rename device
This commit is contained in:
Vladyslav Usenko
parent
ae199327fe
commit
e1a1c3c3d0
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@ -73,17 +73,18 @@ struct RsPoseData {
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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class Device {
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class RsT265Device {
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public:
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using Ptr = std::shared_ptr<Device>;
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using Ptr = std::shared_ptr<RsT265Device>;
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static constexpr int IMU_RATE = 200;
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static constexpr int NUM_CAMS = 2;
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Device(bool manual_exposure, int skip_frames, int webp_quality,
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double exposure_value = 10.0);
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~Device();
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RsT265Device(bool manual_exposure, int skip_frames, int webp_quality,
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double exposure_value = 10.0);
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~RsT265Device();
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void start();
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void stop();
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bool setExposure(double exposure); // in milliseconds
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void setSkipFrames(int skip);
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@ -102,15 +103,16 @@ class Device {
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int skip_frames;
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int webp_quality;
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rs2::config config;
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rs2::pipeline pipe;
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rs2::context context;
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rs2::pipeline_profile profile;
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Eigen::deque<RsIMUData> gyro_data_queue;
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std::shared_ptr<RsIMUData> prev_accel_data;
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std::shared_ptr<basalt::Calibration<double>> calib;
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rs2::context context;
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rs2::config config;
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rs2::pipeline pipe;
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rs2::pipeline_profile profile;
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};
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} // namespace basalt
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@ -39,8 +39,8 @@ std::string get_date();
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namespace basalt {
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Device::Device(bool manual_exposure, int skip_frames, int webp_quality,
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double exposure_value)
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RsT265Device::RsT265Device(bool manual_exposure, int skip_frames,
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int webp_quality, double exposure_value)
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: manual_exposure(manual_exposure),
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skip_frames(skip_frames),
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webp_quality(webp_quality) {
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@ -82,9 +82,9 @@ Device::Device(bool manual_exposure, int skip_frames, int webp_quality,
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}
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}
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Device::~Device() = default;
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RsT265Device::~RsT265Device(){};
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void Device::start() {
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void RsT265Device::start() {
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auto callback = [&](const rs2::frame& frame) {
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exportCalibration();
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@ -206,7 +206,12 @@ void Device::start() {
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profile = pipe.start(config, callback);
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}
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bool Device::setExposure(double exposure) {
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void RsT265Device::stop() {
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if (image_data_queue) image_data_queue->push(nullptr);
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if (imu_data_queue) imu_data_queue->push(nullptr);
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}
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bool RsT265Device::setExposure(double exposure) {
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if (!manual_exposure) return false;
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auto device = context.query_devices()[0];
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@ -215,11 +220,11 @@ bool Device::setExposure(double exposure) {
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return true;
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}
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void Device::setSkipFrames(int skip) { skip_frames = skip; }
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void RsT265Device::setSkipFrames(int skip) { skip_frames = skip; }
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void Device::setWebpQuality(int quality) { webp_quality = quality; }
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void RsT265Device::setWebpQuality(int quality) { webp_quality = quality; }
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std::shared_ptr<basalt::Calibration<double>> Device::exportCalibration() {
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std::shared_ptr<basalt::Calibration<double>> RsT265Device::exportCalibration() {
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using Scalar = double;
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if (calib.get()) return calib;
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@ -64,7 +64,7 @@ namespace fs = std::experimental::filesystem;
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constexpr int UI_WIDTH = 200;
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basalt::Device::Ptr t265_device;
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basalt::RsT265Device::Ptr t265_device;
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std::shared_ptr<pangolin::DataLog> imu_log;
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@ -81,7 +81,7 @@ std::atomic<bool> recording;
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std::string dataset_dir;
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static constexpr int NUM_CAMS = basalt::Device::NUM_CAMS;
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static constexpr int NUM_CAMS = basalt::RsT265Device::NUM_CAMS;
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static constexpr int NUM_WORKERS = 8;
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std::ofstream cam_data[NUM_CAMS], exposure_data[NUM_CAMS], imu0_data, pose_data;
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@ -192,7 +192,7 @@ void pose_save_worker() {
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}
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}
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void save_calibration(const basalt::Device::Ptr &device) {
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void save_calibration(const basalt::RsT265Device::Ptr &device) {
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auto calib = device->exportCalibration();
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if (calib) {
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@ -317,8 +317,8 @@ int main(int argc, char *argv[]) {
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pose_data_queue.set_capacity(10000);
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// realsense
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t265_device.reset(
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new basalt::Device(manual_exposure, skip_frames, webp_quality, exposure));
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t265_device.reset(new basalt::RsT265Device(manual_exposure, skip_frames,
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webp_quality, exposure));
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t265_device->image_data_queue = &image_data_queue;
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t265_device->imu_data_queue = &imu_data_queue;
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@ -352,7 +352,7 @@ int main(int argc, char *argv[]) {
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pangolin::Attach::Pix(UI_WIDTH));
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std::vector<std::shared_ptr<pangolin::ImageView>> img_view;
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while (img_view.size() < basalt::Device::NUM_CAMS) {
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while (img_view.size() < basalt::RsT265Device::NUM_CAMS) {
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int idx = img_view.size();
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std::shared_ptr<pangolin::ImageView> iv(new pangolin::ImageView);
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@ -414,7 +414,8 @@ int main(int argc, char *argv[]) {
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fmt.scalable_internal_format = GL_LUMINANCE16;
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if (t265_device->last_img_data.get())
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for (size_t cam_id = 0; cam_id < basalt::Device::NUM_CAMS; cam_id++) {
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for (size_t cam_id = 0; cam_id < basalt::RsT265Device::NUM_CAMS;
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cam_id++) {
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if (t265_device->last_img_data->img_data[cam_id].img.get())
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img_view[cam_id]->SetImage(
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t265_device->last_img_data->img_data[cam_id].img->ptr,
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@ -74,7 +74,7 @@ void draw_plots();
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// Pangolin variables
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constexpr int UI_WIDTH = 200;
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basalt::Device::Ptr t265_device;
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basalt::RsT265Device::Ptr t265_device;
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using Button = pangolin::Var<std::function<void(void)>>;
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@ -106,7 +106,6 @@ std::string marg_data_path;
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std::mutex m;
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bool step_by_step = false;
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std::atomic<bool> terminate;
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int64_t curr_t_ns = -1;
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// VIO variables
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@ -117,7 +116,6 @@ basalt::OpticalFlowBase::Ptr opt_flow_ptr;
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basalt::VioEstimatorBase::Ptr vio;
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int main(int argc, char** argv) {
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terminate = false;
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bool show_gui = true;
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bool print_queue = false;
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std::string cam_calib_path;
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@ -156,7 +154,7 @@ int main(int argc, char** argv) {
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// realsense
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t265_device.reset(
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new basalt::Device(false, 1, 90, 10.0)); // TODO: add options?
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new basalt::RsT265Device(false, 1, 90, 10.0)); // TODO: add options?
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// startup device and load calibration
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t265_device->start();
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@ -193,6 +191,8 @@ int main(int argc, char** argv) {
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t3.reset(new std::thread([&]() {
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while (true) {
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out_vis_queue.pop(curr_vis_data);
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if (!curr_vis_data.get()) break;
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}
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std::cout << "Finished t3" << std::endl;
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@ -326,7 +326,8 @@ int main(int argc, char** argv) {
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curr_vis_data->opt_flow_res->input_images.get()) {
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auto& img_data = curr_vis_data->opt_flow_res->input_images->img_data;
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for (size_t cam_id = 0; cam_id < basalt::Device::NUM_CAMS; cam_id++) {
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for (size_t cam_id = 0; cam_id < basalt::RsT265Device::NUM_CAMS;
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cam_id++) {
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if (img_data[cam_id].img.get())
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img_view[cam_id]->SetImage(
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img_data[cam_id].img->ptr, img_data[cam_id].img->w,
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@ -346,7 +347,8 @@ int main(int argc, char** argv) {
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}
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}
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terminate = true;
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t265_device->stop();
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if (t3.get()) t3->join();
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t4.join();
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