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9 Commits
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@@ -14,7 +14,7 @@
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cmake_minimum_required(VERSION 3.0)
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project(mynteye VERSION 2.2.3 LANGUAGES C CXX)
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project(mynteye VERSION 2.2.4 LANGUAGES C CXX)
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include(cmake/Common.cmake)
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12
README.md
12
README.md
@@ -1,6 +1,6 @@
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# MYNT® EYE S SDK
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[](https://github.com/slightech/MYNT-EYE-S-SDK)
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[](https://github.com/slightech/MYNT-EYE-S-SDK)
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## Overview
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@@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
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## Documentations
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* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708507/mynt-eye-s-sdk-apidoc-2.2.3-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708508/mynt-eye-s-sdk-apidoc-2.2.3-en.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.3-en/mynt-eye-s-sdk-apidoc-2.2.3-en/index.html)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708509/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708510/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans/index.html)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717670/mynt-eye-s-sdk-apidoc-2.2.4-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717671/mynt-eye-s-sdk-apidoc-2.2.4-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717672/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717673/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans/index.html)
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* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708524/mynt-eye-s-sdk-guide-2.2.3-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708525/mynt-eye-s-sdk-guide-2.2.3-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708528/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708529/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.zip) [](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.3-zh-Hans/mynt-eye-s-sdk-guide-2.2.3-zh-Hans/index.html)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717663/mynt-eye-s-sdk-guide-2.2.4-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717664/mynt-eye-s-sdk-guide-2.2.4-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717665/mynt-eye-s-sdk-guide-2.2.4-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717666/mynt-eye-s-sdk-guide-2.2.4-zh-Hans.zip) [](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.4-zh-Hans/mynt-eye-s-sdk-guide-2.2.4-zh-Hans/index.html)
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> Supported languages: `en`, `zh-Hans`.
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@@ -29,7 +29,7 @@ Please follow the guide doc to install the SDK on different platforms.
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[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
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Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.3`.
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Get firmwares from our online disks: [MYNTEYE_BOX][].
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## Usage
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@@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
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# could be handy for archiving the generated documentation or if some version
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# control system is used.
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PROJECT_NUMBER = 2.2.3
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PROJECT_NUMBER = 2.2.4
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a
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@@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
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# could be handy for archiving the generated documentation or if some version
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# control system is used.
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PROJECT_NUMBER = 2.2.3
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PROJECT_NUMBER = 2.2.4
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a
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@@ -50,7 +50,8 @@ inline double compute_time(const double end, const double start) {
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class ROSWrapperNodelet : public nodelet::Nodelet {
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public:
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ROSWrapperNodelet() {}
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ROSWrapperNodelet() {
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}
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~ROSWrapperNodelet() {
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// std::cout << __func__ << std::endl;
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@@ -110,7 +111,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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return now == pre;
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}
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inline bool is_annormal(std::uint32_t now,
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inline bool is_abnormal(std::uint32_t now,
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std::uint32_t pre) {
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static std::uint64_t unit =
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std::numeric_limits<std::uint32_t>::max();
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@@ -127,11 +128,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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if (is_overflow(_hard_time, hard_time_now[stream])) {
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acc[stream]++;
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} else if (is_repeated(_hard_time, hard_time_now[stream])) {
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NODELET_INFO_STREAM("WARNING:: Image time stamp is repeated.");
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} else if (is_annormal(_hard_time, hard_time_now[stream])) {
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NODELET_INFO_STREAM("WARNING:: Image time stamp is annormal.");
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}
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hard_time_now[stream] = _hard_time;
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return hardTimeToSoftTime(
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@@ -145,11 +143,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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if (is_overflow(_hard_time, hard_time_now)) {
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acc++;
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} else if (is_repeated(_hard_time, hard_time_now)) {
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NODELET_INFO_STREAM("WARNING:: Imu time stamp is repeated.");
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} else if (is_annormal(_hard_time, hard_time_now)) {
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NODELET_INFO_STREAM("WARNING:: Imu time stamp is annormal.");
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}
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hard_time_now = _hard_time;
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return hardTimeToSoftTime(
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@@ -160,6 +155,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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initDevice();
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NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
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pthread_mutex_init(&mutex_data_, nullptr);
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nh_ = getMTNodeHandle();
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private_nh_ = getMTPrivateNodeHandle();
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@@ -420,7 +416,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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if (camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 &&
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!is_published_[Stream::LEFT]) {
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api_->SetStreamCallback(
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Stream::LEFT, [this](const api::StreamData &data) {
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Stream::LEFT, [&](const api::StreamData &data) {
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// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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ros::Time stamp = checkUpTimeStamp(
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data.img->timestamp, Stream::LEFT);
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@@ -451,7 +447,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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if (camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 &&
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!is_published_[Stream::RIGHT]) {
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api_->SetStreamCallback(
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Stream::RIGHT, [this](const api::StreamData &data) {
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Stream::RIGHT, [&](const api::StreamData &data) {
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// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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ros::Time stamp = checkUpTimeStamp(
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data.img->timestamp, Stream::RIGHT);
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@@ -532,12 +528,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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header.seq = seq;
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header.stamp = stamp;
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header.frame_id = frame_ids_[stream];
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pthread_mutex_lock(&mutex_data_);
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cv::Mat img = data.frame;
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if (stream == Stream::DISPARITY) { // 32FC1 > 8UC1 = MONO8
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img.convertTo(img, CV_8UC1);
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}
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auto &&msg =
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cv_bridge::CvImage(header, camera_encodings_[stream], img).toImageMsg();
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pthread_mutex_unlock(&mutex_data_);
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auto &&info = getCameraInfo(stream);
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info->header.stamp = msg->header.stamp;
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camera_publishers_[stream].publish(msg, info);
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@@ -972,6 +970,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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ros::NodeHandle nh_;
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ros::NodeHandle private_nh_;
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pthread_mutex_t mutex_data_;
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// camera:
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// LEFT, RIGHT, LEFT_RECTIFIED, RIGHT_RECTIFIED,
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// DISPARITY, DISPARITY_NORMALIZED,
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