Merge branch 'develop' into feature/android

* develop:
  build(makefile): do small change
  fix(option.cmake): find boost quiet
  docs(doc): update version
  fix(ros): add mutex_data_ in mono
  fix(disable order): fix disable order DISPARITY before RECTIFIED
  fix(synthetic): disable order
  fix(ros): publish order
  fix(ros): fix imu count bug
  fix(tools): compatible avatar and s
  fix(samples): delete get all info sample
  fix(ros): set publish_imu_by_sync true
  fix(ros): add default intrinsics in ros node
  docs(readme): modified temp to temperature
  fix(process): opencv2 and remove some useless include
  fix(enum) fix DisparityProcessorType enum comment
  fix(bm matcher): add complie switch

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.2.4 LANGUAGES C CXX)
+project(mynteye VERSION 2.3.0 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 

Makefile

@@ -27,7 +27,7 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 #   SUDO: sudo command
 #   CAM_MODELS: cmake build with -DWITH_CAM_MODELS=ON
 #
-# e.g. make [TARGET] SUOD=
+# e.g. make [TARGET] SUDO=
 # e.g. make [TARGET] CAM_MODELS=1
 
 SUDO ?= sudo
@@ -35,7 +35,9 @@ SUDO ?= sudo
 CAM_MODELS ?=
 
 CMAKE_BUILD_EXTRA_OPTIONS :=
-ifneq ($(CAM_MODELS),)
+ifeq ($(CAM_MODELS),)
+	CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=OFF
+else
 	CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
 endif
 

cmake/Option.cmake

@@ -24,6 +24,7 @@ option(WITH_API "Build with API layer, need OpenCV" ON)
 option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
 
 option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" OFF)
+option(WITH_BM_SOBEL_FILTER "Build with bm and sobel filter, need OpenCV contronb" OFF)
 
 # 3rdparty components
 
@@ -43,7 +44,7 @@ else()
 endif()
 
 if(WITH_BOOST)
-  find_package(Boost COMPONENTS filesystem)
+  find_package(Boost QUIET COMPONENTS filesystem)
   if(Boost_FOUND)
     set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
     set(WITH_FILESYSTEM TRUE)

doc/en/api.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         = 2.2.4
+PROJECT_NUMBER         = 2.3.0
 
 # 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

doc/zh-Hans/api.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         = 2.2.4
+PROJECT_NUMBER         = 2.3.0
 
 # 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

include/mynteye/mynteye.h.in

@@ -71,6 +71,7 @@ MYNTEYE_END_NAMESPACE
 #cmakedefine WITH_API
 #cmakedefine WITH_DEVICE_INFO_REQUIRED
 #cmakedefine WITH_CAM_MODELS
+#cmakedefine WITH_BM_SOBEL_FILTER
 
 #cmakedefine WITH_OPENCV
 #cmakedefine WITH_OPENCV2

samples/tutorials/CMakeLists.txt

@@ -127,10 +127,6 @@ make_executable2(ctrl_manual_exposure
   WITH_OPENCV
 )
 
-# intermediate level
-
-make_executable2(get_all_device_info SRCS intermediate/get_all_device_info.cc WITH_OPENCV)
-
 if(PCL_FOUND)
 
 if(OpenCV_VERSION VERSION_LESS 4.0)

samples/tutorials/intermediate/get_all_device_info.cc

@@ -1,50 +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/context.h"
-#include "mynteye/device/device.h"
-
-MYNTEYE_USE_NAMESPACE
-
-int main(int argc, char *argv[]) {
-  glog_init _(argc, argv);
-
-  LOG(INFO) << "Detecting MYNT EYE devices";
-  Context context;
-  auto &&devices = context.devices();
-
-  size_t n = devices.size();
-  if (n <= 0) {
-    LOG(ERROR) << "No MYNT EYE devices :(";
-    return 1;
-  }
-
-  for (size_t i = 0; i < n; i++) {
-    auto &&device = devices[i];
-    LOG(INFO) << "MYNT EYE device index: " << i;
-    LOG(INFO) << "  Device name: " << device->GetInfo(Info::DEVICE_NAME);
-    LOG(INFO) << "  Serial number: " << device->GetInfo(Info::SERIAL_NUMBER);
-    LOG(INFO) << "  Firmware version: "
-              << device->GetInfo(Info::FIRMWARE_VERSION);
-    LOG(INFO) << "  Hardware version: "
-              << device->GetInfo(Info::HARDWARE_VERSION);
-    LOG(INFO) << "  Spec version: " << device->GetInfo(Info::SPEC_VERSION);
-    LOG(INFO) << "  Lens type: " << device->GetInfo(Info::LENS_TYPE);
-    LOG(INFO) << "  IMU type: " << device->GetInfo(Info::IMU_TYPE);
-    LOG(INFO) << "  Nominal baseline: "
-              << device->GetInfo(Info::NOMINAL_BASELINE);
-  }
-
-  return 0;
-}

src/mynteye/api/processor/depth_processor.cc

@@ -51,7 +51,7 @@ bool DepthProcessor::OnProcess(
   ObjMat *output = Object::Cast<ObjMat>(out);
   int rows = input->value.rows;
   int cols = input->value.cols;
-  std::cout << calib_infos_->T_mul_f << std::endl;
+  // 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++) {

src/mynteye/api/processor/disparity_processor.cc

@@ -17,9 +17,14 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#ifdef WITH_BM_SOBEL_FILTER
+#include <opencv2/ximgproc/disparity_filter.hpp>
+#endif
 
 #include "mynteye/logger.h"
 
+#define WITH_BM_SOBEL_FILTER
+
 MYNTEYE_BEGIN_NAMESPACE
 
 const char DisparityProcessor::NAME[] = "DisparityProcessor";
@@ -62,7 +67,9 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
     sgbm_matcher->setSpeckleRange(32);
     sgbm_matcher->setDisp12MaxDiff(1);
 #endif
+#ifdef WITH_BM_SOBEL_FILTER
   } else if (type_ == DisparityProcessorType::BM) {
+    int bmWinSize = 3;
 #ifdef WITH_OPENCV2
     int bmWinSize = 3;
     // StereoBM
@@ -82,7 +89,7 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
     bm_matcher = cv::StereoBM::create(0, 3);
     bm_matcher->setPreFilterSize(9);
     bm_matcher->setPreFilterCap(31);
-    bm_matcher->setBlockSize(15);
+    bm_matcher->setBlockSize(bmWinSize);
     bm_matcher->setMinDisparity(0);
     bm_matcher->setNumDisparities(64);
     bm_matcher->setUniquenessRatio(15);
@@ -90,9 +97,42 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
     bm_matcher->setSpeckleWindowSize(100);
     bm_matcher->setSpeckleRange(4);
     bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
+#endif
 #endif
   } else {
-    LOG(ERROR) << "no enum DisparityProcessorType" << static_cast<int>(type);
+    LOG(ERROR) << "no enum DisparityProcessorType,use default sgbm";
+    int sgbmWinSize = 3;
+    int numberOfDisparities = 64;
+
+#ifdef WITH_OPENCV2
+    // StereoSGBM
+    //   http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?#stereosgbm
+    sgbm_matcher = cv::Ptr<cv::StereoSGBM>(
+        new cv::StereoSGBM(
+            0,                               // minDisparity
+            numberOfDisparities,             // numDisparities
+            sgbmWinSize,                     // SADWindowSize
+            8 * sgbmWinSize * sgbmWinSize,   // P1
+            32 * sgbmWinSize * sgbmWinSize,  // P2
+            1,                               // disp12MaxDiff
+            63,                              // preFilterCap
+            10,                              // uniquenessRatio
+            100,                             // speckleWindowSize
+            32,                              // speckleRange
+            false));                         // fullDP
+#else
+    sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
+    sgbm_matcher->setPreFilterCap(63);
+    sgbm_matcher->setBlockSize(sgbmWinSize);
+    sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
+    sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
+    sgbm_matcher->setMinDisparity(0);
+    sgbm_matcher->setNumDisparities(numberOfDisparities);
+    sgbm_matcher->setUniquenessRatio(10);
+    sgbm_matcher->setSpeckleWindowSize(100);
+    sgbm_matcher->setSpeckleRange(32);
+    sgbm_matcher->setDisp12MaxDiff(1);
+#endif
   }
 }
 
@@ -123,10 +163,15 @@ bool DisparityProcessor::OnProcess(
   // It contains disparity values scaled by 16. So, to get the floating-point
   // disparity map,
   // you need to divide each disp element by 16.
-  if (type_ == SGBM) {
+  if (type_ == DisparityProcessorType::SGBM) {
     (*sgbm_matcher)(input->first, input->second, disparity);
-  } else if (type_ == BM) {
+#ifdef WITH_BM_SOBEL_FILTER
-    (*bm_matcher)(input->first, input->second, disparity);
+  } else if (type_ == DisparityProcessorType::BM) {
+    cv::Mat tmp1, tmp2;
+    cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
+    cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
+    (*bm_matcher)(tmp1, tmp2, disparity);
+#endif
   }
 #else
   // compute()
@@ -138,12 +183,21 @@ bool DisparityProcessor::OnProcess(
   // whereas other algorithms output 32-bit floating-point disparity map.
   if (type_ == DisparityProcessorType::SGBM) {
     sgbm_matcher->compute(input->first, input->second, disparity);
+#ifdef WITH_BM_SOBEL_FILTER
   } else if (type_ == DisparityProcessorType::BM) {
-    CvSize size = input->first.size();
     cv::Mat tmp1, tmp2;
-    cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
+    if (input->first.channels() == 1) {
-    cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
+      // s1030
+    } else if (input->first.channels() == 3) {
+      // s210
+      cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
+      cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
+    }
     bm_matcher->compute(tmp1, tmp2, disparity);
+#endif
+  } else {
+    // default
+    sgbm_matcher->compute(input->first, input->second, disparity);
   }
 #endif
   disparity.convertTo(output->value, CV_32F, 1./16, 1);

src/mynteye/api/processor/disparity_processor.h

@@ -16,7 +16,6 @@
 #pragma once
 
 #include <string>
-#include <opencv2/ximgproc/disparity_filter.hpp>
 #include "mynteye/api/processor.h"
 
 namespace cv {
@@ -28,9 +27,9 @@ class StereoBM;
 enum class DisparityProcessorType : std::uint8_t {
   /** bm */
   SGBM = 0,
-  /** Equidistant: KANNALA_BRANDT */
+  /** sgbm */
   BM = 1,
-  /** Unknow */
+  /** unknow */
   UNKNOW
 };
 

src/mynteye/api/processor/rectify_processor.h

@@ -25,9 +25,6 @@
 #include "mynteye/device/device.h"
 #include <camodocal/camera_models/EquidistantCamera.h>
 #include <opencv2/core/eigen.hpp>
-#include <boost/algorithm/string.hpp>
-#include <boost/filesystem.hpp>
-#include <boost/program_options.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/opencv.hpp>
 #include <opencv2/core/core.hpp>

src/mynteye/api/synthetic.cc

@@ -496,12 +496,12 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
     stream_enabled_mode_.erase(stream);
     switch (stream) {
       case Stream::LEFT_RECTIFIED: {
-        if (IsStreamEnabledSynthetic(Stream::RIGHT_RECTIFIED)) {
-          DisableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
-        }
         if (IsStreamEnabledSynthetic(Stream::DISPARITY)) {
           DisableStreamData(Stream::DISPARITY, depth + 1);
         }
+        if (IsStreamEnabledSynthetic(Stream::RIGHT_RECTIFIED)) {
+          DisableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
+        }
         if (calib_model_ ==  CalibrationModel::PINHOLE) {
           DeactivateProcessor<RectifyProcessorOCV>();
 #ifdef WITH_CAM_MODELS
@@ -515,12 +515,12 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
         }
       } break;
       case Stream::RIGHT_RECTIFIED: {
-        if (IsStreamEnabledSynthetic(Stream::LEFT_RECTIFIED)) {
-          DisableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
-        }
         if (IsStreamEnabledSynthetic(Stream::DISPARITY)) {
           DisableStreamData(Stream::DISPARITY, depth + 1);
         }
+        if (IsStreamEnabledSynthetic(Stream::LEFT_RECTIFIED)) {
+          DisableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
+        }
         if (calib_model_ ==  CalibrationModel::PINHOLE) {
           DeactivateProcessor<RectifyProcessorOCV>();
 #ifdef WITH_CAM_MODELS
@@ -534,13 +534,28 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
         }
       } break;
       case Stream::DISPARITY: {
-        if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
+        if (calib_model_ ==  CalibrationModel::PINHOLE) {
-          DisableStreamData(Stream::DISPARITY_NORMALIZED, depth + 1);
+          if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
+            DisableStreamData(Stream::DISPARITY_NORMALIZED, depth + 1);
+          }
+          if (IsStreamEnabledSynthetic(Stream::POINTS)) {
+            DisableStreamData(Stream::POINTS, depth + 1);
+          }
+          DeactivateProcessor<DisparityProcessor>();
+#ifdef WITH_CAM_MODELS
+        } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+          if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
+            DisableStreamData(Stream::DISPARITY_NORMALIZED, depth + 1);
+          }
+          if (IsStreamEnabledSynthetic(Stream::DEPTH)) {
+            DisableStreamData(Stream::DEPTH, depth + 1);
+          }
+          DeactivateProcessor<DisparityProcessor>();
+#endif
+        } else {
+          LOG(ERROR) << "Unknow calib model type in device: "
+                    << calib_model_;
         }
-        if (IsStreamEnabledSynthetic(Stream::POINTS)) {
-          DisableStreamData(Stream::POINTS, depth + 1);
-        }
-        DeactivateProcessor<DisparityProcessor>();
       } break;
       case Stream::DISPARITY_NORMALIZED: {
         DeactivateProcessor<DisparityNormalizedProcessor>();
@@ -565,7 +580,7 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
           DeactivateProcessor<DepthProcessorOCV>();
 #ifdef WITH_CAM_MODELS
         } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
-          if (IsStreamEnabledSynthetic(Stream::DEPTH)) {
+          if (IsStreamEnabledSynthetic(Stream::POINTS)) {
             DisableStreamData(Stream::POINTS, depth + 1);
           }
           DeactivateProcessor<DepthProcessor>();
@@ -613,7 +628,7 @@ void Synthetic::InitProcessors() {
     rectify_processor = rectify_processor_ocv;
   }
   auto &&disparity_processor =
-      std::make_shared<DisparityProcessor>(DisparityProcessorType::BM,
+      std::make_shared<DisparityProcessor>(DisparityProcessorType::SGBM,
                                            DISPARITY_PROC_PERIOD);
   auto &&disparitynormalized_processor =
       std::make_shared<DisparityNormalizedProcessor>(

tools/README.md

@@ -69,7 +69,7 @@ roslaunch mynt_eye_ros_wrapper mynteye.launch
 ```
 
 ```bash
-rosbag record -O mynteye.bag /mynteye/left/image_raw /mynteye/imu/data_raw /mynteye/temp/data_raw
+rosbag record -O mynteye.bag /mynteye/left/image_raw /mynteye/imu/data_raw /mynteye/temperature/data_raw
 ```
 
 ## Analytics data (rosbag)

tools/analytics/stamp_analytics.py

@@ -15,7 +15,6 @@
 # limitations under the License.
 
 # pylint: disable=missing-docstring
-
 from __future__ import print_function
 
 import os
@@ -27,7 +26,6 @@ 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)
@@ -38,6 +36,11 @@ 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):
@@ -147,9 +150,9 @@ class BinDataset(object):
     imgs_t_diff = np.diff(imgs['t'])
     # imus_t_diff = np.diff(imus['t'])
 
-    accel = imus[imus['flag'] == 1]
+    accel = imus[(imus['flag'] == IMU_ALL) | (imus['flag'] == IMU_ACCEL)]
     accel_t_diff = np.diff(accel['t'])
-    gyro = imus[imus['flag'] == 2]
+    gyro = imus[(imus['flag'] == IMU_ALL) | (imus['flag'] == IMU_GYRO)]
     gyro_t_diff = np.diff(gyro['t'])
 
     print('\ncount')

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -72,14 +72,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                   << (right_count_ / compute_time(time_end, right_time_beg_));
       }
       if (imu_time_beg_ != -1) {
-        if (publish_imu_by_sync_) {
+          if (model_ == Model::STANDARD) {
-          LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
+            LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
-                    << (imu_sync_count_ /
+                      << (imu_count_ /
-                    compute_time(time_end, imu_time_beg_));
+                      compute_time(time_end, imu_time_beg_));
-        } else {
+          } else {
-          LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
+          if (publish_imu_by_sync_) {
-                    << (imu_count_ /
+            LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
-                    compute_time(time_end, imu_time_beg_));
+                      << (imu_sync_count_ /
+                      compute_time(time_end, imu_time_beg_));
+          } else {
+            LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
+                      << (imu_count_ /
+                      compute_time(time_end, imu_time_beg_));
+          }
         }
       }
 
@@ -412,7 +418,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       } break;
       case Stream::RIGHT_RECTIFIED: {
         if (is_published_[Stream::LEFT_RECTIFIED]) {
-          SetIsPublished(Stream::RIGHT_RECTIFIED);
+          SetIsPublished(Stream::LEFT_RECTIFIED);
         }
         if (is_published_[Stream::DISPARITY]) {
           SetIsPublished(Stream::DISPARITY);
@@ -662,9 +668,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     header.seq = seq;
     header.stamp = stamp;
     header.frame_id = frame_ids_[stream];
+    pthread_mutex_lock(&mutex_data_);
     cv::Mat mono;
     cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
     auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
+    pthread_mutex_unlock(&mutex_data_);
     auto &&info = getCameraInfo(stream);
     info->header.stamp = msg->header.stamp;
     mono_publishers_[stream].publish(msg, info);
@@ -924,18 +932,71 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     computeRectTransforms();
   }
 
+  std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
+    auto res = std::make_shared<IntrinsicsPinhole>();
+    res->width = 640;
+    res->height = 400;
+    res->model = 0;
+    res->fx = 3.6220059643202876e+02;
+    res->fy = 3.6350065250745848e+02;
+    res->cx = 4.0658699068023441e+02;
+    res->cy = 2.3435161110061483e+02;
+    double codffs[5] = {
+      -2.5034765682756088e-01,
+      5.0579399202897619e-02,
+      -7.0536676161976066e-04,
+      -8.5255451307033846e-03,
+      0.
+    };
+    for (unsigned int i = 0; i < 5; i++) {
+      res->coeffs[i] = codffs[i];
+    }
+    return res;
+  }
+
+  std::shared_ptr<Extrinsics> getDefaultExtrinsics() {
+    auto res = std::make_shared<Extrinsics>();
+    double rotation[9] = {
+      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
+    };
+    double translation[3] = {-1.2002489764113250e+02, -1.1782637409050747e+00,
+        -5.2058205159996538e+00};
+    for (unsigned int i = 0; i < 3; i++) {
+      for (unsigned int j = 0; j < 3; j++) {
+        res->rotation[i][j] = rotation[i*3 + j];
+      }
+    }
+    for (unsigned int i = 0; i < 3; i++) {
+      res->translation[i] = translation[i];
+    }
+    return res;
+  }
+
+
   void computeRectTransforms() {
     ROS_ASSERT(api_);
     auto in_left_base = api_->GetIntrinsicsBase(Stream::LEFT);
     auto in_right_base = api_->GetIntrinsicsBase(Stream::RIGHT);
-    if (in_left_base->calib_model() != CalibrationModel::PINHOLE ||
+    is_intrinsics_enable_ = in_left_base && in_right_base;
-        in_right_base->calib_model() != CalibrationModel::PINHOLE) {
+    if (is_intrinsics_enable_) {
-      return;
+      if (in_left_base->calib_model() != CalibrationModel::PINHOLE ||
+          in_right_base->calib_model() != CalibrationModel::PINHOLE) {
+        return;
+      }
+    } else {
+      in_left_base = getDefaultIntrinsics();
+      in_right_base = getDefaultIntrinsics();
     }
+
     auto in_left = *std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left_base);
     auto in_right = *std::dynamic_pointer_cast<IntrinsicsPinhole>(
         in_right_base);
     auto ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);
+    if (!is_intrinsics_enable_) {
+      ex_right_to_left = *(getDefaultExtrinsics());
+    }
 
     cv::Size size{in_left.width, in_left.height};
     cv::Mat M1 =
@@ -975,10 +1036,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info);
 
     std::shared_ptr<IntrinsicsBase> in_base;
-    if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
+    if (is_intrinsics_enable_) {
-      in_base = api_->GetIntrinsicsBase(Stream::RIGHT);
+      if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
+        in_base = api_->GetIntrinsicsBase(Stream::RIGHT);
+      } else {
+        in_base = api_->GetIntrinsicsBase(Stream::LEFT);
+      }
     } else {
-      in_base = api_->GetIntrinsicsBase(Stream::LEFT);
+      in_base = getDefaultIntrinsics();
     }
 
     camera_info->header.frame_id = frame_ids_[stream];
@@ -1270,11 +1335,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   std::size_t imu_sync_count_ = 0;
   std::shared_ptr<ImuData> imu_accel_;
   std::shared_ptr<ImuData> imu_gyro_;
-  bool publish_imu_by_sync_ = false;
+  bool publish_imu_by_sync_ = true;
   std::map<Stream, bool> is_published_;
   bool is_motion_published_;
   bool is_started_;
   int frame_rate_;
+  bool is_intrinsics_enable_;
 };
 
 MYNTEYE_END_NAMESPACE