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Add imu parameter README

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This commit is contained in:
Joe Dong
2023-08-23 17:14:08 +08:00
parent 8a81d30428
commit a623d4a4ca
5 changed files with 115 additions and 7 deletions
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orbbec_camera/src/utils.cpp
+75
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@@ -342,6 +342,43 @@ OB_SAMPLE_RATE sampleRateFromString(std::string &sample_rate) {
}
}
std::string sampleRateToString(const OB_SAMPLE_RATE &sample_rate) {
switch (sample_rate) {
case OB_SAMPLE_RATE_1_5625_HZ:
return "1.5625hz";
case OB_SAMPLE_RATE_3_125_HZ:
return "3.125hz";
case OB_SAMPLE_RATE_6_25_HZ:
return "6.25hz";
case OB_SAMPLE_RATE_12_5_HZ:
return "12.5hz";
case OB_SAMPLE_RATE_25_HZ:
return "25hz";
case OB_SAMPLE_RATE_50_HZ:
return "50hz";
case OB_SAMPLE_RATE_100_HZ:
return "100hz";
case OB_SAMPLE_RATE_200_HZ:
return "200hz";
case OB_SAMPLE_RATE_500_HZ:
return "500hz";
case OB_SAMPLE_RATE_1_KHZ:
return "1khz";
case OB_SAMPLE_RATE_2_KHZ:
return "2khz";
case OB_SAMPLE_RATE_4_KHZ:
return "4khz";
case OB_SAMPLE_RATE_8_KHZ:
return "8khz";
case OB_SAMPLE_RATE_16_KHZ:
return "16khz";
case OB_SAMPLE_RATE_32_KHZ:
return "32khz";
default:
return "100hz";
}
}
OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string &full_scale_range) {
std::transform(full_scale_range.begin(), full_scale_range.end(), full_scale_range.begin(),
::tolower);
@@ -368,6 +405,29 @@ OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string &full_scale_ra
}
}
std::string fullGyroScaleRangeToString(const OB_GYRO_FULL_SCALE_RANGE &full_scale_range) {
switch (full_scale_range) {
case OB_GYRO_FS_16dps:
return "16dps";
case OB_GYRO_FS_31dps:
return "31dps";
case OB_GYRO_FS_62dps:
return "62dps";
case OB_GYRO_FS_125dps:
return "125dps";
case OB_GYRO_FS_250dps:
return "250dps";
case OB_GYRO_FS_500dps:
return "500dps";
case OB_GYRO_FS_1000dps:
return "1000dps";
case OB_GYRO_FS_2000dps:
return "2000dps";
default:
return "16dps";
}
}
OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string &full_scale_range) {
std::transform(full_scale_range.begin(), full_scale_range.end(), full_scale_range.begin(),
::tolower);
@@ -386,6 +446,21 @@ OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string &full_scale_rang
}
}
std::string fullAccelScaleRangeToString(const OBAccelFullScaleRange &full_scale_range) {
switch (full_scale_range) {
case OB_ACCEL_FS_2g:
return "2g";
case OB_ACCEL_FS_4g:
return "4g";
case OB_ACCEL_FS_8g:
return "8g";
case OB_ACCEL_FS_16g:
return "16g";
default:
return "2g";
}
}
std::string parseUsbPort(const std::string &line) {
std::string port_id;
std::regex self_regex("(?:[^ ]+/usb[0-9]+[0-9./-]*/){0,1}([0-9.-]+)(:){0,1}[^ ]*",