tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix two warning

Browse Source
This commit is contained in:
Kalman 2018-08-01 20:20:39 +08:00
parent a7750e8217
commit d2b4cc3022
6 changed files with 63 additions and 46 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/internal/channels.cc
View File

@ -128,25 +128,29 @@ void Channels::LogControlInfos() const {
} }
void Channels::UpdateControlInfos() { void Channels::UpdateControlInfos() {
/*
for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS, for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
Option::CONTRAST}) { Option::CONTRAST}) {
// control_infos_[option] = PuControlInfo(option); control_infos_[option] = PuControlInfo(option);
} }
for (auto &&option : std::vector<Option>{ for (auto &&option : std::vector<Option>{
Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE, Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE}) { Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE})
// control_infos_[option] = XuControlInfo(option); {
control_infos_[option] = XuControlInfo(option);
} }
if (VLOG_IS_ON(2)) { if (VLOG_IS_ON(2)) {
for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) { for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++)
{
VLOG(2) << it->first << ": min=" << it->second.min VLOG(2) << it->first << ": min=" << it->second.min
<< ", max=" << it->second.max << ", def=" << it->second.def << ", max=" << it->second.max << ", def=" << it->second.def
<< ", cur=" << GetControlValue(it->first); << ", cur=" << GetControlValue(it->first);
} }
} }
*/
} }
Channels::control_info_t Channels::GetControlInfo(const Option &option) const { Channels::control_info_t Channels::GetControlInfo(const Option &option) const {

29
src/internal/types.h
View File

@ -16,7 +16,6 @@
#pragma once #pragma once
#include <cstdint> #include <cstdint>
#include <array> #include <array>
#include <bitset> #include <bitset>
#include <string> #include <string>
@ -158,12 +157,17 @@ struct ImagePacket {
} }
void from_data(std::uint8_t *data) { void from_data(std::uint8_t *data) {
std::uint32_t timestamp_l;
std::uint32_t timestamp_h;
header = *data; header = *data;
size = *(data + 1); size = *(data + 1);
frame_id = (*(data + 2) << 8) | *(data + 3); frame_id = (*(data + 2) << 8) | *(data + 3);
timestamp = (*(data + 4) << 56) | (*(data + 5) << 48) | (*(data + 6) << 40) | timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
(*(data + 7) << 32) | (*(data + 8) << 24) | (*(data + 9) << 16) | (*(data + 6) << 8) | *(data + 7);
timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
(*(data + 10) << 8) | *(data + 11); (*(data + 10) << 8) | *(data + 11);
timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
exposure_time = (*(data + 12) << 8) | *(data + 13); exposure_time = (*(data + 12) << 8) | *(data + 13);
checksum = *(data + 14); checksum = *(data + 14);
} }
@ -212,11 +216,16 @@ struct ImuSegment {
} }
void from_data(std::uint8_t *data) { void from_data(std::uint8_t *data) {
std::uint32_t timestamp_l;
std::uint32_t timestamp_h;
serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) | serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
*(data + 3); *(data + 3);
timestamp = (*(data + 4) << 56) | (*(data + 5) << 48) | (*(data + 6) << 40) | timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
(*(data + 7) << 32) | (*(data + 8) << 24) | (*(data + 9) << 16) | (*(data + 6) << 8) | *(data + 7);
timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
(*(data + 10) << 8) | *(data + 11); (*(data + 10) << 8) | *(data + 11);
timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
flag = *(data + 12); flag = *(data + 12);
temperature = (*(data + 13) << 8) | *(data + 14); temperature = (*(data + 13) << 8) | *(data + 14);
aceel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16); aceel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
@ -236,15 +245,13 @@ struct ImuPacket {
std::vector<ImuSegment> segments; std::vector<ImuSegment> segments;
ImuPacket() = default; ImuPacket() = default;
explicit ImuPacket(std::uint8_t seg_count, std::uint8_t *data) {
explicit ImuPacket(std::uint8_t seg_count,std::uint8_t *data) {
count = seg_count; count = seg_count;
from_data(data); from_data(data);
} }
void from_data(std::uint8_t *data) { void from_data(std::uint8_t *data) {
std::size_t seg_n = sizeof(ImuSegment); // 21 std::size_t seg_n = sizeof(ImuSegment); // 21
for(std::size_t i = 0; i < count; i++) { for (std::size_t i = 0; i < count; i++) {
segments.push_back(ImuSegment(data + seg_n * i)); segments.push_back(ImuSegment(data + seg_n * i));
} }
} }
@ -275,9 +282,9 @@ struct ImuResPacket {
std::size_t seg_n = sizeof(ImuSegment); // 21 std::size_t seg_n = sizeof(ImuSegment); // 21
std::uint8_t seg_count = size / seg_n; std::uint8_t seg_count = size / seg_n;
ImuPacket packet(seg_count,data + 4); ImuPacket packet(seg_count, data + 4);
packets.push_back(packet); packets.push_back(packet);
//packet(2); // packet(2);
checksum = *(data + 4 + size); checksum = *(data + 4 + size);
} }
}; };

4
tools/analytics/stamp_analytics.py
View File

@ -288,14 +288,14 @@ def _parse_args():
'--rate-img', '--rate-img',
dest='rate_img', dest='rate_img',
metavar='RATE', metavar='RATE',
default=25, default=60,
type=int, type=int,
help='the img rate (default: %(default)s)') help='the img rate (default: %(default)s)')
parser.add_argument( parser.add_argument(
'--rate-imu', '--rate-imu',
dest='rate_imu', dest='rate_imu',
metavar='RATE', metavar='RATE',
default=500, default=200,
type=int, type=int,
help='the imu rate (default: %(default)s)') help='the imu rate (default: %(default)s)')
return parser.parse_args() return parser.parse_args()

6
tools/dataset/dataset.cc
View File

@ -75,12 +75,14 @@ void Dataset::SaveStreamData(
void Dataset::SaveMotionData(const device::MotionData &data) { void Dataset::SaveMotionData(const device::MotionData &data) {
auto &&writer = GetMotionWriter(); auto &&writer = GetMotionWriter();
auto seq = motion_count_; auto seq = motion_count_;
if (data.imu->flag == 1 || data.imu->flag == 2) {
writer->ofs << seq << ", " << data.imu->timestamp << ", " writer->ofs << seq << ", " << data.imu->timestamp << ", "
<< data.imu->accel[0] << ", " << data.imu->accel[1] << ", " << data.imu->accel[0] << ", " << data.imu->accel[1] << ", "
<< data.imu->accel[2] << ", " << data.imu->gyro[0] << ", " << data.imu->accel[2] << ", " << data.imu->gyro[0] << ", "
<< data.imu->gyro[1] << ", " << data.imu->gyro[2] << ", " << data.imu->gyro[1] << ", " << data.imu->gyro[2] << ", "
<< data.imu->temperature << std::endl; << data.imu->temperature << std::endl;
++motion_count_; ++motion_count_;
}
} }
Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) { Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
@ -102,7 +104,7 @@ Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
files::mkdir(writer->outdir); files::mkdir(writer->outdir);
writer->ofs.open(writer->outfile, std::ofstream::out); writer->ofs.open(writer->outfile, std::ofstream::out);
writer->ofs << "seq, timestamp, exposure_time" << std::endl; writer->ofs << "seq, frame_id, timestamp, exposure_time" << std::endl;
writer->ofs << FULL_PRECISION; writer->ofs << FULL_PRECISION;
stream_writers_[stream] = writer; stream_writers_[stream] = writer;
@ -126,6 +128,8 @@ Dataset::writer_t Dataset::GetMotionWriter() {
motion_writer_ = writer; motion_writer_ = writer;
motion_count_ = 0; motion_count_ = 0;
accel_count_ = 0;
gyro_count_ = 0;
} }
return motion_writer_; return motion_writer_;
} }

2
tools/dataset/dataset.h
View File

@ -54,6 +54,8 @@ class Dataset {
std::map<Stream, std::size_t> stream_counts_; std::map<Stream, std::size_t> stream_counts_;
std::size_t motion_count_; std::size_t motion_count_;
std::size_t accel_count_;
std::size_t gyro_count_;
}; };
} // namespace tools } // namespace tools

12
tools/internal/data/__init__.py
View File

@ -339,9 +339,9 @@ class MYNTEYE(Dataset):
if index == -1: if index == -1:
sys.exit('Error: Dataset is unexpected format, timestamp not found') sys.exit('Error: Dataset is unexpected format, timestamp not found')
# unit from 0.01ms to 1s # unit from 1us to 1s
info.timebeg = float(first.split(',')[index].strip()) * 0.00001 info.timebeg = float(first.split(',')[index].strip()) * 0.000001
info.timeend = float(last.split(',')[index].strip()) * 0.00001 info.timeend = float(last.split(',')[index].strip()) * 0.000001
# print('time: [{}, {}]'.format(info.timebeg, info.timeend)) # print('time: [{}, {}]'.format(info.timebeg, info.timeend))
return info return info
@ -364,7 +364,7 @@ class MYNTEYE(Dataset):
for line in f: for line in f:
values = [_.strip() for _ in line.split(',')] values = [_.strip() for _ in line.split(',')]
img = Image() img = Image()
img.timestamp = float(values[fields['timestamp']]) * 0.00001 img.timestamp = float(values[fields['timestamp']]) * 0.000001
yield {What.img_left: img} yield {What.img_left: img}
if hit_img_right and self._info.has_img_right: if hit_img_right and self._info.has_img_right:
with open(self._info.img_right_txt) as f: with open(self._info.img_right_txt) as f:
@ -372,7 +372,7 @@ class MYNTEYE(Dataset):
for line in f: for line in f:
values = [_.strip() for _ in line.split(',')] values = [_.strip() for _ in line.split(',')]
img = Image() img = Image()
img.timestamp = float(values[fields['timestamp']]) * 0.00001 img.timestamp = float(values[fields['timestamp']]) * 0.000001
yield {What.img_right: img} yield {What.img_right: img}
if (hit_imu or hit_temp) and self._info.has_imu: if (hit_imu or hit_temp) and self._info.has_imu:
with open(self._info.imu_txt) as f: with open(self._info.imu_txt) as f:
@ -380,7 +380,7 @@ class MYNTEYE(Dataset):
for line in f: for line in f:
values = [_.strip() for _ in line.split(',')] values = [_.strip() for _ in line.split(',')]
imu = IMU() imu = IMU()
imu.timestamp = float(values[fields['timestamp']]) * 0.00001 imu.timestamp = float(values[fields['timestamp']]) * 0.000001
imu.accel_x = float(values[fields['accel_x']]) imu.accel_x = float(values[fields['accel_x']])
imu.accel_y = float(values[fields['accel_y']]) imu.accel_y = float(values[fields['accel_y']])
imu.accel_z = float(values[fields['accel_z']]) imu.accel_z = float(values[fields['accel_z']])