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feat(*): change doc of 2100 info.

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TinyO 2019-09-02 17:17:35 +08:00
parent a3f6c1fd9f
commit da23dce1c9
3 changed files with 27 additions and 7 deletions
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10
docs/src/product/spec_s2110.rst
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@ -11,7 +11,7 @@ Product Specification
========================== ===================================================== ========================== =====================================================
Model S2110-95/Color Model S2110-95/Color
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Size PCB dimension:15x100mm Size PCB dimension:17.74x100mm
Total dimension:125x47x26.6mm Total dimension:125x47x26.6mm
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Frame Rate 1280x400\@10/20/30/60fps 2560x800\@10/20/30fps Frame Rate 1280x400\@10/20/30/60fps 2560x800\@10/20/30fps
@ -24,15 +24,15 @@ Product Specification
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Baseline 80.0mm 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 IR Support No
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Color Mode Color Color Mode Color
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Depth Working Distance 0.26-3m+ Depth Working Distance 0.60-7m+
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Scanning Mode Global Shutter Scanning Mode Global Shutter
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
@ -48,7 +48,7 @@ Synchronization Precision <1ms (up to 0.02ms)
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Time Sync interface DF50A Time Sync interface DF50A
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Weight 62g Weight 100.8g
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
UVC MODE Yes UVC MODE Yes
========================== ===================================================== ========================== =====================================================

6
src/mynteye/api/processor/disparity_processor.cc
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@ -81,6 +81,8 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type,
sgbm_matcher->setSpeckleWindowSize(100); sgbm_matcher->setSpeckleWindowSize(100);
sgbm_matcher->setSpeckleRange(32); sgbm_matcher->setSpeckleRange(32);
sgbm_matcher->setDisp12MaxDiff(1); 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 = cv::StereoBM::create(0, 3);
bm_matcher->setPreFilterSize(9); bm_matcher->setPreFilterSize(9);
@ -93,8 +95,8 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type,
bm_matcher->setSpeckleWindowSize(100); bm_matcher->setSpeckleWindowSize(100);
bm_matcher->setSpeckleRange(4); bm_matcher->setSpeckleRange(4);
bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL); bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
// DISPARITY_MIN = bm_matcher->getMinDisparity(); disparity_min_bm = bm_matcher->getMinDisparity();
// DISPARITY_MAX = bm_matcher->getMinDisparity(); disparity_max_bm = bm_matcher->getNumDisparities();
#endif #endif
NotifyComputingTypeChanged(type_); NotifyComputingTypeChanged(type_);
} }

18
src/mynteye/api/processor/disparity_processor.h
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@ -41,6 +41,20 @@ class DisparityProcessor : public Processor {
const DisparityComputingMethod &MethodType); const DisparityComputingMethod &MethodType);
void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType); void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType);
bool ConfigFromFile(const std::string& config); 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: protected:
// inline Processor::process_type ProcessOutputConnection() override { // inline Processor::process_type ProcessOutputConnection() override {
@ -56,6 +70,10 @@ class DisparityProcessor : public Processor {
cv::Ptr<cv::StereoBM> bm_matcher; cv::Ptr<cv::StereoBM> bm_matcher;
DisparityComputingMethod type_; DisparityComputingMethod type_;
double cx1_minus_cx2_; double cx1_minus_cx2_;
double disparity_min_bm;
double disparity_max_bm;
double disparity_min_sgbm;
double disparity_max_sgbm;
}; };
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE