New data set

Author: KingRichord

CMakeLists.txt

@@ -3,8 +3,6 @@ cmake_minimum_required(VERSION 3.16)
 project(infinite_sense VERSION 1.0)
 
 set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
 
 if (NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release)
@@ -13,6 +11,7 @@ if (NOT CMAKE_BUILD_TYPE)
 endif ()
 
 add_subdirectory(infinite_sense_core)
+
 add_executable(${PROJECT_NAME}_zmq_node
         example/ZMQ/zmq_main.cpp
 )

infinite_sense_core/CMakeLists.txt

@@ -22,11 +22,11 @@ add_subdirectory(third_party/serial)
 add_subdirectory(third_party/udp)
 add_library(${PROJECT_NAME} SHARED
     src/infinite_sense.cpp
-    src/trigger_manager.cpp
-    src/serial_manager.cpp
-    src/cam_manager.cpp
+        src/trigger.cpp
+        src/serial.cpp
+        src/cam.cpp
     src/image.cpp
-    src/net_manager.cpp
+        src/net.cpp
     src/messenger.cpp
     src/ptp.cpp
     include/ptp.h

infinite_sense_core/cmake/FindZeroMQ.cmake

@@ -29,6 +29,4 @@ if (NOT TARGET libzmq)
 endif ()
 
 include(FindPackageHandleStandardArgs)
-# handle the QUIETLY and REQUIRED arguments and set ZeroMQ_FOUND to TRUE
-# if all listed variables are TRUE
 find_package_handle_standard_args(ZeroMQ DEFAULT_MSG ZeroMQ_LIBRARIES ZeroMQ_INCLUDE_DIRS)

infinite_sense_core/include/cam_manager.h infinite_sense_core/include/cam.hinfinite_sense_core/include/cam_manager.h renamed to infinite_sense_core/include/cam.h

@@ -21,10 +21,10 @@ class CamManger {
 
  private:
   void Receive(void* handle, const std::string&) const;
+  bool is_running_{false};
   std::vector<int> rets_;
   std::vector<void*> handles_;
   std::vector<std::thread> cam_threads_;
-  bool is_running_{false};
   std::map<std::string, TriggerDevice> params_;
 };
 }  // namespace infinite_sense

infinite_sense_core/include/data.h

@@ -0,0 +1,45 @@
+#pragma once
+#include <cstdint>
+#include <string>
+#include "image.h"
+namespace infinite_sense {
+    struct ImuData {
+        uint64_t time_stamp_us;
+        float temperature;
+        std::string name;
+        float a[3];
+        float g[3];
+        float q[4];
+    };
+
+    struct CamData {
+        uint64_t time_stamp_us;
+        std::string name;
+        GMat image;
+    };
+
+    struct LaserData {
+        uint64_t time_stamp_us;
+        std::string name;
+    };
+
+    struct GPSData {
+        uint64_t time_stamp_us;
+        uint64_t gps_stamp_us;
+        uint64_t gps_stamp_us_trigger;
+        std::string name;
+        float latitude;
+        float longitude;
+    };
+
+    enum TriggerDevice {
+        IMU_1 = 0,    // internal imu
+        IMU_2 = 1,    // external imu
+        CAM_1 = 2,    // camera 1
+        CAM_2 = 3,    // camera 2
+        CAM_3 = 4,    // camera 3
+        CAM_4 = 5,    // camera 4
+        LASER = 6,    // laser pps
+        GPS = 7,    // gps pps
+    };
+}

infinite_sense_core/include/infinite_sense.h

@@ -1,48 +1,10 @@
 #pragma once
 #include "log.h"
-#include "image.h"
+#include "data.h"
 #include "messenger.h"
-namespace infinite_sense {
-
-struct ImuData {
-  uint64_t time_stamp_us;
-  float temperature;
-  std::string name;
-  float a[3];
-  float g[3];
-  float q[4];
-};
-
-struct CamData {
-  uint64_t time_stamp_us;
-  std::string name;
-  GMat image;
-};
 
-struct LaserData {
-  uint64_t time_stamp_us;
-  std::string name;
-};
-
-struct GPSData {
-  uint64_t time_stamp_us;
-  uint64_t gps_stamp_us;
-  uint64_t gps_stamp_us_trigger;
-  std::string name;
-  float latitude;
-  float longitude;
-};
+namespace infinite_sense {
 
-enum TriggerDevice {
-  IMU_1 = 0,    // internal imu
-  IMU_2 = 1,    // external imu
-  CAM_1 = 2,    // camera 1
-  CAM_2 = 3,    // camera 2
-  CAM_3 = 4,    // camera 3
-  CAM_4 = 5,    // camera 4
-  LASER = 6,    // laser pps
-  GPS   = 7,    // gps pps
-};
 class NetManager;
 class SerialManager;
 class CamManger;

infinite_sense_core/include/net_manager.h infinite_sense_core/include/net.hinfinite_sense_core/include/net_manager.h renamed to infinite_sense_core/include/net.h

@@ -1,4 +1,4 @@
-#include "cam_manager.h"
+#include "cam.h"
 #include "infinite_sense.h"
 #include "MvCameraControl.h"
 #include "log.h"