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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

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This commit is contained in:
TinyOh 2019-01-16 10:42:43 +08:00
commit effa0ba2ad
4 changed files with 22 additions and 67 deletions
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4
samples/tutorials/CMakeLists.txt
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@ -127,10 +127,6 @@ make_executable2(ctrl_manual_exposure
WITH_OPENCV
)
# intermediate level
make_executable2(get_all_device_info SRCS intermediate/get_all_device_info.cc WITH_OPENCV)
if(PCL_FOUND)
if(OpenCV_VERSION VERSION_LESS 4.0)

50
samples/tutorials/intermediate/get_all_device_info.cc
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@ -1,50 +0,0 @@
// 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/context.h"
#include "mynteye/device/device.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
LOG(INFO) << "Detecting MYNT EYE devices";
Context context;
auto &&devices = context.devices();
size_t n = devices.size();
if (n <= 0) {
LOG(ERROR) << "No MYNT EYE devices :(";
return 1;
}
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
LOG(INFO) << "MYNT EYE device index: " << i;
LOG(INFO) << " Device name: " << device->GetInfo(Info::DEVICE_NAME);
LOG(INFO) << " Serial number: " << device->GetInfo(Info::SERIAL_NUMBER);
LOG(INFO) << " Firmware version: "
<< device->GetInfo(Info::FIRMWARE_VERSION);
LOG(INFO) << " Hardware version: "
<< device->GetInfo(Info::HARDWARE_VERSION);
LOG(INFO) << " Spec version: " << device->GetInfo(Info::SPEC_VERSION);
LOG(INFO) << " Lens type: " << device->GetInfo(Info::LENS_TYPE);
LOG(INFO) << " IMU type: " << device->GetInfo(Info::IMU_TYPE);
LOG(INFO) << " Nominal baseline: "
<< device->GetInfo(Info::NOMINAL_BASELINE);
}
return 0;
}

11
tools/analytics/stamp_analytics.py
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@ -15,7 +15,6 @@
# limitations under the License.
# pylint: disable=missing-docstring
from __future__ import print_function
import os
@ -27,7 +26,6 @@ sys.path.append(os.path.join(TOOLBOX_DIR, 'internal'))
# pylint: disable=import-error,wrong-import-position
from data import ROSBag, MYNTEYE, What
ANGLE_DEGREES = 'd'
ANGLE_RADIANS = 'r'
ANGLE_UNITS = (ANGLE_DEGREES, ANGLE_RADIANS)
@ -38,6 +36,11 @@ BIN_IMU_NAME = 'stamp_analytics_imu.bin'
RESULT_FIGURE = 'stamp_analytics.png'
IMU_ALL = 0
IMU_ACCEL = 1
IMU_GYRO = 2
class BinDataset(object):
def __init__(self, path, dataset_creator):
@ -147,9 +150,9 @@ class BinDataset(object):
imgs_t_diff = np.diff(imgs['t'])
# imus_t_diff = np.diff(imus['t'])
accel = imus[imus['flag'] == 1]
accel = imus[(imus['flag'] == IMU_ALL) | (imus['flag'] == IMU_ACCEL)]
accel_t_diff = np.diff(accel['t'])
gyro = imus[imus['flag'] == 2]
gyro = imus[(imus['flag'] == IMU_ALL) | (imus['flag'] == IMU_GYRO)]
gyro_t_diff = np.diff(gyro['t'])
print('\ncount')

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

@ -72,6 +72,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
<< (right_count_ / compute_time(time_end, right_time_beg_));
}
if (imu_time_beg_ != -1) {
if (model_ == Model::STANDARD) {
LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
<< (imu_count_ /
compute_time(time_end, imu_time_beg_));
} else {
if (publish_imu_by_sync_) {
LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
<< (imu_sync_count_ /
@ -82,6 +87,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
compute_time(time_end, imu_time_beg_));
}
}
}
// ROS messages could not be reliably printed here, using glog instead :(
// ros::Duration(1).sleep(); // 1s
@ -1327,7 +1333,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::size_t imu_sync_count_ = 0;
std::shared_ptr<ImuData> imu_accel_;
std::shared_ptr<ImuData> imu_gyro_;
bool publish_imu_by_sync_ = false;
bool publish_imu_by_sync_ = true;
std::map<Stream, bool> is_published_;
bool is_motion_published_;
bool is_started_;