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Add imu range setting

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This commit is contained in:
kalman 2018-11-20 15:23:07 +08:00
parent 6d39773439
commit ee19a8c857
9 changed files with 147 additions and 8 deletions
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2
doc/zh-Hans/spec_control_api.md
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@ -26,3 +26,5 @@
| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0：10-bit；1：12-bit |
| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |

12
include/mynteye/types.h
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@ -195,6 +195,18 @@ enum class Option : std::uint8_t {
ZERO_DRIFT_CALIBRATION,
/** Erase chip */
ERASE_CHIP,
/**
* The range of accelerometer
*
* values: {4,8,16,32}, default: 8
*/
ACCELEROMETER_RANGE,
/**
* The range of gyroscope
*
* values: {500,1000,2000,4000}, default: 1000
*/
GYROSCOPE_RANGE,
/** Last guard */
LAST
};

1
samples/tutorials/CMakeLists.txt
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@ -114,6 +114,7 @@ make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
## control
make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV)
make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
make_executable2(ctrl_auto_exposure
SRCS control/auto_exposure.cc util/cv_painter.cc
WITH_OPENCV

89
samples/tutorials/control/imu_range.cc Normal file
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@ -0,0 +1,89 @@
// 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 <atomic>
#include <opencv2/highgui/highgui.hpp>
#include "mynteye/logger.h"
#include "mynteye/api/api.h"
#include "mynteye/util/times.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
// ACCELEROMETER_RANGE values: 4, 8, 16, 32
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
// GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
LOG(INFO) << "Set ACCELEROMETER_RANGE to "
<< api->GetOptionValue(Option::ACCELEROMETER_RANGE);
LOG(INFO) << "Set GYROSCOPE_RANGE to "
<< api->GetOptionValue(Option::GYROSCOPE_RANGE);
// Count img
std::atomic_uint img_count(0);
api->SetStreamCallback(
Stream::LEFT, [&img_count](const api::StreamData &data) {
CHECK_NOTNULL(data.img);
++img_count;
});
// Count imu
std::atomic_uint imu_count(0);
api->SetMotionCallback([&imu_count](const api::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
});
api->Start(Source::ALL);
cv::namedWindow("frame");
auto &&time_beg = times::now();
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);
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
auto &&time_end = times::now();
api->Stop(Source::ALL);
// Calculate img fps and imu hz
float elapsed_ms =
times::count<times::microseconds>(time_end - time_beg) * 0.001f;
LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
<< ", end: " << times::to_local_string(time_end)
<< ", cost: " << elapsed_ms << "ms";
LOG(INFO) << "Img count: " << img_count
<< ", fps: " << (1000.f * img_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
return 0;
}

23
src/mynteye/device/channels.cc
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@ -63,6 +63,12 @@ int XuCamCtrlId(Option option) {
case Option::FRAME_RATE:
return 7;
break;
case Option::ACCELEROMETER_RANGE:
return 9;
break;
case Option::GYROSCOPE_RANGE:
return 10;
break;
default:
LOG(FATAL) << "No cam ctrl id for " << option;
}
@ -135,7 +141,8 @@ void Channels::UpdateControlInfos() {
for (auto &&option : std::vector<Option>{
Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE}) {
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE,
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}) {
control_infos_[option] = XuControlInfo(option);
}
@ -177,6 +184,8 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL:
case Option::HDR_MODE:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
return XuCamCtrlGet(option);
case Option::ZERO_DRIFT_CALIBRATION:
case Option::ERASE_CHIP:
@ -232,6 +241,16 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
break;
XuCamCtrlSet(option, value);
} break;
case Option::ACCELEROMETER_RANGE: {
if (!in_range() || !in_values({4, 8, 16, 32}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::GYROSCOPE_RANGE: {
if (!in_range() || !in_values({500, 1000, 2000, 4000}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::EXPOSURE_MODE:
case Option::MAX_GAIN:
case Option::MAX_EXPOSURE_TIME:
@ -268,6 +287,8 @@ bool Channels::RunControlAction(const Option &option) const {
case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL:
case Option::HDR_MODE:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
LOG(WARNING) << option << " run action useless";
return false;
default:

3
src/mynteye/device/config.cc
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@ -26,7 +26,8 @@ const std::map<Model, OptionSupports> option_supports_map = {
{Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST, Option::FRAME_RATE,
Option::IMU_FREQUENCY, Option::EXPOSURE_MODE, Option::MAX_GAIN,
Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP}}};
Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP,
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}}};
const std::map<Model, std::map<Capabilities, StreamRequests>>
stream_requests_map = {

20
src/mynteye/device/motions.cc
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@ -34,6 +34,14 @@ Motions::~Motions() {
void Motions::SetMotionCallback(motion_callback_t callback) {
motion_callback_ = callback;
if (motion_callback_) {
accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
if (accel_range == -1)
accel_range = 8;
gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
if (gyro_range == -1)
gyro_range = 1000;
channels_->SetImuCallback([this](const ImuPacket &packet) {
if (!motion_callback_ && !motion_datas_enabled_) {
return;
@ -46,12 +54,12 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
// LOG(WARNING) << "Imu timestamp offset is incorrect";
// }
imu->timestamp = packet.timestamp + seg.offset;
imu->accel[0] = seg.accel[0] * 8.f / 0x10000;
imu->accel[1] = seg.accel[1] * 8.f / 0x10000;
imu->accel[2] = seg.accel[2] * 8.f / 0x10000;
imu->gyro[0] = seg.gyro[0] * 1000.f / 0x10000;
imu->gyro[1] = seg.gyro[1] * 1000.f / 0x10000;
imu->gyro[2] = seg.gyro[2] * 1000.f / 0x10000;
imu->accel[0] = seg.accel[0] * 1.f * accel_range / 0x10000;
imu->accel[1] = seg.accel[1] * 1.f * accel_range / 0x10000;
imu->accel[2] = seg.accel[2] * 1.f * accel_range / 0x10000;
imu->gyro[0] = seg.gyro[0] * 1.f * gyro_range / 0x10000;
imu->gyro[1] = seg.gyro[1] * 1.f * gyro_range / 0x10000;
imu->gyro[2] = seg.gyro[2] * 1.f * gyro_range / 0x10000;
imu->temperature = seg.temperature / 326.8f + 25;
std::lock_guard<std::mutex> _(mtx_datas_);

3
src/mynteye/device/motions.h
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@ -57,6 +57,9 @@ class Motions {
bool is_imu_tracking;
std::mutex mtx_datas_;
int accel_range = 8;
int gyro_range = 1000;
};
MYNTEYE_END_NAMESPACE

2
src/mynteye/types.cc
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@ -114,6 +114,8 @@ const char *to_string(const Option &value) {
CASE(HDR_MODE)
CASE(ZERO_DRIFT_CALIBRATION)
CASE(ERASE_CHIP)
CASE(ACCELEROMETER_RANGE)
CASE(GYROSCOPE_RANGE)
default:
CHECK(is_valid(value));
return "Option::UNKNOWN";