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refactor(*): doc and samples update tools contents.

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TinyO 2019-08-30 15:03:36 +08:00
parent 75631fa7d7
commit ed2398fedc
47 changed files with 1390 additions and 110 deletions
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6
docs/src/sdk/control/auto_exposure.rst
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@ -86,7 +86,7 @@ s1030：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_auto_exposure
$ ./samples/_output/bin/ctrl_auto_exposure
I0513 14:07:57.963943 31845 utils.cc:26] Detecting MYNT EYE devices
I0513 14:07:58.457536 31845 utils.cc:33] MYNT EYE devices:
I0513 14:07:58.457563 31845 utils.cc:37] index: 0, name: MYNT-EYE-S1000
@ -101,7 +101,7 @@ s2100/s210a：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_auto_exposure
$ ./samples/_output/bin/ctrl_auto_exposure
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@ -126,4 +126,4 @@ s2100/s210a：
The sample program displays an image with a real exposure time in the upper left corner, in milliseconds.
Complete code examples, see `auto_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/auto_exposure.cc>`_ .
Complete code examples, see `ctrl_auto_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_auto_exposure.cc>`_ .

6
docs/src/sdk/control/framerate.rst
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@ -67,7 +67,7 @@ s1030：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_framerate
$ ./samples/_output/bin/ctrl_framerate
I0513 14:05:57.218222 31813 utils.cc:26] Detecting MYNT EYE devices
I0513 14:05:57.899404 31813 utils.cc:33] MYNT EYE devices:
I0513 14:05:57.899430 31813 utils.cc:37] index: 0, name: MYNT-EYE-S1000
@ -82,7 +82,7 @@ s2100/s210a：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_framerate
$ ./samples/_output/bin/ctrl_framerate
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@ -105,4 +105,4 @@ s2100/s210a：
After the sample program finishes running with ``ESC/Q``, it will output the calculated value of the frame rate of image & IMU frequency.
Complete code samples，please see `framerate.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/framerate.cc>`_ .
Complete code samples，please see `ctrl_framerate.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_framerate.cc>`_ .

4
docs/src/sdk/control/iic_address.rst
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@ -37,7 +37,7 @@ s210a/s2100：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_iic_adress
$ ./samples/_output/bin/ctrl_iic_adress
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@ -55,4 +55,4 @@ s210a/s2100：
I/imu_range.cc:51 Set iic address to 0x31
After the sample program finishes running with ``ESC/Q``.
Complete code samples，please see `iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/iic_address.cc>`_ .
Complete code samples，please see `ctrl_iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_iic_address.cc>`_ .

4
docs/src/sdk/control/imu_low_pass_filter.rst
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@ -37,7 +37,7 @@ Reference running results on Linux:
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_imu_low_pass_filter
$ ./samples/_output/bin/ctrl_imu_low_pass_filter
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@ -60,4 +60,4 @@ Reference running results on Linux:
After the sample program finishes running with ``ESC/Q``, the low-pass filter of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.
Complete code samples，please see `imu_low_pass_filter.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/imu_low_pass_filter.cc>`_ 。
Complete code samples，please see `ctrl_imu_low_pass_filter.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_imu_low_pass_filter.cc>`_ 。

6
docs/src/sdk/control/imu_range.rst
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@ -67,7 +67,7 @@ s1030：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_imu_range
$ ./samples/_output/bin/ctrl_imu_range
I/utils.cc:28 Detecting MYNT EYE devices
I/utils.cc:38 MYNT EYE devices:
I/utils.cc:41 index: 0, name: MYNT-EYE-S1030, sn: 4B4C1F1100090712
@ -82,7 +82,7 @@ s2100/s210a：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_imu_range
$ ./samples/_output/bin/ctrl_imu_range
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@ -105,4 +105,4 @@ s2100/s210a：
After the sample program finishes running with ``ESC/Q``, the ranges of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.
Complete code samples，please see `imu_range.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/imu_range.cc>`_.
Complete code samples，please see `ctrl_imu_range.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_imu_range.cc>`_.

4
docs/src/sdk/control/infrared.rst
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@ -33,7 +33,7 @@ Reference running results on Linux:
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_infrared
$ ./samples/_output/bin/ctrl_infrared
I0504 16:16:28.016624 25848 utils.cc:13] Detecting MYNT EYE devices
I0504 16:16:28.512462 25848 utils.cc:20] MYNT EYE devices:
I0504 16:16:28.512473 25848 utils.cc:24] index: 0, name: MYNT-EYE-S1000
@ -51,4 +51,4 @@ At this point, if the image is displayed, you can see IR speckle on the image, a
The hardware will not record the IR value after being turned off. In order to keep IR enabled, you must set the IR value after turning on the device.
Complete code samples，see `infrared.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/infrared.cc>`_ .
Complete code samples，see `ctrl_infrared.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_infrared.cc>`_ .

6
docs/src/sdk/control/manual_exposure.rst
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@ -71,7 +71,7 @@ s1030：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_manual_exposure
$ ./samples/_output/bin/ctrl_manual_exposure
I0513 14:09:17.104431 31908 utils.cc:26] Detecting MYNT EYE devices
I0513 14:09:17.501519 31908 utils.cc:33] MYNT EYE devices:
I0513 14:09:17.501551 31908 utils.cc:37] index: 0, name: MYNT-EYE-S1000
@ -85,7 +85,7 @@ s2100/s210a：
.. code-block:: bash
$ ./samples/_output/bin/tutorials/ctrl_manual_exposure
$ ./samples/_output/bin/ctrl_manual_exposure
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@ -107,4 +107,4 @@ s2100/s210a：
The sample program displays an image with a real exposure time in the upper left corner, in milliseconds.
Complete code samples，see `manual_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/manual_exposure.cc>`_ .
Complete code samples，see `ctrl_manual_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_manual_exposure.cc>`_ .

1
docs/src/sdk/data/contents.rst
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@ -12,7 +12,6 @@ SDK Data Samples
get_stereo_rectified
get_disparity
get_depth
get_points
get_imu
get_imu_correspondence
get_from_callbacks

4
docs/src/sdk/data/get_depth.rst
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@ -47,8 +47,8 @@ Reference code snippet:
The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.
Complete code examples, see `get_depth.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_depth.cc>`_ .
Complete code examples, see `get_depth.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_depth.cc>`_ .
.. tip::
Preview the value of a region of the depth image, see `get_depth_with_region.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/api/get_depth_with_region.cc>`_ .
Preview the value of a region of the depth image, see `get_depth_with_region.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_depth_with_region.cc>`_ .

4
docs/src/sdk/data/get_device_info.rst
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@ -24,7 +24,7 @@ Reference result on Linux:
.. code-block:: bash
$ ./samples/_output/bin/tutorials/get_device_info
$ ./samples/_output/bin/get_device_info
I0503 16:40:21.109391 32106 utils.cc:13] Detecting MYNT EYE devices
I0503 16:40:21.604116 32106 utils.cc:20] MYNT EYE devices:
I0503 16:40:21.604127 32106 utils.cc:24] index: 0, name: MYNT-EYE-S1000
@ -38,4 +38,4 @@ Reference result on Linux:
I0503 16:40:21.615164 32106 get_device_info.cc:16] IMU type: 0000
I0503 16:40:21.615171 32106 get_device_info.cc:17] Nominal baseline: 120
Complete code examples, see `get_device_info.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_device_info.cc>`_ .
Complete code examples, see `get_device_info.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_device_info.cc>`_ .

2
docs/src/sdk/data/get_disparity.rst
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@ -59,4 +59,4 @@ Reference code snippet:
The above code uses OpenCV to display the image. Select the display window, press ``ESC/Q`` to exit in the program.
Complete code examples, see `get_disparity.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_disparity.cc>`_ .
Complete code examples, see `get_disparity.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_disparity.cc>`_ .

2
docs/src/sdk/data/get_from_callbacks.rst
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@ -116,4 +116,4 @@ Reference code snippet:
OpenCV is used to display images and data above. When the window is selected, pressing ``ESC/Q`` will exit program.
Complete code examples, see `get_from_callbacks.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_from_callbacks.cc>`_ .
Complete code examples, see `get_from_callbacks.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_from_callbacks.cc>`_ .

4
docs/src/sdk/data/get_img_params.rst
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@ -27,7 +27,7 @@ Reference result on Linux:
.. code-block:: bash
$ ./samples/_output/bin/tutorials/get_img_params
$ ./samples/_output/bin/get_img_params
I0510 15:00:22.643263 6980 utils.cc:26] Detecting MYNT EYE devices
I0510 15:00:23.138811 6980 utils.cc:33] MYNT EYE devices:
I0510 15:00:23.138849 6980 utils.cc:37] index: 0, name: MYNT-EYE-S1000
@ -36,4 +36,4 @@ Reference result on Linux:
I0510 15:00:23.210551 6980 get_img_params.cc:24] Intrinsics right: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 456.68367112303980093, cy: 250.70083335536796199, model: 0, coeffs: [-0.51012886039889305, 0.38764476500996770, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]}
I0510 15:00:23.210577 6980 get_img_params.cc:26] Extrinsics left to right: {rotation: [0.99701893306553813, -0.00095378124886237, -0.07715139279485062, 0.00144939967628305, 0.99997867219985104, 0.00636823256494144, 0.07714367342455503, -0.00646107164115277, 0.99699905125522237], translation: [-118.88991734400046596, -0.04560580387053091, -3.95313736911933855]}
Complete code examples, see `get_img_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_img_params.cc>`_ .
Complete code examples, see `get_img_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_img_params.cc>`_ .

11
docs/src/sdk/data/get_imu.rst
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@ -47,8 +47,13 @@ Sample code snippet:
*/
painter.DrawImgData(img, *left_data.img);
if (!motion_datas.empty()) {
painter.DrawImuData(img, *motion_datas[0].imu);
static std::vector<api::MotionData> motion_datas_s = motion_datas;
if (!motion_datas.empty() && motion_datas.size() > 0) {
motion_datas_s = motion_datas;
}
if (!motion_datas_s.empty() && motion_datas_s.size() > 0) {
painter.DrawImuData(img, *motion_datas_s[0].imu);
}
cv::imshow("frame", img);
@ -63,4 +68,4 @@ Sample code snippet:
OpenCV is used to display image and data. When window is selected, press ``ESC/Q`` to exit program.
Complete code examples, see `get_imu.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu.cc>`_ .
Complete code examples, see `get_imu.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_imu.cc>`_ .

4
docs/src/sdk/data/get_imu_correspondence.rst
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@ -58,7 +58,7 @@ Reference result on Linux:
.. code-block:: bash
$ ./samples/_output/bin/tutorials/get_imu_correspondence
$ ./samples/_output/bin/get_imu_correspondence
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43 index: 0, name: MYNT-EYE-S1030, sn: 0281351000090807
@ -106,4 +106,4 @@ Reference result on Linux:
I/get_imu_correspondence.cc:61 Imu timestamp: 171419650, diff_prev=2020, diff_img=16608
I/get_imu_correspondence.cc:61 Imu timestamp: 171421660, diff_prev=2010, diff_img=18624
Complete code examples, see `get_imu_correspondence.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu_correspondence.cc>`_ .
Complete code examples, see `get_imu_correspondence.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_imu_correspondence.cc>`_ .

2
docs/src/sdk/data/get_imu_params.rst
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@ -15,4 +15,4 @@ Reference commands:
LOG(INFO) << "Motion extrinsics left to imu: {"
<< api->GetMotionExtrinsics(Stream::LEFT) << "}";
Complete code examples, see `get_imu_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu_params.cc>`_ .
Complete code examples, see `get_imu_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_imu_params.cc>`_ .

57
docs/src/sdk/data/get_points.rst
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@ -1,57 +0,0 @@
.. _data_get_points:
Get Point Image
================
Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use.
For detail process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` .
It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` for detail.
Sample code snippet:
.. code-block:: c++
auto &&api = API::Create(argc, argv);
api->EnableStreamData(Stream::POINTS);
api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
PCViewer pcviewer;
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
auto &&points_data = api->GetStreamData(Stream::POINTS);
if (!points_data.frame.empty()) {
pcviewer.Update(points_data.frame);
}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
if (pcviewer.WasStopped()) {
break;
}
}
api->Stop(Source::VIDEO_STREAMING);
`PCL <https://github.com/PointCloudLibrary/pcl>`_ is used to display point images above. Program will close when point image window is closed.
Complete code examples, see `get_points.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_points.cc>`_ .
.. attention::
Sample code only compiles when `PCL <https://github.com/PointCloudLibrary/pcl>`_ is ready. If your PCL was installed in a different directory, please set ``CMAKE_PREFIX_PATH`` in `tutorials/CMakeLists.txt <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/CMakeLists.txt>`_ to the path of ``PCLConfig.cmake`` . You can find ``CMAKE_PREFIX_PATH`` near ``find_package(PCL)`` .

2
docs/src/sdk/data/get_stereo.rst
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@ -37,4 +37,4 @@ Reference commands:
The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.
Complete code examples, see `get_stereo.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_stereo.cc>`_ .
Complete code examples, see `get_stereo.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_stereo.cc>`_ .

2
docs/src/sdk/data/get_stereo_rectified.rst
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@ -48,4 +48,4 @@ Reference code snippet:
OpenCV is used to display the image above. Select the display window, press ``ESC/Q`` to exit the program.
Complete code examples, see `get_stereo_rectified.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_stereo_rectified.cc>`_ .
Complete code examples, see `get_stereo_rectified.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_stereo_rectified.cc>`_ .

2
docs/src/sdk/data/get_with_plugin.rst
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@ -83,7 +83,7 @@ In addition, the following command can be executed to check whether the dependen
If the plugin's dependent library is not found, it will report an error \"Open plugin failed\" when loading.
Complete code sample, see `get_with_plugin.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_with_plugin.cc>`_ .
Complete code sample, see `get_with_plugin.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_with_plugin.cc>`_ .
.. tip::

8
docs/src/sdk/data/save_params.rst
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@ -3,22 +3,22 @@
Save Device Infomation And Parameters
=====================================
The SDK provides a tool ``save_all_infos`` for save information and parameters. For more information, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
The SDK provides a tool ``save_all_infos`` for save information and parameters.
Reference commands:
.. code-block:: bash
./tools/_output/bin/writer/save_all_infos
./samples/_output/bin/save_all_infos
# Windows
.\tools\_output\bin\writer\save_all_infos.bat
.\samples\_output\bin\save_all_infos.bat
Reference result on Linux:
.. code-block:: bash
$ ./tools/_output/bin/writer/save_all_infos
$ ./samples/_output/bin/save_all_infos
I0512 21:40:08.687088 4092 utils.cc:26] Detecting MYNT EYE devices
I0512 21:40:09.366693 4092 utils.cc:33] MYNT EYE devices:
I0512 21:40:09.366734 4092 utils.cc:37] index: 0, name: MYNT-EYE-S1000

2
docs/src/sdk/data/save_single_image.rst
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@ -49,4 +49,4 @@ Reference commands:
The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.
Complete code examples, see `save_single_image.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/save_single_image.cc>`_ .
Complete code examples, see `save_single_image.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/save_single_image.cc>`_ .

12
docs/src/sdk/data/write_img_params.rst
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@ -3,7 +3,7 @@
Write Image Parameters
=======================
The SDK provides a tool ``img_params_writer`` for writing image parameters. For details, read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
The SDK provides a tool ``write_img_params`` for writing image parameters.
For getting image parameters, please read :ref:`get_img_params`. This is used to calculate the deviation.
@ -11,21 +11,21 @@ Reference commands:
.. code-block:: bash
./tools/_output/bin/writer/img_params_writer tools/writer/config/img.params
./samples/_output/bin/write_img_params samples/config/img.params
# Windows
.\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params
.\samples\_output\bin\write_img_params.bat samples\config\img.params
.. warning::
Please don't override parameters, you can use ``save_all_infos`` to backup parameters.
And, `tools/writer/config/S1030/img.params.pinhole <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/tools/writer/config/S1030/img.params.pinhole>`_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices.
And, `samples/config/S1030/img.params.pinhole <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/config/S1030/img.params.pinhole>`_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices.
.. tip::
The image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A``
The image calibration parameters of S1030 are in ``tools/writer/config/S1030``
The image calibration parameters of S2100/S210A are in ``samples/config/S210A``
The image calibration parameters of S1030 are in ``samples/config/S1030``
.. tip::

8
docs/src/sdk/data/write_imu_params.rst
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@ -3,7 +3,7 @@
Write IMU Parameters
=====================
SDK provides the tool ``imu_params_writer`` to write IMU parameters. For deltail, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
SDK provides the tool ``write_imu_params`` to write IMU parameters.
Information about how to get IMU parameters, please read :ref:`get_imu_params` .
@ -11,12 +11,12 @@ Reference commands:
.. code-block:: bash
./tools/_output/bin/writer/imu_params_writer tools/writer/config/imu.params
./samples/_output/bin/write_imu_params samples/config/imu.params
# Windows
.\tools\_output\bin\writer\imu_params_writer.bat tools\writer\config\imu.params
.\samples\_output\bin\write_imu_params.bat samples\config\imu.params
The path of parameters file can be found in `tools/writer/config/img.params <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/tools/writer/config/img.params>`_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device.
The path of parameters file can be found in `samples/config/img.params <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/config/img.params>`_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device.
.. warning::

2
docs/src/sdk/project/cmake.rst
View File

@ -5,7 +5,7 @@ How to use SDK with CMake
This tutorial will create a project with CMake to start using SDK.
You could find the project demo in ``<sdk>/platforms/projects/cmake directory`` .
You could find the project demo in ``<sdk>/samples/simple_demo/project_cmake directory`` .
Preparation
-----------

2
docs/src/sdk/project/vs2017.rst
View File

@ -5,7 +5,7 @@ How to use SDK with Visual Studio 2017
This tutorial will create a project with Visual Studio 2017 to start using SDK.
You could find the project demo in ``<sdk>/platforms/projects/vs2017`` directory.
You could find the project demo in ``<sdk>/samples/simple_demo/project_vs2017`` directory.
Preparation
------------

36
samples/CMakeLists.txt
View File

@ -242,4 +242,40 @@ if(WITH_API)
endif()
endif()
## device_writer
add_library(device_writer STATIC device_writer.cc)
target_link_libraries(device_writer mynteye ${OpenCV_LIBS})
## device_info_writer
make_executable(write_device_info
SRCS write_device_info.cc
LINK_LIBS device_writer
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
## img_params_writer
make_executable(write_img_params
SRCS write_img_params.cc
LINK_LIBS device_writer
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
## imu_params_writer
make_executable(write_imu_params
SRCS write_imu_params.cc
LINK_LIBS device_writer
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
## save_all_infos
make_executable(save_all_infos
SRCS save_all_infos.cc
LINK_LIBS device_writer
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)

41
samples/config/S1030/deprecated/img.params.old Normal file
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@ -0,0 +1,41 @@
%YAML:1.0
---
M1: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 7.3638305001095546e+02, 0., 3.5691961817119693e+02, 0.,
7.2350066150722432e+02, 2.1727271340923883e+02, 0., 0., 1. ]
D1: !!opencv-matrix
rows: 1
cols: 14
dt: d
data: [ -5.4898645145016478e-01, 5.2837141203888638e-01, 0., 0., 0.,
0., 0., 4.3563985766435476e-01, 0., 0., 0., 0., 0., 0. ]
M2: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 7.3638305001095546e+02, 0., 4.5668367112303980e+02, 0.,
7.2350066150722432e+02, 2.5070083335536796e+02, 0., 0., 1. ]
D2: !!opencv-matrix
rows: 1
cols: 14
dt: d
data: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0., 0.,
0., 0., 2.5629798245273044e-01, 0., 0., 0., 0., 0., 0. ]
R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9701893306553813e-01, -9.5378124886236681e-04,
-7.7151392794850615e-02, 1.4493996762830500e-03,
9.9997867219985104e-01, 6.3682325649414354e-03,
7.7143673424555026e-02, -6.4610716411527686e-03,
9.9699905125522237e-01 ]
T: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ -1.1888991734400047e+02, -4.5605803870530912e-02,
-3.9531373691193386e+00 ]

30
samples/config/S1030/deprecated/img.params.old2 Normal file
View File

@ -0,0 +1,30 @@
%YAML:1.0
---
in_left:
width: 752
height: 480
fx: 3.6220059643202876e+02
fy: 3.6350065250745848e+02
cx: 4.0658699068023441e+02
cy: 2.3435161110061483e+02
model: 0
coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
-7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
in_right:
width: 752
height: 480
fx: 3.6514014888558478e+02
fy: 3.6513385298966961e+02
cx: 3.8932395100630907e+02
cy: 2.3495160212312547e+02
model: 0
coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
ex_right_to_left:
rotation: [ 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 ]
translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-5.2058205159996538e+00 ]

33
samples/config/S1030/deprecated/img.params.old3 Normal file
View File

@ -0,0 +1,33 @@
%YAML:1.0
---
version: "1.0"
img_params_map:
-
in_left:
width: 752
height: 480
fx: 3.6220059643202876e+02
fy: 3.6350065250745848e+02
cx: 4.0658699068023441e+02
cy: 2.3435161110061483e+02
model: 0
coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
-7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
in_right:
width: 752
height: 480
fx: 3.6514014888558478e+02
fy: 3.6513385298966961e+02
cx: 3.8932395100630907e+02
cy: 2.3495160212312547e+02
model: 0
coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
ex_right_to_left:
rotation: [ 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 ]
translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-5.2058205159996538e+00 ]

24
samples/config/S1030/deprecated/imu.params.old Normal file
View File

@ -0,0 +1,24 @@
%YAML:1.0
---
in_accel:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
1.7452487504590969e-02 ]
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
5.4490537096493644e-04 ]
in_gyro:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
1.1003229919806443e-03 ]
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
1.4970418056326829e-05 ]
ex_left_to_imu:
rotation: [ -6.4662000000000001e-03, -9.9994994000000004e-01,
-7.6356499999999999e-03, 9.9997908999999996e-01,
-6.4656599999999998e-03, -9.5580000000000003e-05,
4.6199999999999998e-05, -7.6361099999999998e-03,
9.9997084000000003e-01 ]
translation: [ 5.3364600000000003e-03, -4.3029220000000000e-02,
2.3031240000000001e-02 ]

10
samples/config/S1030/device.info Normal file
View File

@ -0,0 +1,10 @@
%YAML:1.0
---
device_name: MYNT-EYE-S1030
serial_number: "02811F3B00090807"
firmware_version: "2.2"
hardware_version: "2.0"
spec_version: "1.0"
lens_type: "0000"
imu_type: "0000"
nominal_baseline: 120

28
samples/config/S1030/img.params.equidistant Normal file
View File

@ -0,0 +1,28 @@
%YAML:1.0
---
version: "1.2"
img_params:
-
model: 1
width: 752
height: 480
in_left:
# coeffs: k2,k3,k4,k5,mu,mv,u0,v0
coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
5.3814579203036512e-02, -3.6663721418756977e-02,
3.6797709792391299e+02, 3.6808712539453859e+02,
3.7414963027144353e+02, 2.3125000326472903e+02 ]
in_right:
# coeffs: k2,k3,k4,k5,mu,mv,u0,v0
coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02,
4.0863326732708288e-02, -2.1522718578606163e-02,
3.6807315003638877e+02, 3.6806204885853174e+02,
3.8499216569965887e+02, 2.3183027347834383e+02 ]
ex_right_to_left:
rotation: [ 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 ]
translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-5.2058205159996538e+00 ]

38
samples/config/S1030/img.params.pinhole Normal file
View File

@ -0,0 +1,38 @@
%YAML:1.0
---
version: "1.2"
img_params:
-
model: 0
width: 752
height: 480
in_left:
# [fx 0 cx]
# [ 0 fy cy]
# [ 0 0 1]
fx: 3.6220059643202876e+02
fy: 3.6350065250745848e+02
cx: 4.0658699068023441e+02
cy: 2.3435161110061483e+02
# coeffs: k1,k2,p1,p2,k3
coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
-7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
in_right:
# [fx 0 cx]
# [ 0 fy cy]
# [ 0 0 1]
fx: 3.6514014888558478e+02
fy: 3.6513385298966961e+02
cx: 3.8932395100630907e+02
cy: 2.3495160212312547e+02
# coeffs: k1,k2,p1,p2,k3
coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
ex_right_to_left:
rotation: [ 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 ]
translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-5.2058205159996538e+00 ]

33
samples/config/S1030/imu.params Normal file
View File

@ -0,0 +1,33 @@
%YAML:1.0
---
version: "1.2"
in_accel:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ]
drift: [ 0., 0., 0. ]
noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
1.7452487504590969e-02 ]
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
5.4490537096493644e-04 ]
x: [ 0.0, 0.0 ]
y: [ 0.0, 0.0 ]
z: [ 0.0, 0.0 ]
in_gyro:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ]
drift: [ 0., 0., 0. ]
noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
1.1003229919806443e-03 ]
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
1.4970418056326829e-05 ]
x: [ 0.0, 0.0 ]
y: [ 0.0, 0.0 ]
z: [ 0.0, 0.0 ]
ex_left_to_imu:
rotation: [ -6.4662000000000001e-03, -9.9994994000000004e-01,
-7.6356499999999999e-03, 9.9997908999999996e-01,
-6.4656599999999998e-03, -9.5580000000000003e-05,
4.6199999999999998e-05, -7.6361099999999998e-03,
9.9997084000000003e-01 ]
translation: [ 5.3364600000000003e-03, -4.3029220000000000e-02,
2.3031240000000001e-02 ]

62
samples/config/S210A/deprecated/img.params.old Normal file
View File

@ -0,0 +1,62 @@
%YAML:1.0
---
version: "1.1"
img_params_map:
-
in_left:
width: 640
height: 400
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
width: 640
height: 400
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]
-
in_left:
width: 1280
height: 800
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
width: 1280
height: 800
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]

15
samples/config/S210A/deprecated/imu.params.old Normal file
View File

@ -0,0 +1,15 @@
%YAML:1.0
---
in_accel:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
in_gyro:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
ex_left_to_imu:
rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
translation: [ 0., 0., 0. ]

12
samples/config/S210A/device.info Normal file
View File

@ -0,0 +1,12 @@
%YAML:1.0
---
device_name: MYNT-EYE-S210A
serial_number: "07C40D1C0009071F"
firmware_version: "1.1"
hardware_version: "1.0"
spec_version: "1.2"
lens_type: "0001"
imu_type: "0001"
nominal_baseline: 80
auxiliary_chip_version: "1.0"
isp_version: "1.0"

51
samples/config/S210A/img.params.equidistant Normal file
View File

@ -0,0 +1,51 @@
%YAML:1.0
---
version: "1.2"
img_params:
# There are two params of resolution [640x400], [1280x800].
# If you only set one of them, write will keep another params if it exists.
-
model: 1
width: 640
height: 400
in_left:
# coeffs: k2,k3,k4,k5,mu,mv,u0,v0
coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
5.3814579203036512e-02, -3.6663721418756977e-02,
3.6797709792391299e+02, 3.6808712539453859e+02,
3.7414963027144353e+02, 2.3125000326472903e+02 ]
in_right:
coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02,
4.0863326732708288e-02, -2.1522718578606163e-02,
3.6807315003638877e+02, 3.6806204885853174e+02,
3.8499216569965887e+02, 2.3183027347834383e+02 ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]
-
model: 1
width: 1280
height: 800
in_left:
coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
5.3814579203036512e-02, -3.6663721418756977e-02,
3.6797709792391299e+02, 3.6808712539453859e+02,
3.7414963027144353e+02, 2.3125000326472903e+02 ]
in_right:
coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
5.3814579203036512e-02, -3.6663721418756977e-02,
3.6797709792391299e+02, 3.6808712539453859e+02,
3.7414963027144353e+02, 2.3125000326472903e+02 ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]

62
samples/config/S210A/img.params.pinhole Normal file
View File

@ -0,0 +1,62 @@
%YAML:1.0
---
version: "1.2"
img_params:
# There are two params of resolution [640x400], [1280x800].
# If you only set one of them, write will keep another params if it exists.
-
model: 0
width: 640
height: 400
in_left:
# [fx 0 cx]
# [ 0 fy cy]
# [ 0 0 1]
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
# coeffs: k1,k2,p1,p2,k3
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]
-
model: 0
width: 1280
height: 800
in_left:
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]

33
samples/config/S210A/imu.params Normal file
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@ -0,0 +1,33 @@
%YAML:1.0
---
version: "1.2"
in_accel:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ]
drift: [ 0., 0., 0. ]
noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
1.7452487504590969e-02 ]
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
5.4490537096493644e-04 ]
x: [ 0.0, 0.0 ]
y: [ 0.0, 0.0 ]
z: [ 0.0, 0.0 ]
in_gyro:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ]
drift: [ 0., 0., 0. ]
noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
1.1003229919806443e-03 ]
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
1.4970418056326829e-05 ]
x: [ 0.0, 0.0 ]
y: [ 0.0, 0.0 ]
z: [ 0.0, 0.0 ]
ex_left_to_imu:
rotation: [ -6.4662000000000001e-03, -9.9994994000000004e-01,
-7.6356499999999999e-03, 9.9997908999999996e-01,
-6.4656599999999998e-03, -9.5580000000000003e-05,
4.6199999999999998e-05, -7.6361099999999998e-03,
9.9997084000000003e-01 ]
translation: [ 5.3364600000000003e-03, -4.3029220000000000e-02,
2.3031240000000001e-02 ]

590
samples/device_writer.cc Normal file
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// 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 "device_writer.h"
#include <vector>
#include <opencv2/core/core.hpp>
#include "mynteye/logger.h"
#include "mynteye/util/files.h"
#define SAVE_LATEST_VERSION Version(1, 2)
MYNTEYE_BEGIN_NAMESPACE
namespace tools {
DeviceWriter::DeviceWriter(std::shared_ptr<Device> device) : device_(device) {
VLOG(2) << __func__;
}
DeviceWriter::~DeviceWriter() {
VLOG(2) << __func__;
}
bool DeviceWriter::WriteDeviceInfo(const dev_info_t &info) {
// Update device info
auto &&dev_info = device_->GetInfo();
dev_info->lens_type = Type(info.lens_type);
dev_info->imu_type = Type(info.imu_type);
dev_info->nominal_baseline = info.nominal_baseline;
if (device_->SetFiles(dev_info.get(), nullptr, nullptr)) {
LOG(INFO) << "Write device info success";
LOG(INFO) << "Device info: {name: " << dev_info->name
<< ", serial_number: " << dev_info->serial_number
<< ", firmware_version: "
<< dev_info->firmware_version.to_string()
<< ", hardware_version: "
<< dev_info->hardware_version.to_string()
<< ", spec_version: " << dev_info->spec_version.to_string()
<< ", lens_type: " << dev_info->lens_type.to_string()
<< ", imu_type: " << dev_info->imu_type.to_string()
<< ", nominal_baseline: " << dev_info->nominal_baseline
<< ", auxiliary_chip_version: "
<< dev_info->auxiliary_chip_version.to_string()
<< ", isp_version: "
<< dev_info->isp_version.to_string()<< "}";
return true;
} else {
LOG(ERROR) << "Write device info failed";
return false;
}
}
bool DeviceWriter::WriteDeviceInfo(const std::string &filepath) {
return WriteDeviceInfo(LoadDeviceInfo(filepath));
}
bool DeviceWriter::WriteImgParams(const img_params_map_t &img_params_map) {
img_params_map_t *img_params_new =
const_cast<img_params_map_t *>(&img_params_map);
// Update image params with raw
auto &&img_params_raw = device_->GetImgParams();
for (auto entry_raw : img_params_raw) {
// Add raw params if not load this resolution
if (img_params_new->find(entry_raw.first) == img_params_new->end()) {
(*img_params_new)[entry_raw.first] = entry_raw.second;
}
}
if (device_->SetFiles(nullptr, img_params_new, nullptr)) {
LOG(INFO) << "Write img params success";
for (auto it = img_params_new->begin(); it != img_params_new->end(); it++) {
LOG(INFO) << "Resolution: {width: " << (*it).first.width
<< ", height: " << (*it).first.height << "}";
LOG(INFO) << "Intrinsics left: {" << *(*it).second.in_left << "}";
LOG(INFO) << "Intrinsics right: {" << *(*it).second.in_right << "}";
LOG(INFO) << "Extrinsics right to left: {"
<< (*it).second.ex_right_to_left << "}";
}
return true;
} else {
LOG(ERROR) << "Write img params failed";
return false;
}
}
bool DeviceWriter::WriteImgParams(const std::string &filepath) {
return WriteImgParams(LoadImgParams(filepath));
}
bool DeviceWriter::WriteImuParams(const imu_params_t &params) {
if (device_->SetFiles(
nullptr, nullptr, const_cast<imu_params_t *>(&params))) {
LOG(INFO) << "Write imu params success";
LOG(INFO) << "Imu intrinsics accel: {" << params.in_accel << "}";
LOG(INFO) << "Imu intrinsics gyro: {" << params.in_gyro << "}";
LOG(INFO) << "Imu extrinsics left to imu: {" << params.ex_left_to_imu
<< "}";
return true;
} else {
LOG(ERROR) << "Write imu params failed";
return false;
}
}
bool DeviceWriter::WriteImuParams(const std::string &filepath) {
return WriteImuParams(LoadImuParams(filepath));
}
namespace {
cv::FileStorage &operator<<(cv::FileStorage &fs, const IntrinsicsPinhole &in) {
fs << "{"
<< "fx" << in.fx << "fy" << in.fy
<< "cx" << in.cx << "cy" << in.cy
<< "coeffs" << std::vector<double>(in.coeffs, in.coeffs + 5) << "}";
return fs;
}
cv::FileStorage &operator<<(cv::FileStorage &fs,
const IntrinsicsEquidistant &in) {
fs << "{"
<< "coeffs" << std::vector<double>(in.coeffs, in.coeffs + 8) << "}";
return fs;
}
cv::FileStorage &operator<<(cv::FileStorage &fs,
const std::shared_ptr<IntrinsicsBase> &in) {
switch (in->calib_model()) {
case CalibrationModel::PINHOLE:
return fs << *std::dynamic_pointer_cast<IntrinsicsPinhole>(in);
case CalibrationModel::KANNALA_BRANDT:
return fs << *std::dynamic_pointer_cast<IntrinsicsEquidistant>(in);
default:
LOG(FATAL) << "Unknown calib model: " << in->calib_model();
return fs;
}
}
cv::FileStorage &operator<<(cv::FileStorage &fs, const ImuIntrinsics &in) {
std::vector<double> scales;
for (std::size_t i = 0; i < 3; i++) {
for (std::size_t j = 0; j < 3; j++) {
scales.push_back(in.scale[i][j]);
}
}
std::vector<double> assembly;
for (std::size_t i = 0; i < 3; i++) {
for (std::size_t j = 0; j < 3; j++) {
assembly.push_back(in.assembly[i][j]);
}
}
fs << "{"
<< "scale" << scales << "assembly" << assembly << "drift"
<< std::vector<double>(in.drift, in.drift + 3) << "noise"
<< std::vector<double>(in.noise, in.noise + 3) << "bias"
<< std::vector<double>(in.bias, in.bias + 3) << "x"
<< std::vector<double>(in.x, in.x + 2) << "y"
<< std::vector<double>(in.y, in.y + 2) << "z"
<< std::vector<double>(in.z, in.z + 2) << "}";
return fs;
}
cv::FileStorage &operator<<(cv::FileStorage &fs, const Extrinsics &ex) {
std::vector<double> rotations;
for (std::size_t i = 0; i < 3; i++) {
for (std::size_t j = 0; j < 3; j++) {
rotations.push_back(ex.rotation[i][j]);
}
}
fs << "{"
<< "rotation" << rotations << "translation"
<< std::vector<double>(ex.translation, ex.translation + 3) << "}";
return fs;
}
cv::FileStorage &operator<<(
cv::FileStorage &fs, const device::img_params_t &params) {
fs << "{"
<< "model" << static_cast<std::uint8_t>(params.in_left->calib_model())
<< "width" << params.in_left->width
<< "height" << params.in_left->height
<< "in_left" << params.in_left
<< "in_right" << params.in_right
<< "ex_right_to_left" << params.ex_right_to_left << "}";
return fs;
}
cv::FileStorage &operator<<(
cv::FileStorage &fs, const DeviceWriter::img_params_map_t &img_params_map) {
fs << "[";
std::map<Resolution, device::img_params_t>::const_iterator it;
for (it = img_params_map.begin(); it != img_params_map.end(); it++) {
fs << (*it).second;
}
fs << "]";
return fs;
}
} // namespace
bool DeviceWriter::SaveDeviceInfo(
const dev_info_t &info, const std::string &filepath) {
using FileStorage = cv::FileStorage;
FileStorage fs(filepath, FileStorage::WRITE);
if (!fs.isOpened()) {
LOG(ERROR) << "Failed to save file: " << filepath;
return false;
}
fs << "device_name" << info.name;
fs << "serial_number" << info.serial_number;
fs << "firmware_version" << info.firmware_version.to_string();
fs << "hardware_version" << info.hardware_version.to_string();
fs << "spec_version" << info.spec_version.to_string();
fs << "lens_type" << info.lens_type.to_string();
fs << "imu_type" << info.imu_type.to_string();
fs << "nominal_baseline" << info.nominal_baseline;
fs << "auxiliary_chip_version" << info.auxiliary_chip_version.to_string();
fs << "isp_version" << info.isp_version.to_string();
// save other infos according to spec_version
fs.release();
return true;
}
bool DeviceWriter::SaveImgParams(
const img_params_map_t &img_params_map,
const std::string &filepath) {
if (img_params_map.empty()) {
return false;
}
std::string version = img_params_map.begin()->second.version;
if (Version(version) > SAVE_LATEST_VERSION) {
LOG(ERROR) << "Failed to save img params of version " << version
<< ", please use latest SDK.";
return false;
}
// always save img params with latest version format
using FileStorage = cv::FileStorage;
FileStorage fs(filepath, FileStorage::WRITE);
if (!fs.isOpened()) {
LOG(ERROR) << "Failed to save file: " << filepath;
return false;
}
fs << "version" << SAVE_LATEST_VERSION.to_string()
<< "img_params" << img_params_map;
fs.release();
return true;
}
bool DeviceWriter::SaveImuParams(
const imu_params_t &params, const std::string &filepath) {
if (!params.ok) return false;
std::string version = params.version;
if (Version(version) > SAVE_LATEST_VERSION) {
LOG(ERROR) << "Failed to save imu params of version " << version
<< ", please use latest SDK.";
return false;
}
// always save imu params with latest version format
using FileStorage = cv::FileStorage;
FileStorage fs(filepath, FileStorage::WRITE);
if (!fs.isOpened()) {
LOG(ERROR) << "Failed to save file: " << filepath;
return false;
}
fs << "version" << SAVE_LATEST_VERSION.to_string()
<< "in_accel" << params.in_accel
<< "in_gyro" << params.in_gyro
<< "ex_left_to_imu" << params.ex_left_to_imu;
fs.release();
return true;
}
void DeviceWriter::SaveAllInfos(const std::string &dir) {
if (!files::mkdir(dir)) {
LOG(FATAL) << "Create directory failed: " << dir;
}
SaveDeviceInfo(*device_->GetInfo(), dir + MYNTEYE_OS_SEP "device.info");
SaveImgParams(device_->GetImgParams(), dir + MYNTEYE_OS_SEP "img.params");
SaveImuParams(device_->GetImuParams(), dir + MYNTEYE_OS_SEP "imu.params");
}
namespace {
// old
void to_intrinsics(
const std::uint16_t &width, const std::uint16_t &height,
const std::uint8_t &model, const cv::Mat &M, const cv::Mat &D,
IntrinsicsPinhole *in) {
in->width = width;
in->height = height;
/*
fx, 0, cx,
0, fy, cy,
0, 0, 1
*/
in->fx = M.at<double>(0, 0);
in->fy = M.at<double>(1, 1);
in->cx = M.at<double>(0, 2);
in->cy = M.at<double>(1, 2);
/* k1, k2, p1, p2, k3 */
in->model = model;
LOG_IF(FATAL, D.cols < 5) << "Distortion coefficients must >= 5 columns";
for (std::size_t i = 0; i < 5; i++) {
in->coeffs[i] = D.at<double>(i);
}
}
// old
void to_extrinsics(const cv::Mat &R, const cv::Mat &T, Extrinsics *ex) {
for (std::size_t i = 0; i < 3; i++) {
for (std::size_t j = 0; j < 3; j++) {
ex->rotation[i][j] = R.at<double>(i, j);
}
}
for (std::size_t i = 0; i < 3; i++) {
ex->translation[i] = T.at<double>(i);
}
}
// old
void operator>>(const cv::FileNode &n, IntrinsicsPinhole &in) {
n["width"] >> in.width;
n["height"] >> in.height;
n["fx"] >> in.fx;
n["fy"] >> in.fy;
n["cx"] >> in.cx;
n["cy"] >> in.cy;
n["model"] >> in.model;
for (std::size_t i = 0; i < 5; i++) {
in.coeffs[i] = n["coeffs"][i];
}
}
void operator>>(const cv::FileNode &n, ImuIntrinsics &in) {
for (std::size_t i = 0; i < 3; i++) {
for (std::size_t j = 0; j < 3; j++) {
in.scale[i][j] = n["scale"][3 * i + j];
}
}
for (std::size_t i = 0; i < 3; i++) {
for (std::size_t j = 0; j < 3; j++) {
in.assembly[i][j] = n["assembly"][3 * i + j];
}
}
for (std::size_t i = 0; i < 3; i++) {
in.drift[i] = n["drift"][i];
}
for (std::size_t i = 0; i < 3; i++) {
in.noise[i] = n["noise"][i];
}
for (std::size_t i = 0; i < 3; i++) {
in.bias[i] = n["bias"][i];
}
for (std::size_t i = 0; i < 2; i++) {
in.x[i] = n["x"][i];
}
for (std::size_t i = 0; i < 2; i++) {
in.y[i] = n["y"][i];
}
for (std::size_t i = 0; i < 2; i++) {
in.z[i] = n["z"][i];
}
}
void operator>>(const cv::FileNode &n, Extrinsics &ex) {
for (std::size_t i = 0; i < 3; i++) {
for (std::size_t j = 0; j < 3; j++) {
ex.rotation[i][j] = n["rotation"][3 * i + j];
}
}
for (std::size_t i = 0; i < 3; i++) {
ex.translation[i] = n["translation"][i];
}
}
// old
void operator>>(const cv::FileNode &n, DeviceWriter::img_params_t &params) {
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
params.in_left = in_left;
params.in_right = in_right;
n["in_left"] >> *in_left;
n["in_right"] >> *in_right;
n["ex_right_to_left"] >> params.ex_right_to_left;
}
std::shared_ptr<IntrinsicsPinhole> to_intrinsics_pinhole(
const cv::FileNode &n, const std::uint8_t &model,
const std::uint16_t &width, const std::uint16_t &height) {
auto in = std::make_shared<IntrinsicsPinhole>();
in->width = width;
in->height = height;
in->model = model;
n["fx"] >> in->fx;
n["fy"] >> in->fy;
n["cx"] >> in->cx;
n["cy"] >> in->cy;
for (std::size_t i = 0; i < 5; i++) {
in->coeffs[i] = n["coeffs"][i];
}
return in;
}
std::shared_ptr<IntrinsicsEquidistant> to_intrinsics_equidistant(
const cv::FileNode &n, const std::uint8_t &model,
const std::uint16_t &width, const std::uint16_t &height) {
auto in = std::make_shared<IntrinsicsEquidistant>();
in->width = width;
in->height = height;
for (std::size_t i = 0; i < 8; i++) {
in->coeffs[i] = n["coeffs"][i];
}
MYNTEYE_UNUSED(model)
return in;
}
DeviceWriter::img_params_t to_img_params(
const cv::FileNode &n, const std::uint8_t &model,
const std::uint16_t &width, const std::uint16_t &height) {
DeviceWriter::img_params_t params;
params.ok = false;
CalibrationModel calib_model = static_cast<CalibrationModel>(model);
switch (calib_model) {
case CalibrationModel::PINHOLE: {
params.ok = true;
params.in_left = to_intrinsics_pinhole(
n["in_left"], model, width, height);
params.in_right = to_intrinsics_pinhole(
n["in_right"], model, width, height);
n["ex_right_to_left"] >> params.ex_right_to_left;
} break;
case CalibrationModel::KANNALA_BRANDT: {
params.ok = true;
params.in_left = to_intrinsics_equidistant(
n["in_left"], model, width, height);
params.in_right = to_intrinsics_equidistant(
n["in_right"], model, width, height);
n["ex_right_to_left"] >> params.ex_right_to_left;
} break;
default:
LOG(FATAL) << "Could not load img params as unknown calib model"
", please use latest SDK.";
}
return params;
}
} // namespace
DeviceWriter::dev_info_t DeviceWriter::LoadDeviceInfo(
const std::string &filepath) {
using FileStorage = cv::FileStorage;
FileStorage fs(filepath, FileStorage::READ);
if (!fs.isOpened()) {
LOG(FATAL) << "Failed to load file: " << filepath;
}
DeviceInfo info;
info.lens_type = Type(std::string(fs["lens_type"]));
info.imu_type = Type(std::string(fs["imu_type"]));
fs["nominal_baseline"] >> info.nominal_baseline;
fs.release();
return info;
}
DeviceWriter::img_params_map_t DeviceWriter::LoadImgParams(
const std::string &filepath) {
using FileStorage = cv::FileStorage;
FileStorage fs(filepath, FileStorage::READ);
if (!fs.isOpened()) {
LOG(FATAL) << "Failed to load file: " << filepath;
}
img_params_map_t img_params_map;
if (!fs["version"].isNone()) {
std::string version = std::string(fs["version"]);
// load params according to verison
if (version == "1.0") {
fs["img_params_map"][0] >> img_params_map[{752, 480}];
} else if (version == "1.1") {
fs["img_params_map"][0] >> img_params_map[{1280, 400}];
fs["img_params_map"][1] >> img_params_map[{2560, 800}];
} else if (version == "1.2") {
auto node = fs["img_params"];
for (auto it = node.begin(); it < node.end(); it++) {
std::uint8_t model;
std::uint16_t width, height;
(*it)["model"] >> model;
(*it)["width"] >> width;
(*it)["height"] >> height;
auto params = to_img_params(*it, model, width, height);
if (params.ok) {
params.version = version;
img_params_map[{width, height}] = params;
}
}
} else {
LOG(ERROR) << "Failed to load img params of version " << version
<< ", please use latest SDK.";
}
} else {
// load old params s1030
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
Extrinsics ex_right_to_left;
if (fs["in_left"].isNone()) {
std::uint16_t w = 752;
std::uint16_t h = 480;
std::uint8_t m = 0;
if (!fs["width"].isNone())
w = static_cast<int>(fs["width"]);
if (!fs["height"].isNone())
h = static_cast<int>(fs["height"]);
if (!fs["model"].isNone())
m = static_cast<int>(fs["model"]);
cv::Mat M1, D1, M2, D2, R, T;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
fs["R"] >> R;
fs["T"] >> T;
to_intrinsics(w, h, m, M1, D1, in_left.get());
to_intrinsics(w, h, m, M2, D2, in_right.get());
to_extrinsics(R, T, &ex_right_to_left);
} else {
fs["in_left"] >> *in_left;
fs["in_right"] >> *in_right;
fs["ex_right_to_left"] >> ex_right_to_left;
}
img_params_map[{752, 480}] = {
true, "1.0", in_left, in_right, ex_right_to_left
};
}
fs.release();
return img_params_map;
}
DeviceWriter::imu_params_t DeviceWriter::LoadImuParams(
const std::string &filepath) {
using FileStorage = cv::FileStorage;
FileStorage fs(filepath, FileStorage::READ);
if (!fs.isOpened()) {
LOG(FATAL) << "Failed to load file: " << filepath;
}
imu_params_t params;
if (!fs["version"].isNone()) {
std::string version = std::string(fs["version"]);
// load params according to verison
if (version == "1.2") {
params.version = version;
fs["in_accel"] >> params.in_accel;
fs["in_gyro"] >> params.in_gyro;
fs["ex_left_to_imu"] >> params.ex_left_to_imu;
} else {
LOG(ERROR) << "Failed to load imu params of version " << version
<< ", please use latest SDK.";
}
} else {
// load old params
fs["in_accel"] >> params.in_accel;
fs["in_gyro"] >> params.in_gyro;
fs["ex_left_to_imu"] >> params.ex_left_to_imu;
}
fs.release();
return params;
}
} // namespace tools
MYNTEYE_END_NAMESPACE

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// 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.
#ifndef MYNTEYE_TOOLS_DEVICE_WRITER_H_ // NOLINT
#define MYNTEYE_TOOLS_DEVICE_WRITER_H_
#pragma once
#include <map>
#include <memory>
#include <string>
#include "mynteye/device/device.h"
MYNTEYE_BEGIN_NAMESPACE
class Device;
namespace tools {
class DeviceWriter {
public:
using dev_info_t = DeviceInfo;
using imu_params_t = device::imu_params_t;
using img_params_t = device::img_params_t;
using img_params_map_t = std::map<Resolution, device::img_params_t>;
explicit DeviceWriter(std::shared_ptr<Device> device);
~DeviceWriter();
bool WriteDeviceInfo(const dev_info_t &info);
bool WriteDeviceInfo(const std::string &filepath);
bool WriteImgParams(const img_params_map_t &img_params_map);
bool WriteImgParams(const std::string &filepath);
bool WriteImuParams(const imu_params_t &params);
bool WriteImuParams(const std::string &filepath);
bool SaveDeviceInfo(const dev_info_t &info, const std::string &filepath);
bool SaveImgParams(const img_params_map_t &img_params_map,
const std::string &filepath);
bool SaveImuParams(const imu_params_t &params, const std::string &filepath);
/** Save all infos of this device */
void SaveAllInfos(const std::string &dir);
private:
dev_info_t LoadDeviceInfo(const std::string &filepath);
img_params_map_t LoadImgParams(const std::string &filepath);
imu_params_t LoadImuParams(const std::string &filepath);
std::shared_ptr<Device> device_;
};
} // namespace tools
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_TOOLS_DEVICE_WRITER_H_ NOLINT

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// 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/device.h"
#include "mynteye/device/utils.h"
#include "device_writer.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
std::string dir{"config"};
if (argc >= 2) {
dir = argv[1];
}
auto &&device = device::select();
if (!device)
return 1;
dir.append(MYNTEYE_OS_SEP).append(device->GetInfo()->name);
dir.append(MYNTEYE_OS_SEP "SN").append(device->GetInfo()->serial_number);
tools::DeviceWriter writer(device);
writer.SaveAllInfos(dir);
LOG(INFO) << "Save all infos to \"" << dir << "\"";
return 0;
}

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// 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/device.h"
#include "mynteye/device/utils.h"
#include "device_writer.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
const char *filepath;
if (argc >= 2) {
filepath = argv[1];
} else {
LOG(ERROR) << "Usage: ./device_info_writer <filepath>";
return 2;
}
auto &&device = device::select();
if (!device)
return 1;
tools::DeviceWriter writer(device);
writer.WriteDeviceInfo(filepath);
return 0;
}

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// 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/device.h"
#include "mynteye/device/utils.h"
#include "device_writer.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
const char *filepath;
if (argc >= 2) {
filepath = argv[1];
} else {
LOG(ERROR) << "Usage: ./img_params_writer <filepath>";
return 2;
}
auto &&device = device::select();
if (!device)
return 1;
tools::DeviceWriter writer(device);
writer.WriteImgParams(filepath);
return 0;
}

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// 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/device.h"
#include "mynteye/device/utils.h"
#include "device_writer.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
const char *filepath;
if (argc >= 2) {
filepath = argv[1];
} else {
LOG(ERROR) << "Usage: ./imu_params_writer <filepath>";
return 2;
}
auto &&device = device::select();
if (!device)
return 1;
tools::DeviceWriter writer(device);
writer.WriteImuParams(filepath);
return 0;
}