tami/MYNT-EYE-S-SDK
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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

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This commit is contained in:
TinyOh 2019-03-22 18:20:37 +08:00
commit e616d72e40
3 changed files with 11 additions and 2 deletions
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4
wrappers/ros/src/mynt_eye_ros_wrapper/config/process/process_config.yaml
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@ -3,6 +3,10 @@
# bm: 1 # bm: 1
disparity_computing_method: 1 disparity_computing_method: 1
# standard2/imu_process_mode range: [0,3]
# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
imu_process_mode: 0
enable_left_rect: false enable_left_rect: false
enable_right_rect: false enable_right_rect: false
enable_disparity: false enable_disparity: false

1
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -34,7 +34,6 @@
<arg name="gravity" default="9.8" /> <arg name="gravity" default="9.8" />
<arg name="mesh_file" default="S1030-0315.obj" /> <arg name="mesh_file" default="S1030-0315.obj" />
<!-- Push down all topics/nodelets into "mynteye" namespace --> <!-- Push down all topics/nodelets into "mynteye" namespace -->
<group ns="$(arg mynteye)"> <group ns="$(arg mynteye)">

8
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -1076,7 +1076,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
model_ = api_->GetModel(); model_ = api_->GetModel();
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) { if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
private_nh_.getParam("standard2/request_index", request_index); private_nh_.getParam("standard2/request_index", request_index);
std::cout << request_index << std::endl;
switch (request_index) { switch (request_index) {
case 0: case 0:
case 4: case 4:
@ -1100,6 +1099,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE); frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
} }
std::int32_t process_mode = 0;
if (model_ == Model::STANDARD2 ||
model_ == Model::STANDARD210A) {
private_nh_.getParam("standard2/imu_process_mode", process_mode);
api_->EnableProcessMode(process_mode);
}
NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :("); NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :(");
if (m <= 1) { if (m <= 1) {
NODELET_INFO_STREAM("Only one stream request, select index: 0"); NODELET_INFO_STREAM("Only one stream request, select index: 0");