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This commit is contained in:
John Zhao
2018-05-16 10:31:31 +08:00
parent de0f0d0639
commit dd2fc88846
11 changed files with 420 additions and 38 deletions
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28
include/mynteye/callbacks.h
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@@ -29,13 +29,23 @@ MYNTEYE_BEGIN_NAMESPACE
namespace device {
/**
* @ingroup datatypes
* Frame with raw data.
*/
class MYNTEYE_API Frame {
public:
using data_t = std::vector<std::uint8_t>;
/**
* Construct the frame with StreamRequest and raw data.
*/
Frame(const StreamRequest &request, const void *data)
: Frame(request.width, request.height, request.format, data) {}
/**
* Construct the frame with stream info and raw data.
*/
Frame(
std::uint16_t width, std::uint16_t height, Format format,
const void *data)
@@ -49,30 +59,37 @@ class MYNTEYE_API Frame {
}
}
/** Get the width. */
std::uint16_t width() const {
return width_;
}
/** Get the height. */
std::uint16_t height() const {
return height_;
}
/** Get the format. */
Format format() const {
return format_;
}
/** Get the data. */
std::uint8_t *data() {
return data_.data();
}
/** Get the const data. */
const std::uint8_t *data() const {
return data_.data();
}
/** Get the size of data. */
std::size_t size() const {
return data_.size();
}
/** Clone a new frame. */
Frame clone() const {
Frame frame(width_, height_, format_, nullptr);
std::copy(data_.begin(), data_.end(), frame.data_.begin());
@@ -87,12 +104,23 @@ class MYNTEYE_API Frame {
data_t data_;
};
/**
* @ingroup datatypes
* Device stream data.
*/
struct MYNTEYE_API StreamData {
/** ImgData. */
std::shared_ptr<ImgData> img;
/** Frame. */
std::shared_ptr<Frame> frame;
};
/**
* @ingroup datatypes
* Device motion data.
*/
struct MYNTEYE_API MotionData {
/** ImuData. */
std::shared_ptr<ImuData> imu;
};

8
include/mynteye/glog_init.h
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@@ -17,8 +17,14 @@
#include <glog/logging.h>
/** Helper to init glog with args. */
struct glog_init {
glog_init(int /*argc*/, char *argv[]) {
/**
* Init glog with args in constructor, and shutdown it in destructor.
*/
glog_init(int argc, char *argv[]) {
(void)argc;
// FLAGS_logtostderr = true;
FLAGS_alsologtostderr = true;
FLAGS_colorlogtostderr = true;

118
include/mynteye/types.h
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@@ -72,21 +72,21 @@ enum class Stream : std::uint8_t {
* might provide.
*/
enum class Capabilities : std::uint8_t {
/** Provices stereo stream */
/** Provides stereo stream */
STEREO,
/** Provices color stream */
/** Provides color stream */
COLOR,
/** Provices depth stream */
/** Provides depth stream */
DEPTH,
/** Provices point cloud stream */
/** Provides point cloud stream */
POINTS,
/** Provices fisheye stream */
/** Provides fisheye stream */
FISHEYE,
/** Provices infrared stream */
/** Provides infrared stream */
INFRARED,
/** Provices second infrared stream */
/** Provides second infrared stream */
INFRARED2,
/** Provices IMU (accelerometer, gyroscope) data */
/** Provides IMU (accelerometer, gyroscope) data */
IMU,
/** Last guard */
LAST
@@ -123,15 +123,35 @@ enum class Info : std::uint8_t {
* @brief Camera control options define general configuration controls.
*/
enum class Option : std::uint8_t {
/** Image gain, setting it if manual-exposure */
/**
* Image gain, valid if manual-exposure
*
* range: [0,48], default: 24
*/
GAIN,
/** Image brightness, setting it if manual-exposure */
/**
* Image brightness, valid if manual-exposure
*
* range: [0,240], default: 120
*/
BRIGHTNESS,
/** Image contrast */
/**
* Image contrast, valid if manual-exposure
*
* range: [0,255], default: 127
*/
CONTRAST,
/** Image frame rate, must set IMU_FREQUENCY together */
/**
* Image frame rate, must set IMU_FREQUENCY together
*
* values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
*/
FRAME_RATE,
/** IMU frequency, must set FRAME_RATE together */
/**
* IMU frequency, must set FRAME_RATE together
*
* values: {100,200,250,333,500}, default: 200
*/
IMU_FREQUENCY,
/**
* Exposure mode
@@ -140,13 +160,29 @@ enum class Option : std::uint8_t {
* 1: disable auto-exposure (manual-exposure)
*/
EXPOSURE_MODE,
/** Max gain, setting it if auto-exposure */
/**
* Max gain, valid if auto-exposure
*
* range: [0,48], default: 48
*/
MAX_GAIN,
/** Max exposure time, setting it if auto-exposure */
/**
* Max exposure time, valid if auto-exposure
*
* range: [0,240], default: 240
*/
MAX_EXPOSURE_TIME,
/** Desired brightness */
/**
* Desired brightness, valid if auto-exposure
*
* range: [0,255], default: 192
*/
DESIRED_BRIGHTNESS,
/** IR control */
/**
* IR control
*
* range: [0,160], default: 0
*/
IR_CONTROL,
/**
* HDR mode
@@ -248,13 +284,13 @@ MYNTEYE_API std::size_t bytes_per_pixel(const Format &value);
* Stream request.
*/
struct MYNTEYE_API StreamRequest {
/** width in pixels */
/** Stream width in pixels */
std::uint16_t width;
/** height in pixels */
/** Stream height in pixels */
std::uint16_t height;
/** stream pixel format */
/** Stream pixel format */
Format format;
/** frames per second (unused) */
/** Stream frames per second (unused) */
std::uint16_t fps;
bool operator==(const StreamRequest &other) const {
@@ -279,21 +315,21 @@ std::ostream &operator<<(std::ostream &os, const StreamRequest &request);
* Stream intrinsics,
*/
struct MYNTEYE_API Intrinsics {
/** width of the image in pixels */
/** The width of the image in pixels */
std::uint16_t width;
/** height of the image in pixels */
/** The height of the image in pixels */
std::uint16_t height;
/** focal length of the image plane, as a multiple of pixel width */
/** The focal length of the image plane, as a multiple of pixel width */
double fx;
/** focal length of the image plane, as a multiple of pixel height */
/** The focal length of the image plane, as a multiple of pixel height */
double fy;
/** horizontal coordinate of the principal point of the image */
/** The horizontal coordinate of the principal point of the image */
double cx;
/** vertical coordinate of the principal point of the image */
/** The vertical coordinate of the principal point of the image */
double cy;
/** distortion model of the image */
/** The distortion model of the image */
std::uint8_t model;
/** distortion coefficients: k1,k2,p1,p2,k3 */
/** The distortion coefficients: k1,k2,p1,p2,k3 */
double coeffs[5];
};
@@ -306,9 +342,12 @@ std::ostream &operator<<(std::ostream &os, const Intrinsics &in);
*/
struct MYNTEYE_API ImuIntrinsics {
/**
* Scale X cross axis cross axis
* cross axis Scale Y cross axis
* cross axis cross axis Scale Z
* Scale matrix.
* \code
* Scale X cross axis cross axis
* cross axis Scale Y cross axis
* cross axis cross axis Scale Z
* \endcode
*/
double scale[3][3];
/* Zero-drift: X, Y, Z */
@@ -328,8 +367,8 @@ std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in);
* Motion intrinsics, including accelerometer and gyroscope.
*/
struct MYNTEYE_API MotionIntrinsics {
ImuIntrinsics accel;
ImuIntrinsics gyro;
ImuIntrinsics accel; /**< Accelerometer intrinsics */
ImuIntrinsics gyro; /**< Gyroscope intrinsics */
};
MYNTEYE_API
@@ -340,9 +379,13 @@ std::ostream &operator<<(std::ostream &os, const MotionIntrinsics &in);
* Extrinsics, represent how the different datas are connected.
*/
struct MYNTEYE_API Extrinsics {
double rotation[3][3]; /**< rotation matrix */
double translation[3]; /**< translation vector */
double rotation[3][3]; /**< Rotation matrix */
double translation[3]; /**< Translation vector */
/**
* Inverse this extrinsics.
* @return the inversed extrinsics.
*/
Extrinsics Inverse() const {
return {{{rotation[0][0], rotation[1][0], rotation[2][0]},
{rotation[0][1], rotation[1][1], rotation[2][1]},
@@ -427,8 +470,11 @@ struct MYNTEYE_API ImuData {
* Option info.
*/
struct MYNTEYE_API OptionInfo {
/** Minimum value */
std::int32_t min;
/** Maximum value */
std::int32_t max;
/** Default value */
std::int32_t def;
};

10
include/mynteye/utils.h
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@@ -21,12 +21,19 @@
MYNTEYE_BEGIN_NAMESPACE
/**
* @defgroup utils Utiliities
*/
class Device;
namespace device {
/**
* @ingroup utils
*
* Detecting MYNT EYE devices and prompt user to select one.
*
* @return the selected device, or `nullptr` if none.
*/
MYNTEYE_API std::shared_ptr<Device> select();
@@ -36,7 +43,10 @@ MYNTEYE_API std::shared_ptr<Device> select();
namespace utils {
/**
* @ingroup utils
*
* Get real exposure time in ms from virtual value, according to its frame rate.
*
* @param frame_rate the frame rate of the device.
* @param exposure_time the virtual exposure time.
* @return the real exposure time in ms, or the virtual value if frame rate is