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fix(api): get_imu_correspondence

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This commit is contained in:
TinyOh 2019-03-13 15:03:02 +08:00
parent f4007aa78c
commit ecb8cd640a
1 changed files with 63 additions and 62 deletions
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125
samples/tutorials/data/get_imu_correspondence.cc
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@ -55,76 +55,77 @@ int main(int argc, char *argv[]) {
auto &&left_data = api->GetStreamData(Stream::LEFT); auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT); auto &&right_data = api->GetStreamData(Stream::RIGHT);
if (left_data.frame.empty() || right_data.frame.empty()) { if (!left_data.frame.empty() || !right_data.frame.empty()) {
continue; auto img_stamp = left_data.img->timestamp;
} LOG(INFO) << "Img timestamp: " << img_stamp
<< ", diff_prev=" << (img_stamp - prev_img_stamp);
prev_img_stamp = img_stamp;
auto img_stamp = left_data.img->timestamp; cv::Mat img;
LOG(INFO) << "Img timestamp: " << img_stamp cv::hconcat(left_data.frame, right_data.frame, img);
<< ", diff_prev=" << (img_stamp - prev_img_stamp);
prev_img_stamp = img_stamp;
cv::Mat img; auto &&motion_datas = api->GetMotionDatas();
cv::hconcat(left_data.frame, right_data.frame, img); LOG(INFO) << "Imu count: " << motion_datas.size();
if (motion_datas.size() == 0) {
auto &&motion_datas = api->GetMotionDatas(); continue;
LOG(INFO) << "Imu count: " << motion_datas.size();
for (size_t i = 0, n = motion_datas.size() - 1; i <= n; ++i) {
auto data = motion_datas[i];
auto imu_flag = data.imu->flag;
auto imu_stamp = data.imu->timestamp;
std::stringstream ss;
if (imu_flag == 0) { // accel + gyro
ss << "Imu";
} else if (imu_flag == 1) { // accel
ss << "Accel";
} else if (imu_flag == 2) { // gyro
ss << "Gyro";
} }
ss << " timestamp: " << imu_stamp for (size_t i = 0, n = motion_datas.size() - 1; i <= n; ++i) {
<< ", diff_prev=" << (imu_stamp - prev_imu_stamp) auto data = motion_datas[i];
<< ", diff_img=" << (1.0f + imu_stamp - img_stamp); auto imu_flag = data.imu->flag;
#ifdef CHECK_ACCEL_THEN_GYRO auto imu_stamp = data.imu->timestamp;
if (imu_flag > 0) {
bool ok = false; std::stringstream ss;
if (i == 0) { // first if (imu_flag == 0) { // accel + gyro
ok = (imu_flag == SEQ_FIRST); ss << "Imu";
} else if (i == n) { // last } else if (imu_flag == 1) { // accel
ok = (imu_flag == SEQ_SECOND); ss << "Accel";
} else { } else if (imu_flag == 2) { // gyro
if (imu_flag == SEQ_FIRST) { ss << "Gyro";
ok = (prev_imu_flag == SEQ_SECOND); }
} else if (imu_flag == SEQ_SECOND) { ss << " timestamp: " << imu_stamp
ok = (prev_imu_flag == SEQ_FIRST); << ", diff_prev=" << (imu_stamp - prev_imu_stamp)
<< ", diff_img=" << (1.0f + imu_stamp - img_stamp);
#ifdef CHECK_ACCEL_THEN_GYRO
if (imu_flag > 0) {
bool ok = false;
if (i == 0) { // first
ok = (imu_flag == SEQ_FIRST);
} else if (i == n) { // last
ok = (imu_flag == SEQ_SECOND);
} else {
if (imu_flag == SEQ_FIRST) {
ok = (prev_imu_flag == SEQ_SECOND);
} else if (imu_flag == SEQ_SECOND) {
ok = (prev_imu_flag == SEQ_FIRST);
}
}
ss << (ok ? " ✓" : " x");
if (!ok) ++imu_disorder_count;
prev_imu_flag = imu_flag;
if (!exit) {
if (!ok) exit = true;
} }
} }
ss << (ok ? " ✓" : " x"); #endif
if (!ok) ++imu_disorder_count; LOG(INFO) << ss.str();
prev_imu_flag = imu_flag;
if (!exit) { prev_imu_stamp = imu_stamp;
if (!ok) exit = true;
}
} }
#endif LOG(INFO);
LOG(INFO) << ss.str(); #ifdef CHECK_ACCEL_THEN_GYRO
imu_count += motion_datas.size();
if (exit) break;
#endif
prev_imu_stamp = imu_stamp; /*
painter.DrawImgData(img, *left_data.img);
if (!motion_datas.empty()) {
painter.DrawImuData(img, *motion_datas[0].imu);
}
*/
cv::imshow("frame", img);
} }
LOG(INFO);
#ifdef CHECK_ACCEL_THEN_GYRO
imu_count += motion_datas.size();
if (exit) break;
#endif
/*
painter.DrawImgData(img, *left_data.img);
if (!motion_datas.empty()) {
painter.DrawImuData(img, *motion_datas[0].imu);
}
*/
cv::imshow("frame", img);
char key = static_cast<char>(cv::waitKey(1)); char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q