MYNT-EYE-S-SDK/samples/get_imu_correspondence.cc

148 lines
4.2 KiB
C++

// 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 <opencv2/highgui/highgui.hpp>
#include "mynteye/logger.h"
#include "mynteye/api/api.h"
#include "util_cv.h"
// #define CHECK_ACCEL_THEN_GYRO
#define SEQ_FIRST 1 // accel
#define SEQ_SECOND 2 // gyro
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// Enable motion datas with timestamp correspondence of some stream
api->EnableTimestampCorrespondence(Stream::LEFT);
api->Start(Source::ALL);
CVPainter painter;
cv::namedWindow("frame");
std::uint64_t prev_img_stamp = 0;
std::uint64_t prev_imu_stamp = 0;
#ifdef CHECK_ACCEL_THEN_GYRO
std::uint8_t prev_imu_flag = 0;
std::uint64_t imu_count = 0;
std::uint64_t imu_disorder_count = 0;
bool exit = false;
#endif
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
if (!left_data.frame.empty() || !right_data.frame.empty()) {
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;
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
auto &&motion_datas = api->GetMotionDatas();
LOG(INFO) << "Imu count: " << motion_datas.size();
if (motion_datas.size() == 0) {
continue;
}
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
<< ", 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;
}
}
#endif
LOG(INFO) << ss.str();
prev_imu_stamp = imu_stamp;
}
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() && motion_datas.size() > 0) {
painter.DrawImuData(img, *motion_datas[0].imu);
}
*/
cv::imshow("frame", img);
}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
api->Stop(Source::ALL);
#ifdef CHECK_ACCEL_THEN_GYRO
if (imu_disorder_count > 0) {
LOG(INFO) << "accel_then_gyro, disorder_count: " << imu_disorder_count
<< "/" << imu_count;
} else {
LOG(INFO) << "accel_then_gyro, ok";
}
#endif
return 0;
}