outdir_; - } -} - -Dataset::~Dataset() { - VLOG(2) << __func__; - for (auto &&it = stream_writers_.begin(); it != stream_writers_.end(); it++) { - if (it->second) { - it->second->ofs.flush(); - it->second->ofs.close(); - } - } - if (motion_writer_) { - motion_writer_->ofs.flush(); - motion_writer_->ofs.close(); - } -} - -void Dataset::SaveStreamData( - const Stream &stream, const device::StreamData &data) { - auto &&writer = GetStreamWriter(stream); - auto seq = stream_counts_[stream]; - writer->ofs << seq << ", " << data.img->frame_id << ", " - << data.img->timestamp << ", " << data.img->exposure_time - << std::endl; - if (data.frame) { - std::stringstream ss; - ss << writer->outdir << MYNTEYE_OS_SEP << std::dec - << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png"; - if (data.frame->format() == Format::GREY) { - cv::Mat img( - data.frame->height(), data.frame->width(), CV_8UC1, - data.frame->data()); - cv::imwrite(ss.str(), img); - } else if (data.frame->format() == Format::YUYV) { - cv::Mat img( - data.frame->height(), data.frame->width(), CV_8UC2, - data.frame->data()); - cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2); - cv::imwrite(ss.str(), img); - } else if (data.frame->format() == Format::BGR888) { - cv::Mat img( - data.frame->height(), data.frame->width(), CV_8UC3, - data.frame->data()); - cv::imwrite(ss.str(), img); - } else { - cv::Mat img( - data.frame->height(), data.frame->width(), CV_8UC1, - data.frame->data()); - cv::imwrite(ss.str(), img); - } - } - ++stream_counts_[stream]; -} - -void Dataset::SaveMotionData(const device::MotionData &data) { - auto &&writer = GetMotionWriter(); - // auto seq = data.imu->serial_number; - auto seq = motion_count_; - writer->ofs << seq << ", " << static_cast(data.imu->flag) << ", " - << data.imu->timestamp << ", " << data.imu->accel[0] << ", " - << data.imu->accel[1] << ", " << data.imu->accel[2] << ", " - << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", " - << data.imu->gyro[2] << ", " << data.imu->temperature - << std::endl; - ++motion_count_; - /* - if(motion_count_ != seq) { - LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_ - << " seq: " << seq; - motion_count_ = seq; - } - */ -} - -void Dataset::SaveStreamData( - const Stream &stream, const api::StreamData &data) { - auto &&writer = GetStreamWriter(stream); - auto seq = stream_counts_[stream]; - writer->ofs << seq << ", " << data.img->frame_id << ", " - << data.img->timestamp << ", " << data.img->exposure_time - << std::endl; - if (!data.frame.empty()) { - std::stringstream ss; - ss << writer->outdir << MYNTEYE_OS_SEP << std::dec - << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png"; - cv::imwrite(ss.str(), data.frame); - } - ++stream_counts_[stream]; -} - -void Dataset::SaveMotionData(const api::MotionData &data) { - auto &&writer = GetMotionWriter(); - // auto seq = data.imu->serial_number; - auto seq = motion_count_; - if (data.imu->flag == 1 || data.imu->flag == 2) { - writer->ofs << seq << ", " << static_cast(data.imu->flag) << ", " - << data.imu->timestamp << ", " << data.imu->accel[0] << ", " - << data.imu->accel[1] << ", " << data.imu->accel[2] << ", " - << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", " - << data.imu->gyro[2] << ", " << data.imu->temperature - << std::endl; - ++motion_count_; - } - /* - if(motion_count_ != seq) { - LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_ - << " seq: " << seq; - motion_count_ = seq; - } - */ -} - -Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) { - try { - return stream_writers_.at(stream); - } catch (const std::out_of_range &e) { - writer_t writer = std::make_shared(); - switch (stream) { - case Stream::LEFT: { - writer->outdir = outdir_ + MYNTEYE_OS_SEP "left"; - } break; - case Stream::RIGHT: { - writer->outdir = outdir_ + MYNTEYE_OS_SEP "right"; - } break; - default: - LOG(FATAL) << "Unsupported stream: " << stream; - } - writer->outfile = writer->outdir + MYNTEYE_OS_SEP "stream.txt"; - - files::mkdir(writer->outdir); - writer->ofs.open(writer->outfile, std::ofstream::out); - writer->ofs << "seq, frame_id, timestamp, exposure_time" << std::endl; - writer->ofs << FULL_PRECISION; - - stream_writers_[stream] = writer; - stream_counts_[stream] = 0; - return writer; - } -} - -Dataset::writer_t Dataset::GetMotionWriter() { - if (motion_writer_ == nullptr) { - writer_t writer = std::make_shared(); - writer->outdir = outdir_; - writer->outfile = writer->outdir + MYNTEYE_OS_SEP "motion.txt"; - - files::mkdir(writer->outdir); - writer->ofs.open(writer->outfile, std::ofstream::out); - writer->ofs << "seq, flag, timestamp, accel_x, accel_y, accel_z, " - "gyro_x, gyro_y, gyro_z, temperature" - << std::endl; - writer->ofs << FULL_PRECISION; - - motion_writer_ = writer; - motion_count_ = 0; - accel_count_ = 0; - gyro_count_ = 0; - } - return motion_writer_; -} - -} // namespace tools - -MYNTEYE_END_NAMESPACE diff --git a/tools/dataset/dataset.h b/tools/dataset/dataset.h deleted file mode 100644 index 2a44203..0000000 --- a/tools/dataset/dataset.h +++ /dev/null @@ -1,69 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#ifndef MYNTEYE_TOOLS_DATASET_H_ // NOLINT -#define MYNTEYE_TOOLS_DATASET_H_ -#pragma once - -#include -#include -#include -#include - -#include "mynteye/mynteye.h" -#include "mynteye/api/api.h" -#include "mynteye/device/callbacks.h" - -MYNTEYE_BEGIN_NAMESPACE - -namespace tools { - -class Dataset { - public: - struct Writer { - std::ofstream ofs; - std::string outdir; - std::string outfile; - }; - - using writer_t = std::shared_ptr; - - explicit Dataset(std::string outdir); - ~Dataset(); - - void SaveStreamData(const Stream &stream, const device::StreamData &data); - void SaveMotionData(const device::MotionData &data); - - void SaveStreamData(const Stream &stream, const api::StreamData &data); - void SaveMotionData(const api::MotionData &data); - - private: - writer_t GetStreamWriter(const Stream &stream); - writer_t GetMotionWriter(); - - std::string outdir_; - - std::map stream_writers_; - writer_t motion_writer_; - - std::map stream_counts_; - std::size_t motion_count_; - std::size_t accel_count_; - std::size_t gyro_count_; -}; - -} // namespace tools - -MYNTEYE_END_NAMESPACE - -#endif // MYNTEYE_TOOLS_DATASET_H_ NOLINT diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc deleted file mode 100644 index a771a54..0000000 --- a/tools/dataset/record.cc +++ /dev/null @@ -1,134 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include -#include - -#include "mynteye/logger.h" -#include "mynteye/api/api.h" -#include "mynteye/util/times.h" - -#include "dataset/dataset.h" - -MYNTEYE_USE_NAMESPACE - -int main(int argc, char *argv[]) { - auto &&api = API::Create(argc, argv); - if (!api) return 1; - - bool ok; - auto &&request = api->SelectStreamRequest(&ok); - if (!ok) return 1; - api->ConfigStreamRequest(request); - - api->LogOptionInfos(); - - // Enable this will cache the motion datas until you get them. - api->EnableMotionDatas(); - api->Start(Source::ALL); - - const char *outdir; - if (argc >= 2) { - outdir = argv[1]; - } else { - outdir = "./dataset"; - } - tools::Dataset dataset(outdir); - - cv::namedWindow("frame"); - - std::size_t img_count = 0; - std::size_t imu_count = 0; - auto &&time_beg = times::now(); - while (true) { - api->WaitForStreams(); - - auto &&left_datas = api->GetStreamDatas(Stream::LEFT); - auto &&right_datas = api->GetStreamDatas(Stream::RIGHT); - img_count += left_datas.size(); - - auto &&motion_datas = api->GetMotionDatas(); - imu_count += motion_datas.size(); - - auto &&left_frame = left_datas.back().frame; - auto &&right_frame = right_datas.back().frame; - - cv::Mat img; - - if (left_frame->format() == Format::GREY) { - cv::Mat left_img( - left_frame->height(), left_frame->width(), CV_8UC1, - left_frame->data()); - cv::Mat right_img( - right_frame->height(), right_frame->width(), CV_8UC1, - right_frame->data()); - cv::hconcat(left_img, right_img, img); - } else if (left_frame->format() == Format::YUYV) { - cv::Mat left_img( - left_frame->height(), left_frame->width(), CV_8UC2, - left_frame->data()); - cv::Mat right_img( - right_frame->height(), right_frame->width(), CV_8UC2, - right_frame->data()); - cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2); - cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2); - cv::hconcat(left_img, right_img, img); - } else if (left_frame->format() == Format::BGR888) { - cv::Mat left_img( - left_frame->height(), left_frame->width(), CV_8UC3, - left_frame->data()); - cv::Mat right_img( - right_frame->height(), right_frame->width(), CV_8UC3, - right_frame->data()); - cv::hconcat(left_img, right_img, img); - } else { - return -1; - } - cv::imshow("frame", img); - if (img_count > 10 && imu_count > 50) { // save - for (auto &&left : left_datas) { - dataset.SaveStreamData(Stream::LEFT, left); - } - for (auto &&right : right_datas) { - dataset.SaveStreamData(Stream::RIGHT, right); - } - - for (auto &&motion : motion_datas) { - dataset.SaveMotionData(motion); - } - - std::cout << "\rSaved " << img_count << " imgs" - << ", " << imu_count << " imus" << std::flush; - } - - char key = static_cast(cv::waitKey(1)); - if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q - break; - } - } - std::cout << " to " << outdir << std::endl; - auto &&time_end = times::now(); - - api->Stop(Source::ALL); - - float elapsed_ms = - times::count(time_end - time_beg) * 0.001f; - LOG(INFO) << "Time beg: " << times::to_local_string(time_beg) - << ", end: " << times::to_local_string(time_end) - << ", cost: " << elapsed_ms << "ms"; - LOG(INFO) << "Img count: " << img_count - << ", fps: " << (1000.f * img_count / elapsed_ms); - LOG(INFO) << "Imu count: " << imu_count - << ", hz: " << (1000.f * imu_count / elapsed_ms); - return 0; -} diff --git a/tools/dataset/record2.cc b/tools/dataset/record2.cc deleted file mode 100644 index 99580ea..0000000 --- a/tools/dataset/record2.cc +++ /dev/null @@ -1,137 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include -#include - -#include "mynteye/logger.h" -#include "mynteye/device/device.h" -#include "mynteye/device/utils.h" -#include "mynteye/util/times.h" - -#include "dataset/dataset.h" - -MYNTEYE_USE_NAMESPACE - -int main(int argc, char *argv[]) { - glog_init _(argc, argv); - - auto &&device = device::select(); - if (!device) return 1; - - bool ok; - auto &&request = device::select_request(device, &ok); - if (!ok) return 1; - device->ConfigStreamRequest(request); - - device->LogOptionInfos(); - - // Enable this will cache the motion datas until you get them. - device->EnableMotionDatas(); - device->Start(Source::ALL); - - const char *outdir; - if (argc >= 2) { - outdir = argv[1]; - } else { - outdir = "./dataset"; - } - tools::Dataset dataset(outdir); - - cv::namedWindow("frame"); - - std::size_t img_count = 0; - std::size_t imu_count = 0; - auto &&time_beg = times::now(); - while (true) { - device->WaitForStreams(); - - auto &&left_datas = device->GetStreamDatas(Stream::LEFT); - auto &&right_datas = device->GetStreamDatas(Stream::RIGHT); - img_count += left_datas.size(); - - auto &&motion_datas = device->GetMotionDatas(); - imu_count += motion_datas.size(); - - auto &&left_frame = left_datas.back().frame; - auto &&right_frame = right_datas.back().frame; - - cv::Mat img; - - if (left_frame->format() == Format::GREY) { - cv::Mat left_img( - left_frame->height(), left_frame->width(), CV_8UC1, - left_frame->data()); - cv::Mat right_img( - right_frame->height(), right_frame->width(), CV_8UC1, - right_frame->data()); - cv::hconcat(left_img, right_img, img); - } else if (left_frame->format() == Format::YUYV) { - cv::Mat left_img( - left_frame->height(), left_frame->width(), CV_8UC2, - left_frame->data()); - cv::Mat right_img( - right_frame->height(), right_frame->width(), CV_8UC2, - right_frame->data()); - cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2); - cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2); - cv::hconcat(left_img, right_img, img); - } else if (left_frame->format() == Format::BGR888) { - cv::Mat left_img( - left_frame->height(), left_frame->width(), CV_8UC3, - left_frame->data()); - cv::Mat right_img( - right_frame->height(), right_frame->width(), CV_8UC3, - right_frame->data()); - cv::hconcat(left_img, right_img, img); - } else { - return -1; - } - cv::imshow("frame", img); - if (img_count > 10 && imu_count > 50) { // save - for (auto &&left : left_datas) { - dataset.SaveStreamData(Stream::LEFT, left); - } - for (auto &&right : right_datas) { - dataset.SaveStreamData(Stream::RIGHT, right); - } - - for (auto &&motion : motion_datas) { - dataset.SaveMotionData(motion); - } - - std::cout << "\rSaved " << img_count << " imgs" - << ", " << imu_count << " imus" << std::flush; - } - - char key = static_cast(cv::waitKey(1)); - if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q - break; - } - } - std::cout << " to " << outdir << std::endl; - auto &&time_end = times::now(); - - device->Stop(Source::ALL); - - float elapsed_ms = - times::count(time_end - time_beg) * 0.001f; - LOG(INFO) << "Time beg: " << times::to_local_string(time_beg) - << ", end: " << times::to_local_string(time_end) - << ", cost: " << elapsed_ms << "ms"; - LOG(INFO) << "Img count: " << img_count - << ", fps: " << (1000.f * img_count / elapsed_ms); - LOG(INFO) << "Imu count: " << imu_count - << ", hz: " << (1000.f * imu_count / elapsed_ms); - return 0; -} \ No newline at end of file diff --git a/tools/internal/data/__init__.py b/tools/internal/data/__init__.py deleted file mode 100644 index 2e1ce73..0000000 --- a/tools/internal/data/__init__.py +++ /dev/null @@ -1,442 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# pylint: disable=missing-docstring - -from __future__ import print_function - - -def isiter_not_str(obj): - return hasattr(obj, '__iter__') and not isinstance(obj, basestring) - - -class What(object): - img_left = "img_left" - img_right = "img_right" - imu = "imu" - temp = "temp" - - -class DataError(Exception): - - def __init__(self, message): - super(DataError, self).__init__() - self.message = message - - -class Data(object): - - def __init__(self): - self._timestamp = 0 - - @property - def timestamp(self): - return self._timestamp - - @timestamp.setter - def timestamp(self, value): - self._timestamp = value - - def __str__(self): - return "timestamp: {:f}".format(self.timestamp) - - -class Image(Data): - - def __init__(self): - super(Image, self).__init__() - self._data = None - - @property - def data(self): - return self._data - - @data.setter - def data(self, data): - self._data = data - - @property - def width(self): - return 0 - - @property - def height(self): - return 0 - - -class IMU(Data): - - def __init__(self): - super(IMU, self).__init__() - self._flag = 0 - self._accel_x = 0 - self._accel_y = 0 - self._accel_z = 0 - self._gyro_x = 0 - self._gyro_y = 0 - self._gyro_z = 0 - - @property - def flag(self): - return self._flag - - @flag.setter - def flag(self, flag): - self._flag = flag - - @property - def accel(self): - return self._accel_x, self._accel_y, self._accel_z - - @property - def accel_x(self): - return self._accel_x - - @accel_x.setter - def accel_x(self, accel_x): - self._accel_x = accel_x - - @property - def accel_y(self): - return self._accel_y - - @accel_y.setter - def accel_y(self, accel_y): - self._accel_y = accel_y - - @property - def accel_z(self): - return self._accel_z - - @accel_z.setter - def accel_z(self, accel_z): - self._accel_z = accel_z - - @property - def gyro(self): - return self._gyro_x, self._gyro_y, self._gyro_z - - @property - def gyro_x(self): - return self._gyro_x - - @gyro_x.setter - def gyro_x(self, gyro_x): - self._gyro_x = gyro_x - - @property - def gyro_y(self): - return self._gyro_y - - @gyro_y.setter - def gyro_y(self, gyro_y): - self._gyro_y = gyro_y - - @property - def gyro_z(self): - return self._gyro_z - - @gyro_z.setter - def gyro_z(self, gyro_z): - self._gyro_z = gyro_z - - def __str__(self): - return super(IMU, self).__str__() + \ - "\naccel: {:f}, {:f}, {:f}".format(*self.accel) + \ - "\ngyro: {:f}, {:f}, {:f}".format(*self.gyro) - - -class Temp(Data): - - def __init__(self): - super(Temp, self).__init__() - self._value = 0 - - @property - def value(self): - return self._value - - @value.setter - def value(self, value): - self._value = value - - def __str__(self): - return super(Temp, self).__str__() + \ - "\ntemp: {:f}".format(self.value) - - -class Dataset(object): - - def __init__(self, path): - self.path = path - - def generate(self, *what): # pylint: disable=unused-argument - raise DataError('DataError: method not implemented') - - def iterate(self, action, *what): - for result in self.generate(*what): - if isinstance(result, dict): # dict > **kwds - action(**result) - elif isiter_not_str(result): # iterable > *args - action(*result) - else: - action(result) - - def collect(self, *what): - results = {} - for result in self.generate(*what): - for key in result.keys(): - if key not in what: - continue - if key not in results: - results[key] = [] - results[key].append(result[key]) - return results - - @property - def timebeg(self): - raise DataError('DataError: method not implemented') - - @property - def timeend(self): - raise DataError('DataError: method not implemented') - - @property - def duration(self): - raise DataError('DataError: method not implemented') - - -class ROSBag(Dataset): - - def __init__(self, path, **config): - super(ROSBag, self).__init__(path) - self.topic_img_left = config['topic_img_left'] \ - if 'topic_img_left' in config else None - self.topic_img_right = config['topic_img_right'] \ - if 'topic_img_right' in config else None - self.topic_imu = config['topic_imu'] \ - if 'topic_imu' in config else None - self.topic_temp = config['topic_temp'] \ - if 'topic_temp' in config else None - - import yaml - from rosbag.bag import Bag - # pylint: disable=protected-access - self._info = yaml.load(Bag(self.path, 'r')._get_yaml_info()) - - def generate(self, *what): - import rosbag - hit_img_left = What.img_left in what - hit_img_right = What.img_right in what - hit_imu = What.imu in what - hit_temp = What.temp in what - try: - # pylint: disable=unused-variable - for topic, msg, t in rosbag.Bag(self.path).read_messages(): - result = {} - stamp = msg.header.stamp.to_sec() - if hit_img_left and topic == self.topic_img_left: - img = Image() - img.timestamp = stamp - # pylint: disable=fixme - # TODO: data with cv_bridge - result[What.img_left] = img - elif hit_img_right and topic == self.topic_img_right: - img = Image() - img.timestamp = stamp - # TODO: data with cv_bridge - result[What.img_right] = img - elif hit_imu and topic == self.topic_imu: - imu = IMU() - imu.timestamp = stamp - imu.accel_x = msg.linear_acceleration.x - imu.accel_y = msg.linear_acceleration.y - imu.accel_z = msg.linear_acceleration.z - imu.gyro_x = msg.angular_velocity.x - imu.gyro_y = msg.angular_velocity.y - imu.gyro_z = msg.angular_velocity.z - result[What.imu] = imu - elif hit_temp and topic == self.topic_temp: - temp = Temp() - temp.timestamp = stamp - temp.value = msg.data - result[What.temp] = temp - else: - # raise DataError('DataError: not proper topics in the rosbag') - continue - yield result - finally: - pass - - @property - def info(self): - return self._info - - @property - def timebeg(self): - return self._info['start'] - - @property - def timeend(self): - return self._info['end'] - - @property - def duration(self): - return self._info['duration'] - - -class MYNTEYE(Dataset): - # pylint: disable=no-member - - def __init__(self, path): - super(MYNTEYE, self).__init__(path) - self._info = self._get_info() - - def _get_info(self): - import os - import sys - from os import path - - info = type('', (), {})() - - info.img_left_dir = path.join(self.path, 'left') - info.img_left_txt = path.join(info.img_left_dir, 'stream.txt') - info.has_img_left = path.isfile(info.img_left_txt) - - info.img_right_dir = path.join(self.path, 'right') - info.img_right_txt = path.join(info.img_right_dir, 'stream.txt') - info.has_img_right = path.isfile(info.img_right_txt) - - info.imu_txt = path.join(self.path, 'motion.txt') - info.has_imu = path.isfile(info.imu_txt) - - if info.has_img_left: - info_txt = info.img_left_txt - elif info.has_img_right: - info_txt = info.img_right_txt - elif info.has_imu: - info_txt = info.img_left_txt - else: - sys.exit('Error: Dataset is empty or unexpected format') - with open(info_txt, 'rb') as f: - fields = [_.strip() for _ in f.readline().split(',')] - - first = f.readline() - f.seek(-2, os.SEEK_END) - while f.read(1) != b'\n': - f.seek(-2, os.SEEK_CUR) - last = f.readline() - - index = -1 - for i, field in enumerate(fields): - if field == 'timestamp': - index = i - break - if index == -1: - sys.exit('Error: Dataset is unexpected format, timestamp not found') - - # unit from 1us to 1s - info.timebeg = float(first.split(',')[index].strip()) * 0.000001 - info.timeend = float(last.split(',')[index].strip()) * 0.000001 - # print('time: [{}, {}]'.format(info.timebeg, info.timeend)) - - return info - - def generate(self, *what): - hit_img_left = What.img_left in what - hit_img_right = What.img_right in what - hit_imu = What.imu in what - hit_temp = What.temp in what - - def get_fields(f): - fields = {} - for i, field in enumerate(_.strip() for _ in f.readline().split(',')): - fields[field] = i - return fields - - if hit_img_left and self._info.has_img_left: - with open(self._info.img_left_txt) as f: - fields = get_fields(f) - for line in f: - values = [_.strip() for _ in line.split(',')] - img = Image() - img.timestamp = float(values[fields['timestamp']]) * 0.000001 - yield {What.img_left: img} - if hit_img_right and self._info.has_img_right: - with open(self._info.img_right_txt) as f: - fields = get_fields(f) - for line in f: - values = [_.strip() for _ in line.split(',')] - img = Image() - img.timestamp = float(values[fields['timestamp']]) * 0.000001 - yield {What.img_right: img} - if (hit_imu or hit_temp) and self._info.has_imu: - with open(self._info.imu_txt) as f: - fields = get_fields(f) - for line in f: - values = [_.strip() for _ in line.split(',')] - imu = IMU() - imu.timestamp = float(values[fields['timestamp']]) * 0.000001 - imu.flag = values[fields['flag']] - imu.accel_x = float(values[fields['accel_x']]) - imu.accel_y = float(values[fields['accel_y']]) - imu.accel_z = float(values[fields['accel_z']]) - imu.gyro_x = float(values[fields['gyro_x']]) - imu.gyro_y = float(values[fields['gyro_y']]) - imu.gyro_z = float(values[fields['gyro_z']]) - temp = Temp() - temp.timestamp = imu.timestamp - temp.value = float(values[fields['temperature']]) - yield {What.imu: imu, What.temp: temp} - - @property - def timebeg(self): - return self._info.timebeg - - @property - def timeend(self): - return self._info.timeend - - @property - def duration(self): - return self.timeend - self.timebeg - - -if __name__ == '__main__': - - class DataA(Dataset): - - def generate(self, *what): - yield 'a' - yield 'b' - - class DataB(Dataset): - - def generate(self, *what): - yield 'a1', 'a2', 'a3' - yield 'b1', 'b2', 'b3' - - print('DataA, generate') - for x in DataA('path').generate("what"): - print(x) - print('\nDataA, iterate') - DataA('path').iterate(print, "what") - - print('\nDataB, generate') - for x in DataB('path').generate("what"): - print(', '.join(x)) - print('\nDataB, iterate') - DataB('path').iterate(lambda *x: print(', '.join(x)), "what") diff --git a/tools/linter b/tools/linter deleted file mode 160000 index 1c7828b..0000000 --- a/tools/linter +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 1c7828bedb786c9f4fcf6f31f619bfb71d7b1cd3 diff --git a/tools/requirements.txt b/tools/requirements.txt deleted file mode 100644 index 5bb6f4f..0000000 --- a/tools/requirements.txt +++ /dev/null @@ -1,4 +0,0 @@ -matplotlib>=1.5.1 -numpy>=1.11.0 -pandas>=0.22.0 -PyYAML>=3.11 diff --git a/tools/writer/CMakeLists.txt b/tools/writer/CMakeLists.txt deleted file mode 100644 index 93b2a10..0000000 --- a/tools/writer/CMakeLists.txt +++ /dev/null @@ -1,58 +0,0 @@ -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -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}" -) - -## device_writer - -add_library(device_writer STATIC device_writer.cc) -target_link_libraries(device_writer mynteye ${OpenCV_LIBS}) - -## device_info_writer - -make_executable(device_info_writer - SRCS device_info_writer.cc - LINK_LIBS device_writer - DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} -) - -## img_params_writer - -make_executable(img_params_writer - SRCS img_params_writer.cc - LINK_LIBS device_writer - DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} -) - -## imu_params_writer - -make_executable(imu_params_writer - SRCS imu_params_writer.cc - LINK_LIBS device_writer - DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} -) - -## save_all_infos - -make_executable(save_all_infos - SRCS save_all_infos.cc - LINK_LIBS device_writer - DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} -) diff --git a/tools/writer/config/S1030/deprecated/img.params.old b/tools/writer/config/S1030/deprecated/img.params.old deleted file mode 100644 index 54f6f39..0000000 --- a/tools/writer/config/S1030/deprecated/img.params.old +++ /dev/null @@ -1,41 +0,0 @@ -%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/S1030/deprecated/img.params.old2 b/tools/writer/config/S1030/deprecated/img.params.old2 deleted file mode 100644 index 350a171..0000000 --- a/tools/writer/config/S1030/deprecated/img.params.old2 +++ /dev/null @@ -1,30 +0,0 @@ -%YAML:1.0 ---- -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 ] diff --git a/tools/writer/config/S1030/deprecated/img.params.old3 b/tools/writer/config/S1030/deprecated/img.params.old3 deleted file mode 100644 index 28d2f6a..0000000 --- a/tools/writer/config/S1030/deprecated/img.params.old3 +++ /dev/null @@ -1,33 +0,0 @@ -%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 ] diff --git a/tools/writer/config/S1030/deprecated/imu.params.old b/tools/writer/config/S1030/deprecated/imu.params.old deleted file mode 100644 index 4500d4e..0000000 --- a/tools/writer/config/S1030/deprecated/imu.params.old +++ /dev/null @@ -1,24 +0,0 @@ -%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 ] diff --git a/tools/writer/config/S1030/device.info b/tools/writer/config/S1030/device.info deleted file mode 100644 index 0c9e26b..0000000 --- a/tools/writer/config/S1030/device.info +++ /dev/null @@ -1,10 +0,0 @@ -%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 diff --git a/tools/writer/config/S1030/img.params.equidistant b/tools/writer/config/S1030/img.params.equidistant deleted file mode 100644 index 06600b5..0000000 --- a/tools/writer/config/S1030/img.params.equidistant +++ /dev/null @@ -1,28 +0,0 @@ -%YAML:1.0 ---- -version: "1.2" -img_params: - - - model: 1 - width: 752 - height: 480 - in_left: - # coeffs: k2,k3,k4,k5,mu,mv,u0,v0 - coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02, - 5.3814579203036512e-02, -3.6663721418756977e-02, - 3.6797709792391299e+02, 3.6808712539453859e+02, - 3.7414963027144353e+02, 2.3125000326472903e+02 ] - in_right: - # coeffs: k2,k3,k4,k5,mu,mv,u0,v0 - coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02, - 4.0863326732708288e-02, -2.1522718578606163e-02, - 3.6807315003638877e+02, 3.6806204885853174e+02, - 3.8499216569965887e+02, 2.3183027347834383e+02 ] - 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 ] diff --git a/tools/writer/config/S1030/img.params.pinhole b/tools/writer/config/S1030/img.params.pinhole deleted file mode 100644 index a375acc..0000000 --- a/tools/writer/config/S1030/img.params.pinhole +++ /dev/null @@ -1,38 +0,0 @@ -%YAML:1.0 ---- -version: "1.2" -img_params: - - - model: 0 - width: 752 - height: 480 - in_left: - # [fx 0 cx] - # [ 0 fy cy] - # [ 0 0 1] - fx: 3.6220059643202876e+02 - fy: 3.6350065250745848e+02 - cx: 4.0658699068023441e+02 - cy: 2.3435161110061483e+02 - # coeffs: k1,k2,p1,p2,k3 - coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02, - -7.0536676161976066e-04, -8.5255451307033846e-03, 0. ] - in_right: - # [fx 0 cx] - # [ 0 fy cy] - # [ 0 0 1] - fx: 3.6514014888558478e+02 - fy: 3.6513385298966961e+02 - cx: 3.8932395100630907e+02 - cy: 2.3495160212312547e+02 - # coeffs: k1,k2,p1,p2,k3 - 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 ] diff --git a/tools/writer/config/S1030/imu.params b/tools/writer/config/S1030/imu.params deleted file mode 100644 index 93ad7e8..0000000 --- a/tools/writer/config/S1030/imu.params +++ /dev/null @@ -1,33 +0,0 @@ -%YAML:1.0 ---- -version: "1.2" -in_accel: - scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] - assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] - drift: [ 0., 0., 0. ] - noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02, - 1.7452487504590969e-02 ] - bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04, - 5.4490537096493644e-04 ] - x: [ 0.0, 0.0 ] - y: [ 0.0, 0.0 ] - z: [ 0.0, 0.0 ] -in_gyro: - scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] - assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] - drift: [ 0., 0., 0. ] - noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03, - 1.1003229919806443e-03 ] - bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05, - 1.4970418056326829e-05 ] - x: [ 0.0, 0.0 ] - y: [ 0.0, 0.0 ] - z: [ 0.0, 0.0 ] -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 ] diff --git a/tools/writer/config/S210A/deprecated/img.params.old b/tools/writer/config/S210A/deprecated/img.params.old deleted file mode 100644 index a368dbb..0000000 --- a/tools/writer/config/S210A/deprecated/img.params.old +++ /dev/null @@ -1,62 +0,0 @@ -%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 ] diff --git a/tools/writer/config/S210A/deprecated/imu.params.old b/tools/writer/config/S210A/deprecated/imu.params.old deleted file mode 100644 index 070f13a..0000000 --- a/tools/writer/config/S210A/deprecated/imu.params.old +++ /dev/null @@ -1,15 +0,0 @@ -%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/config/S210A/device.info b/tools/writer/config/S210A/device.info deleted file mode 100644 index d7f4e16..0000000 --- a/tools/writer/config/S210A/device.info +++ /dev/null @@ -1,12 +0,0 @@ -%YAML:1.0 ---- -device_name: MYNT-EYE-S210A -serial_number: "07C40D1C0009071F" -firmware_version: "1.1" -hardware_version: "1.0" -spec_version: "1.2" -lens_type: "0001" -imu_type: "0001" -nominal_baseline: 80 -auxiliary_chip_version: "1.0" -isp_version: "1.0" diff --git a/tools/writer/config/S210A/img.params.equidistant b/tools/writer/config/S210A/img.params.equidistant deleted file mode 100644 index 8949748..0000000 --- a/tools/writer/config/S210A/img.params.equidistant +++ /dev/null @@ -1,51 +0,0 @@ -%YAML:1.0 ---- -version: "1.2" -img_params: - # There are two params of resolution [640x400], [1280x800]. - # If you only set one of them, write will keep another params if it exists. - - - model: 1 - width: 640 - height: 400 - in_left: - # coeffs: k2,k3,k4,k5,mu,mv,u0,v0 - coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02, - 5.3814579203036512e-02, -3.6663721418756977e-02, - 3.6797709792391299e+02, 3.6808712539453859e+02, - 3.7414963027144353e+02, 2.3125000326472903e+02 ] - in_right: - coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02, - 4.0863326732708288e-02, -2.1522718578606163e-02, - 3.6807315003638877e+02, 3.6806204885853174e+02, - 3.8499216569965887e+02, 2.3183027347834383e+02 ] - 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 ] - - - model: 1 - width: 1280 - height: 800 - in_left: - coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02, - 5.3814579203036512e-02, -3.6663721418756977e-02, - 3.6797709792391299e+02, 3.6808712539453859e+02, - 3.7414963027144353e+02, 2.3125000326472903e+02 ] - in_right: - coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02, - 5.3814579203036512e-02, -3.6663721418756977e-02, - 3.6797709792391299e+02, 3.6808712539453859e+02, - 3.7414963027144353e+02, 2.3125000326472903e+02 ] - 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 ] diff --git a/tools/writer/config/S210A/img.params.pinhole b/tools/writer/config/S210A/img.params.pinhole deleted file mode 100644 index eb1b2a7..0000000 --- a/tools/writer/config/S210A/img.params.pinhole +++ /dev/null @@ -1,62 +0,0 @@ -%YAML:1.0 ---- -version: "1.2" -img_params: - # There are two params of resolution [640x400], [1280x800]. - # If you only set one of them, write will keep another params if it exists. - - - model: 0 - width: 640 - height: 400 - in_left: - # [fx 0 cx] - # [ 0 fy cy] - # [ 0 0 1] - fx: 1.9739641213416058e+02 - fy: 1.9772337597617189e+02 - cx: 3.2611983633916327e+02 - cy: 1.9986969132833946e+02 - # coeffs: k1,k2,p1,p2,k3 - coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02, - 2.4914898631983504e-03, -3.7752063658256863e-03, 0. ] - in_right: - fx: 2.0335498653655989e+02 - fy: 2.0453858622699008e+02 - cx: 3.1589962248180814e+02 - cy: 2.1871688038954812e+02 - 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 ] - - - model: 0 - width: 1280 - height: 800 - in_left: - fx: 1.9739641213416058e+02 - fy: 1.9772337597617189e+02 - cx: 3.2611983633916327e+02 - cy: 1.9986969132833946e+02 - coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02, - 2.4914898631983504e-03, -3.7752063658256863e-03, 0. ] - in_right: - fx: 2.0335498653655989e+02 - fy: 2.0453858622699008e+02 - cx: 3.1589962248180814e+02 - cy: 2.1871688038954812e+02 - 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 ] diff --git a/tools/writer/config/S210A/imu.params b/tools/writer/config/S210A/imu.params deleted file mode 100644 index 93ad7e8..0000000 --- a/tools/writer/config/S210A/imu.params +++ /dev/null @@ -1,33 +0,0 @@ -%YAML:1.0 ---- -version: "1.2" -in_accel: - scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] - assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] - drift: [ 0., 0., 0. ] - noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02, - 1.7452487504590969e-02 ] - bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04, - 5.4490537096493644e-04 ] - x: [ 0.0, 0.0 ] - y: [ 0.0, 0.0 ] - z: [ 0.0, 0.0 ] -in_gyro: - scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] - assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] - drift: [ 0., 0., 0. ] - noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03, - 1.1003229919806443e-03 ] - bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05, - 1.4970418056326829e-05 ] - x: [ 0.0, 0.0 ] - y: [ 0.0, 0.0 ] - z: [ 0.0, 0.0 ] -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 ] diff --git a/tools/writer/device_info_writer.cc b/tools/writer/device_info_writer.cc deleted file mode 100644 index 5dc3112..0000000 --- a/tools/writer/device_info_writer.cc +++ /dev/null @@ -1,41 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "mynteye/logger.h" -#include "mynteye/device/device.h" -#include "mynteye/device/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(); - if (!device) - return 1; - - tools::DeviceWriter writer(device); - writer.WriteDeviceInfo(filepath); - - return 0; -} diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc deleted file mode 100644 index ddd9207..0000000 --- a/tools/writer/device_writer.cc +++ /dev/null @@ -1,590 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "writer/device_writer.h" - -#include - -#include - -#include "mynteye/logger.h" -#include "mynteye/util/files.h" - -#define SAVE_LATEST_VERSION Version(1, 2) - -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) { - // Update device info - 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 (device_->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 - << ", auxiliary_chip_version: " - << dev_info->auxiliary_chip_version.to_string() - << ", isp_version: " - << dev_info->isp_version.to_string()<< "}"; - 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_map_t &img_params_map) { - img_params_map_t *img_params_new = - const_cast(&img_params_map); - // Update image params with raw - auto &&img_params_raw = device_->GetImgParams(); - for (auto entry_raw : img_params_raw) { - // Add raw params if not load this resolution - if (img_params_new->find(entry_raw.first) == img_params_new->end()) { - (*img_params_new)[entry_raw.first] = entry_raw.second; - } - } - - if (device_->SetFiles(nullptr, img_params_new, nullptr)) { - LOG(INFO) << "Write img params success"; - for (auto it = img_params_new->begin(); it != img_params_new->end(); it++) { - LOG(INFO) << "Resolution: {width: " << (*it).first.width - << ", height: " << (*it).first.height << "}"; - LOG(INFO) << "Intrinsics left: {" << *(*it).second.in_left << "}"; - LOG(INFO) << "Intrinsics right: {" << *(*it).second.in_right << "}"; - LOG(INFO) << "Extrinsics right to left: {" - << (*it).second.ex_right_to_left << "}"; - } - 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) { - if (device_->SetFiles( - nullptr, nullptr, const_cast(¶ms))) { - 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 IntrinsicsPinhole &in) { - fs << "{" - << "fx" << in.fx << "fy" << in.fy - << "cx" << in.cx << "cy" << in.cy - << "coeffs" << std::vector(in.coeffs, in.coeffs + 5) << "}"; - return fs; -} - -cv::FileStorage &operator<<(cv::FileStorage &fs, - const IntrinsicsEquidistant &in) { - fs << "{" - << "coeffs" << std::vector(in.coeffs, in.coeffs + 8) << "}"; - return fs; -} - -cv::FileStorage &operator<<(cv::FileStorage &fs, - const std::shared_ptr &in) { - switch (in->calib_model()) { - case CalibrationModel::PINHOLE: - return fs << *std::dynamic_pointer_cast(in); - case CalibrationModel::KANNALA_BRANDT: - return fs << *std::dynamic_pointer_cast(in); - default: - LOG(FATAL) << "Unknown calib model: " << in->calib_model(); - 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]); - } - } - std::vector assembly; - for (std::size_t i = 0; i < 3; i++) { - for (std::size_t j = 0; j < 3; j++) { - assembly.push_back(in.assembly[i][j]); - } - } - fs << "{" - << "scale" << scales << "assembly" << assembly << "drift" - << std::vector(in.drift, in.drift + 3) << "noise" - << std::vector(in.noise, in.noise + 3) << "bias" - << std::vector(in.bias, in.bias + 3) << "x" - << std::vector(in.x, in.x + 2) << "y" - << std::vector(in.y, in.y + 2) << "z" - << std::vector(in.z, in.z + 2) << "}"; - 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; -} - -cv::FileStorage &operator<<( - cv::FileStorage &fs, const device::img_params_t ¶ms) { - fs << "{" - << "model" << static_cast(params.in_left->calib_model()) - << "width" << params.in_left->width - << "height" << params.in_left->height - << "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::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( - 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 << "device_name" << info.name; - fs << "serial_number" << info.serial_number; - fs << "firmware_version" << info.firmware_version.to_string(); - fs << "hardware_version" << info.hardware_version.to_string(); - fs << "spec_version" << info.spec_version.to_string(); - fs << "lens_type" << info.lens_type.to_string(); - fs << "imu_type" << info.imu_type.to_string(); - fs << "nominal_baseline" << info.nominal_baseline; - fs << "auxiliary_chip_version" << info.auxiliary_chip_version.to_string(); - fs << "isp_version" << info.isp_version.to_string(); - // save other infos according to spec_version - fs.release(); - return true; -} - -bool DeviceWriter::SaveImgParams( - const img_params_map_t &img_params_map, - const std::string &filepath) { - if (img_params_map.empty()) { - return false; - } - std::string version = img_params_map.begin()->second.version; - if (Version(version) > SAVE_LATEST_VERSION) { - LOG(ERROR) << "Failed to save img params of version " << version - << ", please use latest SDK."; - return false; - } - - // always save img params with latest version format - using FileStorage = cv::FileStorage; - FileStorage fs(filepath, FileStorage::WRITE); - if (!fs.isOpened()) { - LOG(ERROR) << "Failed to save file: " << filepath; - return false; - } - fs << "version" << SAVE_LATEST_VERSION.to_string() - << "img_params" << img_params_map; - fs.release(); - return true; -} - -bool DeviceWriter::SaveImuParams( - const imu_params_t ¶ms, const std::string &filepath) { - if (!params.ok) return false; - std::string version = params.version; - if (Version(version) > SAVE_LATEST_VERSION) { - LOG(ERROR) << "Failed to save imu params of version " << version - << ", please use latest SDK."; - return false; - } - - // always save imu params with latest version format - using FileStorage = cv::FileStorage; - FileStorage fs(filepath, FileStorage::WRITE); - if (!fs.isOpened()) { - LOG(ERROR) << "Failed to save file: " << filepath; - return false; - } - fs << "version" << SAVE_LATEST_VERSION.to_string() - << "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 + MYNTEYE_OS_SEP "device.info"); - SaveImgParams(device_->GetImgParams(), dir + MYNTEYE_OS_SEP "img.params"); - SaveImuParams(device_->GetImuParams(), dir + MYNTEYE_OS_SEP "imu.params"); -} - -namespace { - -// old -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, - IntrinsicsPinhole *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); - } -} - -// old -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); - } -} -// old -void operator>>(const cv::FileNode &n, IntrinsicsPinhole &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++) { - for (std::size_t j = 0; j < 3; j++) { - in.assembly[i][j] = n["assembly"][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]; - } - for (std::size_t i = 0; i < 2; i++) { - in.x[i] = n["x"][i]; - } - for (std::size_t i = 0; i < 2; i++) { - in.y[i] = n["y"][i]; - } - for (std::size_t i = 0; i < 2; i++) { - in.z[i] = n["z"][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]; - } -} - -// old -void operator>>(const cv::FileNode &n, DeviceWriter::img_params_t ¶ms) { - auto in_left = std::make_shared(); - auto in_right = std::make_shared(); - params.in_left = in_left; - params.in_right = in_right; - n["in_left"] >> *in_left; - n["in_right"] >> *in_right; - n["ex_right_to_left"] >> params.ex_right_to_left; -} - -std::shared_ptr to_intrinsics_pinhole( - const cv::FileNode &n, const std::uint8_t &model, - const std::uint16_t &width, const std::uint16_t &height) { - auto in = std::make_shared(); - in->width = width; - in->height = height; - in->model = model; - n["fx"] >> in->fx; - n["fy"] >> in->fy; - n["cx"] >> in->cx; - n["cy"] >> in->cy; - for (std::size_t i = 0; i < 5; i++) { - in->coeffs[i] = n["coeffs"][i]; - } - return in; -} - -std::shared_ptr to_intrinsics_equidistant( - const cv::FileNode &n, const std::uint8_t &model, - const std::uint16_t &width, const std::uint16_t &height) { - auto in = std::make_shared(); - in->width = width; - in->height = height; - for (std::size_t i = 0; i < 8; i++) { - in->coeffs[i] = n["coeffs"][i]; - } - MYNTEYE_UNUSED(model) - return in; -} - -DeviceWriter::img_params_t to_img_params( - const cv::FileNode &n, const std::uint8_t &model, - const std::uint16_t &width, const std::uint16_t &height) { - DeviceWriter::img_params_t params; - params.ok = false; - - CalibrationModel calib_model = static_cast(model); - switch (calib_model) { - case CalibrationModel::PINHOLE: { - params.ok = true; - params.in_left = to_intrinsics_pinhole( - n["in_left"], model, width, height); - params.in_right = to_intrinsics_pinhole( - n["in_right"], model, width, height); - n["ex_right_to_left"] >> params.ex_right_to_left; - } break; - case CalibrationModel::KANNALA_BRANDT: { - params.ok = true; - params.in_left = to_intrinsics_equidistant( - n["in_left"], model, width, height); - params.in_right = to_intrinsics_equidistant( - n["in_right"], model, width, height); - n["ex_right_to_left"] >> params.ex_right_to_left; - } break; - default: - LOG(FATAL) << "Could not load img params as unknown calib model" - ", please use latest SDK."; - } - return params; -} - -} // 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(std::string(fs["lens_type"])); - info.imu_type = Type(std::string(fs["imu_type"])); - fs["nominal_baseline"] >> info.nominal_baseline; - fs.release(); - return info; -} - -DeviceWriter::img_params_map_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_map_t img_params_map; - if (!fs["version"].isNone()) { - std::string version = std::string(fs["version"]); - // load params according to verison - if (version == "1.0") { - fs["img_params_map"][0] >> img_params_map[{752, 480}]; - } else if (version == "1.1") { - fs["img_params_map"][0] >> img_params_map[{1280, 400}]; - fs["img_params_map"][1] >> img_params_map[{2560, 800}]; - } else if (version == "1.2") { - auto node = fs["img_params"]; - for (auto it = node.begin(); it < node.end(); it++) { - std::uint8_t model; - std::uint16_t width, height; - (*it)["model"] >> model; - (*it)["width"] >> width; - (*it)["height"] >> height; - auto params = to_img_params(*it, model, width, height); - if (params.ok) { - params.version = version; - img_params_map[{width, height}] = params; - } - } - } else { - LOG(ERROR) << "Failed to load img params of version " << version - << ", please use latest SDK."; - } - } else { - // load old params s1030 - auto in_left = std::make_shared(); - auto in_right = std::make_shared(); - Extrinsics ex_right_to_left; - 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, in_left.get()); - to_intrinsics(w, h, m, M2, D2, in_right.get()); - to_extrinsics(R, T, &ex_right_to_left); - } else { - fs["in_left"] >> *in_left; - fs["in_right"] >> *in_right; - fs["ex_right_to_left"] >> ex_right_to_left; - } - img_params_map[{752, 480}] = { - true, "1.0", in_left, in_right, ex_right_to_left - }; - } - - fs.release(); - return img_params_map; -} - -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; - if (!fs["version"].isNone()) { - std::string version = std::string(fs["version"]); - // load params according to verison - if (version == "1.2") { - params.version = version; - fs["in_accel"] >> params.in_accel; - fs["in_gyro"] >> params.in_gyro; - fs["ex_left_to_imu"] >> params.ex_left_to_imu; - } else { - LOG(ERROR) << "Failed to load imu params of version " << version - << ", please use latest SDK."; - } - } else { - // load old 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 deleted file mode 100644 index 1e36ed5..0000000 --- a/tools/writer/device_writer.h +++ /dev/null @@ -1,69 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#ifndef MYNTEYE_TOOLS_DEVICE_WRITER_H_ // NOLINT -#define MYNTEYE_TOOLS_DEVICE_WRITER_H_ -#pragma once - -#include -#include -#include - -#include "mynteye/device/device.h" - -MYNTEYE_BEGIN_NAMESPACE - -class Device; - -namespace tools { - -class DeviceWriter { - public: - using dev_info_t = DeviceInfo; - using imu_params_t = device::imu_params_t; - using img_params_t = device::img_params_t; - using img_params_map_t = std::map; - - 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_map_t &img_params_map); - 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_map_t &img_params_map, - 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_map_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 deleted file mode 100644 index fa0325d..0000000 --- a/tools/writer/img_params_writer.cc +++ /dev/null @@ -1,41 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "mynteye/logger.h" -#include "mynteye/device/device.h" -#include "mynteye/device/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(); - if (!device) - return 1; - - 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 deleted file mode 100644 index 3b48917..0000000 --- a/tools/writer/imu_params_writer.cc +++ /dev/null @@ -1,41 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "mynteye/logger.h" -#include "mynteye/device/device.h" -#include "mynteye/device/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(); - if (!device) - return 1; - - tools::DeviceWriter writer(device); - writer.WriteImuParams(filepath); - - return 0; -} diff --git a/tools/writer/save_all_infos.cc b/tools/writer/save_all_infos.cc deleted file mode 100644 index 45b3934..0000000 --- a/tools/writer/save_all_infos.cc +++ /dev/null @@ -1,43 +0,0 @@ -// Copyright 2018 Slightech Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "mynteye/logger.h" -#include "mynteye/device/device.h" -#include "mynteye/device/utils.h" - -#include "writer/device_writer.h" - -MYNTEYE_USE_NAMESPACE - -int main(int argc, char *argv[]) { - glog_init _(argc, argv); - - std::string dir{"config"}; - if (argc >= 2) { - dir = argv[1]; - } - - auto &&device = device::select(); - if (!device) - return 1; - - dir.append(MYNTEYE_OS_SEP).append(device->GetInfo()->name); - dir.append(MYNTEYE_OS_SEP "SN").append(device->GetInfo()->serial_number); - - tools::DeviceWriter writer(device); - writer.SaveAllInfos(dir); - - LOG(INFO) << "Save all infos to \"" << dir << "\""; - - return 0; -} From 7f1926ef293ad10099098fb232bf187c560a1eb8 Mon Sep 17 00:00:00 2001 From: TinyO Date: Fri, 30 Aug 2019 17:40:06 +0800 Subject: [PATCH 07/13] doc(*): fix 2110 product content. --- docs/src/product/spec_s2110.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/src/product/spec_s2110.rst b/docs/src/product/spec_s2110.rst index 9445bcc..71d844a 100644 --- a/docs/src/product/spec_s2110.rst +++ b/docs/src/product/spec_s2110.rst @@ -1,7 +1,7 @@ .. _mynteye_spec_s2110: -S2110-146/Color Product Specification +S2110-95/Color Product Specification ======================================== Product Specification From df7cb0a26c6a20eb5c8cf2fad34a598cff55a3b9 Mon Sep 17 00:00:00 2001 From: TinyO Date: Fri, 30 Aug 2019 17:47:43 +0800 Subject: [PATCH 08/13] doc(*): version num change to 2.4.2. --- docs/Doxyfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/Doxyfile b/docs/Doxyfile index 396aec7..324cdde 100644 --- a/docs/Doxyfile +++ b/docs/Doxyfile @@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK" # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = 2.4.1 +PROJECT_NUMBER = 2.4.2 # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a From 80b6bc599b6e6013730722a2d7eb8c0a48177348 Mon Sep 17 00:00:00 2001 From: harjeb Date: Sat, 31 Aug 2019 13:57:10 +0800 Subject: [PATCH 09/13] docs(*): update docs --- docs/src/firmware/update_auxiliary_chip.rst | 2 +- docs/src/product/spec_s2110.rst | 2 +- docs/src/sdk/control/auto_exposure.rst | 6 +-- docs/src/sdk/control/framerate.rst | 6 +-- docs/src/sdk/control/iic_address.rst | 6 +-- docs/src/sdk/control/imu_range.rst | 6 +-- docs/src/sdk/control/infrared.rst | 4 +- docs/src/sdk/control/manual_exposure.rst | 6 +-- docs/src/sdk/data/contents.rst | 4 ++ docs/src/sdk/data/get_img_params.rst | 2 +- docs/src/sdk/data/get_points.rst | 56 +++++++++++++++++++++ docs/src/sdk/data/write_img_params.rst | 2 +- docs/src/sdk/data/write_imu_params.rst | 2 +- docs/src/wrapper/ros.rst | 6 +-- 14 files changed, 85 insertions(+), 25 deletions(-) create mode 100644 docs/src/sdk/data/get_points.rst diff --git a/docs/src/firmware/update_auxiliary_chip.rst b/docs/src/firmware/update_auxiliary_chip.rst index a46a373..5d555c1 100644 --- a/docs/src/firmware/update_auxiliary_chip.rst +++ b/docs/src/firmware/update_auxiliary_chip.rst @@ -3,7 +3,7 @@ Update Auxiliary Chip Firmware ================================== -Update auxiliary chip (Only Support S2100/S210A) +Update auxiliary chip (Only Support S21XX) ------------------------------------------------ * Plug in the MYNT® EYE camera into a USB3.0 port diff --git a/docs/src/product/spec_s2110.rst b/docs/src/product/spec_s2110.rst index 71d844a..8f65c5c 100644 --- a/docs/src/product/spec_s2110.rst +++ b/docs/src/product/spec_s2110.rst @@ -9,7 +9,7 @@ Product Specification ========================== ===================================================== - Model S2110-146/Color + Model S2110-95/Color -------------------------- ----------------------------------------------------- Size PCB dimension:15x100mm Total dimension:125x47x26.6mm diff --git a/docs/src/sdk/control/auto_exposure.rst b/docs/src/sdk/control/auto_exposure.rst index 935699a..aa7fd6f 100644 --- a/docs/src/sdk/control/auto_exposure.rst +++ b/docs/src/sdk/control/auto_exposure.rst @@ -13,7 +13,7 @@ For mynteye s1030, the settings available for adjustment during auto exposure ar * ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time. * ``Option::DESIRED_BRIGHTNESS`` Expected brightness. -For mynteye s2100/s210a, the settings available for adjustment during auto exposure are: +For mynteye s21XX, the settings available for adjustment during auto exposure are: * ``Option::MAX_GAIN`` Maximum gain. * ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time. @@ -45,7 +45,7 @@ s1030： LOG(INFO) << "Set DESIRED_BRIGHTNESS to " << api->GetOptionValue(Option::DESIRED_BRIGHTNESS); -s2100/s210a： +s21XX： .. code-block:: c++ @@ -97,7 +97,7 @@ s1030： I0513 14:07:58.521375 31845 auto_exposure.cc:41] Set DESIRED_BRIGHTNESS to 192 -s2100/s210a： +s21XX： .. code-block:: bash diff --git a/docs/src/sdk/control/framerate.rst b/docs/src/sdk/control/framerate.rst index a14e617..d89146b 100644 --- a/docs/src/sdk/control/framerate.rst +++ b/docs/src/sdk/control/framerate.rst @@ -12,7 +12,7 @@ For mynteye s1030, to set the image frame rate and IMU frequency, set ``Option:: * The effective fps of the image: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60. * The effective frequency of IMU: 100, 200, 250, 333, 500. -For mynteye s2100/s210a, the image frame rate should be selected when running the sample, and the frame rate and resolution are combined as follows: +For mynteye s21XX, the image frame rate should be selected when running the sample, and the frame rate and resolution are combined as follows: .. code-block:: bash @@ -45,7 +45,7 @@ s1030： LOG(INFO) << "Set IMU_FREQUENCY to " << api->GetOptionValue(Option::IMU_FREQUENCY); -s2100/s210a： +s21XX： .. code-block:: c++ @@ -78,7 +78,7 @@ s1030： I0513 14:06:21.702388 31813 framerate.cc:85] Img count: 573, fps: 24.6122 I0513 14:06:21.702404 31813 framerate.cc:87] Imu count: 11509, hz: 494.348 -s2100/s210a： +s21XX： .. code-block:: bash diff --git a/docs/src/sdk/control/iic_address.rst b/docs/src/sdk/control/iic_address.rst index 352e22c..ab64d0f 100644 --- a/docs/src/sdk/control/iic_address.rst +++ b/docs/src/sdk/control/iic_address.rst @@ -9,11 +9,11 @@ To set the IIC address, set ``Option::IIC_ADDRESS_SETTING``. .. Attention:: - Only support S210A/2100 + Only support S21XX Reference Code: -s210a/s2100： +s2XX： .. code-block:: c++ @@ -33,7 +33,7 @@ s210a/s2100： Reference running results on Linux: -s210a/s2100： +s21XX： .. code-block:: bash diff --git a/docs/src/sdk/control/imu_range.rst b/docs/src/sdk/control/imu_range.rst index 4248fcf..074b6c8 100644 --- a/docs/src/sdk/control/imu_range.rst +++ b/docs/src/sdk/control/imu_range.rst @@ -13,7 +13,7 @@ To set the range of accelerometer and gyroscope, set ``Option::ACCELEROMETER_RAN * The effective range of accelerometer(unit:g): 4, 8, 16, 32. * Gyroscope Range Valid value (unit: DEG/S): 500, 1000, 2000, 4000. - For mynteye s2100/s210a, the available settings are: + For mynteye s21XX, the available settings are: * The effective range of accelerometer(unit:g): 6, 12, 24, 48. * The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000. @@ -38,7 +38,7 @@ s1030： LOG(INFO) << "Set GYROSCOPE_RANGE to " << api->GetOptionValue(Option::GYROSCOPE_RANGE); -s2100/s210a： +s21XX： .. code-block:: c++ @@ -78,7 +78,7 @@ s1030： I/imu_range.cc:84 Img count: 363, fps: 25.0967 I/imu_range.cc:86 Imu count: 2825, hz: 195.312 -s2100/s210a： +s21XX： .. code-block:: bash diff --git a/docs/src/sdk/control/infrared.rst b/docs/src/sdk/control/infrared.rst index 83bf925..0b8802e 100644 --- a/docs/src/sdk/control/infrared.rst +++ b/docs/src/sdk/control/infrared.rst @@ -8,7 +8,7 @@ Using the ``SetOptionValue()`` function of the API, you can set various control Enabling IR is setting ``Option::IR_CONTROL`` greater than 0. The greater the value, the greater the IR's intensity. .. Attention:: - * mynteye s2100/s210a doesn't support this feature. + * mynteye s21XX doesn't support this feature. Reference Code: @@ -49,6 +49,6 @@ At this point, if the image is displayed, you can see IR speckle on the image, a .. attention:: - The hardware will not record the IR value after being turned off. In order to keep IR enabled, you must set the IR value after turning on the device. + The hardware will not record the IR value after being turned off and will reset to 0. In order to keep IR enabled, you must set the IR value after turning on the device. Complete code samples，see `ctrl_infrared.cc `_ . diff --git a/docs/src/sdk/control/manual_exposure.rst b/docs/src/sdk/control/manual_exposure.rst index da944f0..0eee65c 100644 --- a/docs/src/sdk/control/manual_exposure.rst +++ b/docs/src/sdk/control/manual_exposure.rst @@ -13,7 +13,7 @@ For mynteye s1030, during manual exposure, the settings available for adjustment * ``Option::BRIGHTNESS`` Brightness (Exposure time). * ``Option::CONTRAST`` Contrast (Black level calibration). -For mynteye s2100/s210a, during manual exposure, the settings available for adjustment are: +For mynteye s21XX, during manual exposure, the settings available for adjustment are: * ``Option::BRIGHTNESS`` Brightness (Exposure time). @@ -41,7 +41,7 @@ s1030： LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS); LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST); -s2100/s210a： +s21XX： .. code-block:: c++ @@ -81,7 +81,7 @@ s1030： I0513 14:09:17.552958 31908 manual_exposure.cc:39] Set BRIGHTNESS to 120 I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 116 -s2100/s210a： +s21XX： .. code-block:: bash diff --git a/docs/src/sdk/data/contents.rst b/docs/src/sdk/data/contents.rst index a381091..74e12f7 100644 --- a/docs/src/sdk/data/contents.rst +++ b/docs/src/sdk/data/contents.rst @@ -12,8 +12,12 @@ SDK Data Samples get_stereo_rectified get_disparity get_depth + get_points get_imu get_imu_correspondence get_from_callbacks get_with_plugin + save_params save_single_image + write_img_params + write_imu_params \ No newline at end of file diff --git a/docs/src/sdk/data/get_img_params.rst b/docs/src/sdk/data/get_img_params.rst index 5511918..139f00e 100644 --- a/docs/src/sdk/data/get_img_params.rst +++ b/docs/src/sdk/data/get_img_params.rst @@ -7,7 +7,7 @@ Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameter .. tip:: The detailed meaning of parameters can reference the files in ``tools/writer/config`` , of these - the image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A`` + the image calibration parameters of S21XX are in ``tools/writer/config/S21XX`` the image calibration parameters of S1030 are in ``tools/writer/config/S1030`` Note diff --git a/docs/src/sdk/data/get_points.rst b/docs/src/sdk/data/get_points.rst new file mode 100644 index 0000000..e7cd256 --- /dev/null +++ b/docs/src/sdk/data/get_points.rst @@ -0,0 +1,56 @@ +.. _data_get_points: + +Get Point Image +================ + +Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use. + +For detail process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` . + + +Sample code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + api->EnableStreamData(Stream::POINTS); + + api->Start(Source::VIDEO_STREAMING); + + cv::namedWindow("frame"); + PCViewer pcviewer; + + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT); + auto &&right_data = api->GetStreamData(Stream::RIGHT); + + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + cv::imshow("frame", img); + + auto &&points_data = api->GetStreamData(Stream::POINTS); + if (!points_data.frame.empty()) { + pcviewer.Update(points_data.frame); + } + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + if (pcviewer.WasStopped()) { + break; + } + } + + api->Stop(Source::VIDEO_STREAMING); + +`PCL `_ is used to display point images above. Program will close when point image window is closed. + +Complete code examples, see `get_depth_and_points.cc `_ . + +.. attention:: + + Sample code only compiles when `PCL `_ is ready. If your PCL was installed in a different directory, please set ``CMAKE_PREFIX_PATH`` in `tutorials/CMakeLists.txt `_ to the path of ``PCLConfig.cmake`` . You can find ``CMAKE_PREFIX_PATH`` near ``find_package(PCL)`` . diff --git a/docs/src/sdk/data/write_img_params.rst b/docs/src/sdk/data/write_img_params.rst index 9911b9c..95821c2 100644 --- a/docs/src/sdk/data/write_img_params.rst +++ b/docs/src/sdk/data/write_img_params.rst @@ -24,7 +24,7 @@ And, `samples/config/S1030/img.params.pinhole `_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device. +The path of parameters folder can be found in `samples/config/imu.params `_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device. .. warning:: diff --git a/docs/src/wrapper/ros.rst b/docs/src/wrapper/ros.rst index d8523f5..5d0f6af 100644 --- a/docs/src/wrapper/ros.rst +++ b/docs/src/wrapper/ros.rst @@ -54,7 +54,7 @@ The ROS file is structured like follows: │ ├─config/ │ │ ├─device/ │ │ ├─standard.yaml # S1030 - │ │ └─standard2.yaml # S2100/S210A + │ │ └─standard2.yaml # S21XX │ │ ├─laserscan/ │ │ ├─process/ │ │ └─... @@ -72,14 +72,14 @@ The ROS file is structured like follows: │ └─package.xml └─README.md -In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, ``standard.yaml`` (standard2.yaml is S2100/S210A config file) can set parameters for device. Please set ``gravity`` to the local gravity acceleration. +In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, ``standard.yaml`` (standard2.yaml is S21XX config file) can set parameters for device. Please set ``gravity`` to the local gravity acceleration. standard.yaml/standard2.yaml: .. code-block:: xml - # s2100/s210a modify frame/resolution + # s21XX modify frame/resolution standard2/request_index: 2 # s1030 modify frame/imu hz From 0f546e55fb08a3d40c5dd627a4a39d8461e1fbf5 Mon Sep 17 00:00:00 2001 From: TinyO Date: Mon, 2 Sep 2019 10:17:06 +0800 Subject: [PATCH 10/13] feat(*): add record samples.. --- samples/CMakeLists.txt | 8 ++ samples/dataset.cc | 203 +++++++++++++++++++++++++++++++++++++++++ samples/dataset.h | 69 ++++++++++++++ samples/record.cc | 137 +++++++++++++++++++++++++++ 4 files changed, 417 insertions(+) create mode 100644 samples/dataset.cc create mode 100644 samples/dataset.h create mode 100644 samples/record.cc diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt index 74212b8..807c203 100644 --- a/samples/CMakeLists.txt +++ b/samples/CMakeLists.txt @@ -279,3 +279,11 @@ make_executable(save_all_infos DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} ) +## record + +make_executable(record + SRCS record.cc dataset.cc + LINK_LIBS mynteye ${OpenCV_LIBS} + DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} +) + diff --git a/samples/dataset.cc b/samples/dataset.cc new file mode 100644 index 0000000..cf4a4d7 --- /dev/null +++ b/samples/dataset.cc @@ -0,0 +1,203 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "dataset.h" + +#include +#include + +#include +#include +#include +#include + +#include "mynteye/logger.h" +#include "mynteye/util/files.h" + +#define FULL_PRECISION \ + std::fixed << std::setprecision(std::numeric_limits::max_digits10) + +#define IMAGE_FILENAME_WIDTH 6 + +MYNTEYE_BEGIN_NAMESPACE + +namespace tools { + +Dataset::Dataset(std::string outdir) : outdir_(std::move(outdir)) { + VLOG(2) << __func__; + if (!files::mkdir(outdir_)) { + LOG(FATAL) << "Create directory failed: " << outdir_; + } +} + +Dataset::~Dataset() { + VLOG(2) << __func__; + for (auto &&it = stream_writers_.begin(); it != stream_writers_.end(); it++) { + if (it->second) { + it->second->ofs.flush(); + it->second->ofs.close(); + } + } + if (motion_writer_) { + motion_writer_->ofs.flush(); + motion_writer_->ofs.close(); + } +} + +void Dataset::SaveStreamData( + const Stream &stream, const device::StreamData &data) { + auto &&writer = GetStreamWriter(stream); + auto seq = stream_counts_[stream]; + writer->ofs << seq << ", " << data.img->frame_id << ", " + << data.img->timestamp << ", " << data.img->exposure_time + << std::endl; + if (data.frame) { + std::stringstream ss; + ss << writer->outdir << MYNTEYE_OS_SEP << std::dec + << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png"; + if (data.frame->format() == Format::GREY) { + cv::Mat img( + data.frame->height(), data.frame->width(), CV_8UC1, + data.frame->data()); + cv::imwrite(ss.str(), img); + } else if (data.frame->format() == Format::YUYV) { + cv::Mat img( + data.frame->height(), data.frame->width(), CV_8UC2, + data.frame->data()); + cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2); + cv::imwrite(ss.str(), img); + } else if (data.frame->format() == Format::BGR888) { + cv::Mat img( + data.frame->height(), data.frame->width(), CV_8UC3, + data.frame->data()); + cv::imwrite(ss.str(), img); + } else { + cv::Mat img( + data.frame->height(), data.frame->width(), CV_8UC1, + data.frame->data()); + cv::imwrite(ss.str(), img); + } + } + ++stream_counts_[stream]; +} + +void Dataset::SaveMotionData(const device::MotionData &data) { + auto &&writer = GetMotionWriter(); + // auto seq = data.imu->serial_number; + auto seq = motion_count_; + writer->ofs << seq << ", " << static_cast(data.imu->flag) << ", " + << data.imu->timestamp << ", " << data.imu->accel[0] << ", " + << data.imu->accel[1] << ", " << data.imu->accel[2] << ", " + << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", " + << data.imu->gyro[2] << ", " << data.imu->temperature + << std::endl; + ++motion_count_; + /* + if(motion_count_ != seq) { + LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_ + << " seq: " << seq; + motion_count_ = seq; + } + */ +} + +void Dataset::SaveStreamData( + const Stream &stream, const api::StreamData &data) { + auto &&writer = GetStreamWriter(stream); + auto seq = stream_counts_[stream]; + writer->ofs << seq << ", " << data.img->frame_id << ", " + << data.img->timestamp << ", " << data.img->exposure_time + << std::endl; + if (!data.frame.empty()) { + std::stringstream ss; + ss << writer->outdir << MYNTEYE_OS_SEP << std::dec + << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png"; + cv::imwrite(ss.str(), data.frame); + } + ++stream_counts_[stream]; +} + +void Dataset::SaveMotionData(const api::MotionData &data) { + auto &&writer = GetMotionWriter(); + // auto seq = data.imu->serial_number; + auto seq = motion_count_; + if (data.imu->flag == 1 || data.imu->flag == 2) { + writer->ofs << seq << ", " << static_cast(data.imu->flag) << ", " + << data.imu->timestamp << ", " << data.imu->accel[0] << ", " + << data.imu->accel[1] << ", " << data.imu->accel[2] << ", " + << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", " + << data.imu->gyro[2] << ", " << data.imu->temperature + << std::endl; + ++motion_count_; + } + /* + if(motion_count_ != seq) { + LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_ + << " seq: " << seq; + motion_count_ = seq; + } + */ +} + +Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) { + try { + return stream_writers_.at(stream); + } catch (const std::out_of_range &e) { + writer_t writer = std::make_shared(); + switch (stream) { + case Stream::LEFT: { + writer->outdir = outdir_ + MYNTEYE_OS_SEP "left"; + } break; + case Stream::RIGHT: { + writer->outdir = outdir_ + MYNTEYE_OS_SEP "right"; + } break; + default: + LOG(FATAL) << "Unsupported stream: " << stream; + } + writer->outfile = writer->outdir + MYNTEYE_OS_SEP "stream.txt"; + + files::mkdir(writer->outdir); + writer->ofs.open(writer->outfile, std::ofstream::out); + writer->ofs << "seq, frame_id, timestamp, exposure_time" << std::endl; + writer->ofs << FULL_PRECISION; + + stream_writers_[stream] = writer; + stream_counts_[stream] = 0; + return writer; + } +} + +Dataset::writer_t Dataset::GetMotionWriter() { + if (motion_writer_ == nullptr) { + writer_t writer = std::make_shared(); + writer->outdir = outdir_; + writer->outfile = writer->outdir + MYNTEYE_OS_SEP "motion.txt"; + + files::mkdir(writer->outdir); + writer->ofs.open(writer->outfile, std::ofstream::out); + writer->ofs << "seq, flag, timestamp, accel_x, accel_y, accel_z, " + "gyro_x, gyro_y, gyro_z, temperature" + << std::endl; + writer->ofs << FULL_PRECISION; + + motion_writer_ = writer; + motion_count_ = 0; + accel_count_ = 0; + gyro_count_ = 0; + } + return motion_writer_; +} + +} // namespace tools + +MYNTEYE_END_NAMESPACE diff --git a/samples/dataset.h b/samples/dataset.h new file mode 100644 index 0000000..2a44203 --- /dev/null +++ b/samples/dataset.h @@ -0,0 +1,69 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef MYNTEYE_TOOLS_DATASET_H_ // NOLINT +#define MYNTEYE_TOOLS_DATASET_H_ +#pragma once + +#include +#include +#include +#include + +#include "mynteye/mynteye.h" +#include "mynteye/api/api.h" +#include "mynteye/device/callbacks.h" + +MYNTEYE_BEGIN_NAMESPACE + +namespace tools { + +class Dataset { + public: + struct Writer { + std::ofstream ofs; + std::string outdir; + std::string outfile; + }; + + using writer_t = std::shared_ptr; + + explicit Dataset(std::string outdir); + ~Dataset(); + + void SaveStreamData(const Stream &stream, const device::StreamData &data); + void SaveMotionData(const device::MotionData &data); + + void SaveStreamData(const Stream &stream, const api::StreamData &data); + void SaveMotionData(const api::MotionData &data); + + private: + writer_t GetStreamWriter(const Stream &stream); + writer_t GetMotionWriter(); + + std::string outdir_; + + std::map stream_writers_; + writer_t motion_writer_; + + std::map stream_counts_; + std::size_t motion_count_; + std::size_t accel_count_; + std::size_t gyro_count_; +}; + +} // namespace tools + +MYNTEYE_END_NAMESPACE + +#endif // MYNTEYE_TOOLS_DATASET_H_ NOLINT diff --git a/samples/record.cc b/samples/record.cc new file mode 100644 index 0000000..b29a9f6 --- /dev/null +++ b/samples/record.cc @@ -0,0 +1,137 @@ +// Copyright 2018 Slightech Co., Ltd. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include +#include + +#include "mynteye/logger.h" +#include "mynteye/device/device.h" +#include "mynteye/device/utils.h" +#include "mynteye/util/times.h" + +#include "dataset.h" + +MYNTEYE_USE_NAMESPACE + +int main(int argc, char *argv[]) { + glog_init _(argc, argv); + + auto &&device = device::select(); + if (!device) return 1; + + bool ok; + auto &&request = device::select_request(device, &ok); + if (!ok) return 1; + device->ConfigStreamRequest(request); + + device->LogOptionInfos(); + + // Enable this will cache the motion datas until you get them. + device->EnableMotionDatas(); + device->Start(Source::ALL); + + const char *outdir; + if (argc >= 2) { + outdir = argv[1]; + } else { + outdir = "./dataset"; + } + tools::Dataset dataset(outdir); + + cv::namedWindow("frame"); + + std::size_t img_count = 0; + std::size_t imu_count = 0; + auto &&time_beg = times::now(); + while (true) { + device->WaitForStreams(); + + auto &&left_datas = device->GetStreamDatas(Stream::LEFT); + auto &&right_datas = device->GetStreamDatas(Stream::RIGHT); + img_count += left_datas.size(); + + auto &&motion_datas = device->GetMotionDatas(); + imu_count += motion_datas.size(); + + auto &&left_frame = left_datas.back().frame; + auto &&right_frame = right_datas.back().frame; + + cv::Mat img; + + if (left_frame->format() == Format::GREY) { + cv::Mat left_img( + left_frame->height(), left_frame->width(), CV_8UC1, + left_frame->data()); + cv::Mat right_img( + right_frame->height(), right_frame->width(), CV_8UC1, + right_frame->data()); + cv::hconcat(left_img, right_img, img); + } else if (left_frame->format() == Format::YUYV) { + cv::Mat left_img( + left_frame->height(), left_frame->width(), CV_8UC2, + left_frame->data()); + cv::Mat right_img( + right_frame->height(), right_frame->width(), CV_8UC2, + right_frame->data()); + cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2); + cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2); + cv::hconcat(left_img, right_img, img); + } else if (left_frame->format() == Format::BGR888) { + cv::Mat left_img( + left_frame->height(), left_frame->width(), CV_8UC3, + left_frame->data()); + cv::Mat right_img( + right_frame->height(), right_frame->width(), CV_8UC3, + right_frame->data()); + cv::hconcat(left_img, right_img, img); + } else { + return -1; + } + cv::imshow("frame", img); + if (img_count > 10 && imu_count > 50) { // save + for (auto &&left : left_datas) { + dataset.SaveStreamData(Stream::LEFT, left); + } + for (auto &&right : right_datas) { + dataset.SaveStreamData(Stream::RIGHT, right); + } + + for (auto &&motion : motion_datas) { + dataset.SaveMotionData(motion); + } + + std::cout << "\rSaved " << img_count << " imgs" + << ", " << imu_count << " imus" << std::flush; + } + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + } + std::cout << " to " << outdir << std::endl; + auto &&time_end = times::now(); + + device->Stop(Source::ALL); + + float elapsed_ms = + times::count(time_end - time_beg) * 0.001f; + LOG(INFO) << "Time beg: " << times::to_local_string(time_beg) + << ", end: " << times::to_local_string(time_end) + << ", cost: " << elapsed_ms << "ms"; + LOG(INFO) << "Img count: " << img_count + << ", fps: " << (1000.f * img_count / elapsed_ms); + LOG(INFO) << "Imu count: " << imu_count + << ", hz: " << (1000.f * imu_count / elapsed_ms); + return 0; +} \ No newline at end of file From da23dce1c994d4060e3544b1f2165dbe714d8542 Mon Sep 17 00:00:00 2001 From: TinyO Date: Mon, 2 Sep 2019 17:17:35 +0800 Subject: [PATCH 11/13] feat(*): change doc of 2100 info. --- docs/src/product/spec_s2110.rst | 10 +++++----- .../api/processor/disparity_processor.cc | 6 ++++-- .../api/processor/disparity_processor.h | 18 ++++++++++++++++++ 3 files changed, 27 insertions(+), 7 deletions(-) diff --git a/docs/src/product/spec_s2110.rst b/docs/src/product/spec_s2110.rst index 8f65c5c..e43dd41 100644 --- a/docs/src/product/spec_s2110.rst +++ b/docs/src/product/spec_s2110.rst @@ -11,7 +11,7 @@ Product Specification ========================== ===================================================== Model S2110-95/Color -------------------------- ----------------------------------------------------- - Size PCB dimension:15x100mm + Size PCB dimension:17.74x100mm Total dimension:125x47x26.6mm -------------------------- ----------------------------------------------------- Frame Rate 1280x400\@10/20/30/60fps 2560x800\@10/20/30fps @@ -24,15 +24,15 @@ Product Specification -------------------------- ----------------------------------------------------- Baseline 80.0mm -------------------------- ----------------------------------------------------- - Visual Angle D:141° H:124° V:87° + Visual Angle D:112° H:95° V:50° -------------------------- ----------------------------------------------------- - Focal Length 0.95mm + Focal Length 2.63mm -------------------------- ----------------------------------------------------- IR Support No -------------------------- ----------------------------------------------------- Color Mode Color -------------------------- ----------------------------------------------------- - Depth Working Distance 0.26-3m+ + Depth Working Distance 0.60-7m+ -------------------------- ----------------------------------------------------- Scanning Mode Global Shutter -------------------------- ----------------------------------------------------- @@ -48,7 +48,7 @@ Synchronization Precision <1ms (up to 0.02ms) -------------------------- ----------------------------------------------------- Time Sync interface DF50A -------------------------- ----------------------------------------------------- - Weight 62g + Weight 100.8g -------------------------- ----------------------------------------------------- UVC MODE Yes ========================== ===================================================== diff --git a/src/mynteye/api/processor/disparity_processor.cc b/src/mynteye/api/processor/disparity_processor.cc index 00e8d16..3436cd9 100644 --- a/src/mynteye/api/processor/disparity_processor.cc +++ b/src/mynteye/api/processor/disparity_processor.cc @@ -81,6 +81,8 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type, sgbm_matcher->setSpeckleWindowSize(100); sgbm_matcher->setSpeckleRange(32); sgbm_matcher->setDisp12MaxDiff(1); + disparity_min_sgbm = sgbm_matcher->getMinDisparity(); + disparity_max_sgbm = sgbm_matcher->getNumDisparities(); bm_matcher = cv::StereoBM::create(0, 3); bm_matcher->setPreFilterSize(9); @@ -93,8 +95,8 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type, bm_matcher->setSpeckleWindowSize(100); bm_matcher->setSpeckleRange(4); bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL); - // DISPARITY_MIN = bm_matcher->getMinDisparity(); - // DISPARITY_MAX = bm_matcher->getMinDisparity(); + disparity_min_bm = bm_matcher->getMinDisparity(); + disparity_max_bm = bm_matcher->getNumDisparities(); #endif NotifyComputingTypeChanged(type_); } diff --git a/src/mynteye/api/processor/disparity_processor.h b/src/mynteye/api/processor/disparity_processor.h index 3f3a6d9..4075d9f 100644 --- a/src/mynteye/api/processor/disparity_processor.h +++ b/src/mynteye/api/processor/disparity_processor.h @@ -41,6 +41,20 @@ class DisparityProcessor : public Processor { const DisparityComputingMethod &MethodType); void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType); bool ConfigFromFile(const std::string& config); + double GetMinDisparity() { + if (type_ == DisparityComputingMethod::BM) { + return disparity_min_bm; + } else { + return disparity_min_sgbm; + } + } + double GetMaxDisparity() { + if (type_ == DisparityComputingMethod::BM) { + return disparity_max_bm; + } else { + return disparity_max_sgbm; + } + } protected: // inline Processor::process_type ProcessOutputConnection() override { @@ -56,6 +70,10 @@ class DisparityProcessor : public Processor { cv::Ptr bm_matcher; DisparityComputingMethod type_; double cx1_minus_cx2_; + double disparity_min_bm; + double disparity_max_bm; + double disparity_min_sgbm; + double disparity_max_sgbm; }; MYNTEYE_END_NAMESPACE From 6ecbe85ae45b1ef6b78a34ea31900b29c5517f3b Mon Sep 17 00:00:00 2001 From: TinyO Date: Mon, 2 Sep 2019 17:25:00 +0800 Subject: [PATCH 12/13] fix(*): change 2100 doc format error. --- docs/src/product/spec_s2100.rst | 4 ++-- docs/src/product/spec_s2110.rst | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/src/product/spec_s2100.rst b/docs/src/product/spec_s2100.rst index 05ad5ff..90b8b41 100644 --- a/docs/src/product/spec_s2100.rst +++ b/docs/src/product/spec_s2100.rst @@ -41,7 +41,7 @@ Product Specification Synchronization Precision <1ms (up to 0.02ms) -------------------------- ----------------------------------------------------- IMU Frequency 200Hz --------------------------- --------------------------------------- +-------------------------- ----------------------------------------------------- Output data format YUYV -------------------------- ----------------------------------------------------- Data transfer Interface USB3.0 @@ -64,7 +64,7 @@ Software SDK http://www.myntai.com/dev/mynteye ---------------- --------------------------------------------------------------------------------- Support ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB -================ ================================================================================== +================ ================================================================================= diff --git a/docs/src/product/spec_s2110.rst b/docs/src/product/spec_s2110.rst index e43dd41..1ba09d4 100644 --- a/docs/src/product/spec_s2110.rst +++ b/docs/src/product/spec_s2110.rst @@ -41,7 +41,7 @@ Product Specification Synchronization Precision <1ms (up to 0.02ms) -------------------------- ----------------------------------------------------- IMU Frequency 200Hz --------------------------- --------------------------------------- +-------------------------- ----------------------------------------------------- Output data format YUYV -------------------------- ----------------------------------------------------- Data transfer Interface USB3.0 @@ -64,7 +64,7 @@ Software SDK http://www.myntai.com/dev/mynteye ---------------- --------------------------------------------------------------------------------- Support ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB -================ ================================================================================== +================ ================================================================================= From 1adb715b5160e4964ee9c094d75553ea5ad34ad3 Mon Sep 17 00:00:00 2001 From: TinyO Date: Mon, 2 Sep 2019 18:03:30 +0800 Subject: [PATCH 13/13] fix(*): use auto min_dis/max_dis instead of static one. --- src/mynteye/api/processor/depth_processor.cc | 10 +++++++-- src/mynteye/api/processor/depth_processor.h | 5 +++++ .../api/processor/disparity_processor.cc | 17 ++++++++++----- .../api/processor/disparity_processor.h | 21 ++++++++++--------- src/mynteye/api/synthetic.cc | 13 +++++++----- 5 files changed, 44 insertions(+), 22 deletions(-) diff --git a/src/mynteye/api/processor/depth_processor.cc b/src/mynteye/api/processor/depth_processor.cc index 8754540..e1ca22d 100644 --- a/src/mynteye/api/processor/depth_processor.cc +++ b/src/mynteye/api/processor/depth_processor.cc @@ -26,9 +26,13 @@ int DISPARITY_MAX = 64; DepthProcessor::DepthProcessor( std::shared_ptr calib_infos, + std::shared_ptr min_disp, + std::shared_ptr max_disp, std::int32_t proc_period) : Processor(std::move(proc_period)), - calib_infos_(calib_infos) { + calib_infos_(calib_infos), + min_disp_(min_disp), + max_disp_(max_disp) { VLOG(2) << __func__; } @@ -54,11 +58,13 @@ bool DepthProcessor::OnProcess( int cols = input->value.cols; // std::cout << calib_infos_->T_mul_f << std::endl; // 0.0793434 + cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U); for (int i = 0; i < rows; i++) { for (int j = 0; j < cols; j++) { float disparity_value = input->value.at(i, j); - if (disparity_value < DISPARITY_MAX && disparity_value > DISPARITY_MIN) { + if (disparity_value < (max_disp_ ? *max_disp_ : DISPARITY_MAX) && + disparity_value > (min_disp_ ? *min_disp_ : DISPARITY_MIN)) { float depth = calib_infos_->T_mul_f / disparity_value; depth_mat.at(i, j) = depth; } diff --git a/src/mynteye/api/processor/depth_processor.h b/src/mynteye/api/processor/depth_processor.h index c9b152f..f247386 100644 --- a/src/mynteye/api/processor/depth_processor.h +++ b/src/mynteye/api/processor/depth_processor.h @@ -16,6 +16,7 @@ #pragma once #include +#include #include "mynteye/api/processor.h" #include "mynteye/api/processor/rectify_processor.h" @@ -29,6 +30,8 @@ class DepthProcessor : public Processor { explicit DepthProcessor( std::shared_ptr calib_infos, + std::shared_ptr min_disp = nullptr, + std::shared_ptr max_disp = nullptr, std::int32_t proc_period = 0); virtual ~DepthProcessor(); @@ -44,6 +47,8 @@ class DepthProcessor : public Processor { std::shared_ptr const parent) override; private: std::shared_ptr calib_infos_; + std::shared_ptr min_disp_; + std::shared_ptr max_disp_; }; MYNTEYE_END_NAMESPACE diff --git a/src/mynteye/api/processor/disparity_processor.cc b/src/mynteye/api/processor/disparity_processor.cc index 3436cd9..002040d 100644 --- a/src/mynteye/api/processor/disparity_processor.cc +++ b/src/mynteye/api/processor/disparity_processor.cc @@ -81,9 +81,10 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type, sgbm_matcher->setSpeckleWindowSize(100); sgbm_matcher->setSpeckleRange(32); sgbm_matcher->setDisp12MaxDiff(1); - disparity_min_sgbm = sgbm_matcher->getMinDisparity(); - disparity_max_sgbm = sgbm_matcher->getNumDisparities(); - + disparity_min_sgbm_ptr = + std::make_shared(sgbm_matcher->getMinDisparity()); + disparity_max_sgbm_ptr = + std::make_shared(sgbm_matcher->getNumDisparities()); bm_matcher = cv::StereoBM::create(0, 3); bm_matcher->setPreFilterSize(9); bm_matcher->setPreFilterCap(31); @@ -95,8 +96,10 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type, bm_matcher->setSpeckleWindowSize(100); bm_matcher->setSpeckleRange(4); bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL); - disparity_min_bm = bm_matcher->getMinDisparity(); - disparity_max_bm = bm_matcher->getNumDisparities(); + disparity_min_bm_ptr = + std::make_shared(bm_matcher->getMinDisparity()); + disparity_max_bm_ptr = + std::make_shared(bm_matcher->getNumDisparities()); #endif NotifyComputingTypeChanged(type_); } @@ -125,11 +128,15 @@ bool DisparityProcessor::ConfigFromFile(const std::string& config_file) { cv::FileNode node_sgbm = fsSettings["SGBM"]; if (node_sgbm.type() == cv::FileNode::MAP) { sgbm_matcher->read(node_sgbm); + *disparity_min_sgbm_ptr = sgbm_matcher->getMinDisparity(); + *disparity_max_sgbm_ptr = sgbm_matcher->getNumDisparities(); } cv::FileNode node_bm = fsSettings["BM"]; if (node_bm.type() == cv::FileNode::MAP) { bm_matcher->read(node_bm); + *disparity_min_bm_ptr = bm_matcher->getMinDisparity(); + *disparity_max_bm_ptr = bm_matcher->getNumDisparities(); } return true; #else diff --git a/src/mynteye/api/processor/disparity_processor.h b/src/mynteye/api/processor/disparity_processor.h index 4075d9f..b66b54b 100644 --- a/src/mynteye/api/processor/disparity_processor.h +++ b/src/mynteye/api/processor/disparity_processor.h @@ -16,6 +16,7 @@ #pragma once #include +#include #include "mynteye/api/processor.h" #include "mynteye/types.h" @@ -41,18 +42,18 @@ class DisparityProcessor : public Processor { const DisparityComputingMethod &MethodType); void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType); bool ConfigFromFile(const std::string& config); - double GetMinDisparity() { + std::shared_ptr GetMinDisparity() { if (type_ == DisparityComputingMethod::BM) { - return disparity_min_bm; + return disparity_min_bm_ptr; } else { - return disparity_min_sgbm; + return disparity_min_sgbm_ptr; } } - double GetMaxDisparity() { + std::shared_ptr GetMaxDisparity() { if (type_ == DisparityComputingMethod::BM) { - return disparity_max_bm; + return disparity_max_bm_ptr; } else { - return disparity_max_sgbm; + return disparity_max_sgbm_ptr; } } @@ -70,10 +71,10 @@ class DisparityProcessor : public Processor { cv::Ptr bm_matcher; DisparityComputingMethod type_; double cx1_minus_cx2_; - double disparity_min_bm; - double disparity_max_bm; - double disparity_min_sgbm; - double disparity_max_sgbm; + std::shared_ptr disparity_min_bm_ptr; + std::shared_ptr disparity_max_bm_ptr; + std::shared_ptr disparity_min_sgbm_ptr; + std::shared_ptr disparity_max_sgbm_ptr; }; MYNTEYE_END_NAMESPACE diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc index 23ea307..168be88 100644 --- a/src/mynteye/api/synthetic.cc +++ b/src/mynteye/api/synthetic.cc @@ -330,11 +330,11 @@ void Synthetic::InitProcessors() { rectify_processor = rectify_processor_ocv; points_processor = std::make_shared( rectify_processor_ocv->Q, POINTS_PROC_PERIOD); - depth_processor = std::make_shared(DEPTH_PROC_PERIOD); disparity_processor = std::make_shared(DisparityComputingMethod::BM, nullptr, DISPARITY_PROC_PERIOD); + depth_processor = std::make_shared(DEPTH_PROC_PERIOD); root_processor->AddChild(rectify_processor); rectify_processor->AddChild(disparity_processor); @@ -351,13 +351,16 @@ void Synthetic::InitProcessors() { points_processor = std::make_shared( rectify_processor_imp -> getCameraROSMsgInfoPair(), POINTS_PROC_PERIOD); - depth_processor = std::make_shared( - rectify_processor_imp -> getCameraROSMsgInfoPair(), - DEPTH_PROC_PERIOD); - disparity_processor = + auto disparity_processor_imp = std::make_shared(DisparityComputingMethod::BM, rectify_processor_imp -> getCameraROSMsgInfoPair(), DISPARITY_PROC_PERIOD); + depth_processor = std::make_shared( + rectify_processor_imp -> getCameraROSMsgInfoPair(), + disparity_processor_imp->GetMinDisparity(), + disparity_processor_imp->GetMaxDisparity(), + DEPTH_PROC_PERIOD); + disparity_processor = disparity_processor_imp; root_processor->AddChild(rectify_processor); rectify_processor->AddChild(disparity_processor);