From 03fd24070be91c1494da803f5b9d0cd925c7fe10 Mon Sep 17 00:00:00 2001 From: harjeb Date: Sat, 29 Jun 2019 15:48:16 +0800 Subject: [PATCH] docs(*): update doc --- docs/src/mynteye/product_description.rst | 2 +- docs/src/mynteye/spec_s1030.rst | 24 ++-- docs/src/mynteye/spec_s1030_ir.rst | 20 ++-- docs/src/mynteye/spec_s2100.rst | 43 +++++-- docs/src/sdk/exe_install_windows.rst | 2 +- docs/src/tools/calibration_tool.rst | 137 ++++++++++++----------- 6 files changed, 133 insertions(+), 95 deletions(-) diff --git a/docs/src/mynteye/product_description.rst b/docs/src/mynteye/product_description.rst index 96e638f..e270bcb 100644 --- a/docs/src/mynteye/product_description.rst +++ b/docs/src/mynteye/product_description.rst @@ -5,7 +5,7 @@ Product Description MYNT® EYE S Series includes MYNT EYE S, MYNT EYE SE and MYNT EYE SC. The “Binocular + IMU” inertial navigation solution for MYNT® EYE S Series provides accurate six-axis complementary data for vSLAM applications and is more accurate and robust than other single solutions. -Combined with self-developed camera synchronization, auto exposure, and white balance control camera technology, MYNT® EYE S Series provides a CUDA-based GPU real-time acceleration solution that outputs high-precision, synchronized image sources to help reduce the difficulty of algorithm development and speed up the efficiency of algorithm research and development. At the same time, MYNT EYE S is equipped with a six-axis sensor (IMU) and an infrared active light (IR). Among them, six-axis sensor (IMU) can provide data complementation and correction for the research of visual positioning algorithm, suitable for algorithm research of visual inertial odometer (VIO), help improve positioning accuracy; infrared active light (IR) can help solve the problem of identifying indoor white walls and non-textured objects, and improve the recognition accuracy of image sources. The difference between MYNT EYE SE and MYNT EYE S is that MYNT EYE SE does not include IR and offers customers with lower cost hardware. MYNT EYE SC provides 8cm/12cm optional baseline solution, super wide angle 146°FOV, providing a wider depth recognition range and accuracy level, with color image sensor, upgraded brand new BMI088 six-axis IMU, IR active light, I2C time synchronization Chip, global shutter, etc., with resolutions up to 1280x800/60fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation. +Combined with self-developed camera synchronization, auto exposure, and white balance control camera technology, MYNT® EYE S Series provides a CUDA-based GPU real-time acceleration solution that outputs high-precision, synchronized image sources to help reduce the difficulty of algorithm development and speed up the efficiency of algorithm research and development. At the same time, MYNT EYE S is equipped with a six-axis sensor (IMU) and an infrared active light (IR). Among them, six-axis sensor (IMU) can provide data complementation and correction for the research of visual positioning algorithm, suitable for algorithm research of visual inertial odometer (VIO), help improve positioning accuracy; infrared active light (IR) can help solve the problem of identifying indoor white walls and non-textured objects, and improve the recognition accuracy of image sources. The difference between MYNT EYE SE and MYNT EYE S is that MYNT EYE SE does not include IR and offers customers with lower cost hardware. MYNT EYE SC provides 8cm/12cm optional baseline solution, super wide angle 146°FOV, providing a wider depth recognition range and accuracy level, with color image sensor, upgraded brand new BMI088 six-axis IMU, IR active light, I2C time synchronization Chip, global shutter, etc., with resolutions up to 2560x800\@30fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation. As a hardware product for research and development of stereo vision computing applications, MYNT® EYE S Series can be widely used in a field of visual positioning navigation (vSLAM), including visual real-time positioning navigation system of driverless vehicle and robots, visual positioning system of UAV, obstacle avoidance navigation system for driverless Vehicle, Augmented Reality (AR), Virtual Reality (VR), etc. At the same time, it can be used in a field of visual recognition, including Stereoscopic face recognition, three-dimensional object recognition, space motion tracking, three-dimensional gestures, and somatosensory recognition. And of course, you can use it for measurement which includes assisted driving system (ADAS), binocular volume calculation, industrial visual screening, etc. At present, MYNTAI has carried out service and cooperation with more than 500 domestic and foreign enterprise clients. diff --git a/docs/src/mynteye/spec_s1030.rst b/docs/src/mynteye/spec_s1030.rst index bb95b38..0078d48 100644 --- a/docs/src/mynteye/spec_s1030.rst +++ b/docs/src/mynteye/spec_s1030.rst @@ -16,29 +16,33 @@ Product Specification: -------------------------- --------------------------------------- Resolution 752*480; 376*240 -------------------------- --------------------------------------- - Depth Resolution Based on CPU/GPU Up to 752*480@60FPS + Depth Resolution Based on CPU/GPU Up to 752*480\@60FPS -------------------------- --------------------------------------- Pixel Size 6.0*6.0μm -------------------------- --------------------------------------- Baseline 120.0mm --------------------------- --------------------------------------- - Camera Lens Replacable Standard M12 -------------------------- --------------------------------------- Visual Angle D:146° H:122° V:76° -------------------------- --------------------------------------- Focal Length 2.1mm +-------------------------- --------------------------------------- + Filter Dual Pass Filter -------------------------- --------------------------------------- IR Support No -------------------------- --------------------------------------- - IR detectable range - + IR detectable range \- -------------------------- --------------------------------------- Color Mode Monochrome -------------------------- --------------------------------------- - Working Distance 0.8-5m+ + Depth Working Distance 0.8-5m+ -------------------------- --------------------------------------- Scanning Mode Global Shutter -------------------------- --------------------------------------- - Power 1W@5V DC from USB + Power 1W\@5V DC from USB +-------------------------- --------------------------------------- +Synchronization Precision <1ms (up to 0.05ms) +-------------------------- --------------------------------------- + IMU Frequency 100/200/250/333/500Hz -------------------------- --------------------------------------- Output data format Raw data -------------------------- --------------------------------------- @@ -56,17 +60,17 @@ Software ================ ================================================================================= - Support system Windows 10、Ubuntu 16.04/18.04、ROS kinetic/melodic、Android 5.x ~ Android 8.x + Support system Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+ ---------------- --------------------------------------------------------------------------------- - SDK http://www.myntai.com/dev/mynteye_depth + SDK http://www.myntai.com/dev/mynteye ---------------- --------------------------------------------------------------------------------- Support ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB ================ ================================================================================== -Environment -------------- +Work Environment +----------------- =========================== ================================ diff --git a/docs/src/mynteye/spec_s1030_ir.rst b/docs/src/mynteye/spec_s1030_ir.rst index c7fe156..3b6da59 100644 --- a/docs/src/mynteye/spec_s1030_ir.rst +++ b/docs/src/mynteye/spec_s1030_ir.rst @@ -16,7 +16,7 @@ Product Specification: -------------------------- --------------------------------------- Resolution 752*480; 376*240 -------------------------- --------------------------------------- - Depth Resolution Based on CPU/GPU Up to 752*480@60FPS + Depth Resolution Based on CPU/GPU Up to 752*480\@60FPS -------------------------- --------------------------------------- Pixel Size 6.0*6.0μm -------------------------- --------------------------------------- @@ -27,6 +27,8 @@ Product Specification: Visual Angle D:146° H:122° V:76° -------------------------- --------------------------------------- Focal Length 2.1mm +-------------------------- --------------------------------------- + Filter Dual Pass Filter -------------------------- --------------------------------------- IR Support Yes -------------------------- --------------------------------------- @@ -34,11 +36,15 @@ Product Specification: -------------------------- --------------------------------------- Color Mode Monochrome -------------------------- --------------------------------------- - Working Distance 0.8-5m+ + Depth Working Distance 0.8-5m+ -------------------------- --------------------------------------- Scanning Mode Global Shutter -------------------------- --------------------------------------- - Power 1~2.7W@5V DC from USB + Power 1~2.7W\@5V DC from USB +-------------------------- --------------------------------------- +Synchronization Precision <1ms (up to 0.05ms) +-------------------------- --------------------------------------- + IMU Frequency 100/200/250/333/500Hz -------------------------- --------------------------------------- Output data format Raw data -------------------------- --------------------------------------- @@ -56,17 +62,17 @@ Software ================ ================================================================================= - Support system Windows 10、Ubuntu 16.04/18.04、ROS kinetic/melodic、Android 5.x ~ Android 8.x + Support system Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+ ---------------- --------------------------------------------------------------------------------- - SDK http://www.myntai.com/dev/mynteye_depth + SDK http://www.myntai.com/dev/mynteye ---------------- --------------------------------------------------------------------------------- Support ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB ================ ================================================================================== -Environment -------------- +Work Environment +----------------- =========================== ================================ diff --git a/docs/src/mynteye/spec_s2100.rst b/docs/src/mynteye/spec_s2100.rst index 628bbf4..1cdc48f 100644 --- a/docs/src/mynteye/spec_s2100.rst +++ b/docs/src/mynteye/spec_s2100.rst @@ -14,31 +14,39 @@ Product Specification: Size PCB dimension:15x100mm Total dimension:125x47x26.6mm -------------------------- ----------------------------------------------------- - Frame Rate 1280x400@10/20/30/60fps 2560x800@10/20/30fps + Frame Rate 1280x400\@10/20/30/60fps 2560x800\@10/20/30fps -------------------------- ----------------------------------------------------- Resolution 1280x400; 2560x800 +-------------------------- ----------------------------------------------------- + Depth Resolution Based on CPU/GPU Up to 1280*400\@60FPS -------------------------- ----------------------------------------------------- Pixel Size 3.0*3.0μm -------------------------- ----------------------------------------------------- Baseline 80.0mm --------------------------- ----------------------------------------------------- - Camera Lens Replacable Standard M7 -------------------------- ----------------------------------------------------- Visual Angle D:141° H:124° V:87° -------------------------- ----------------------------------------------------- Focal Length 0.95mm +-------------------------- ----------------------------------------------------- + IR Support No -------------------------- ----------------------------------------------------- Color Mode Color -------------------------- ----------------------------------------------------- - Working Distance 0.26-1m + Depth Working Distance 0.26-3m+ -------------------------- ----------------------------------------------------- Scanning Mode Global Shutter -------------------------- ----------------------------------------------------- - Power 1.1W@5V DC from USB + Power 1.1W\@5V DC from USB -------------------------- ----------------------------------------------------- +Synchronization Precision <1ms (up to 0.02ms) +-------------------------- ----------------------------------------------------- + IMU Frequency 200Hz +-------------------------- --------------------------------------- Output data format YUYV -------------------------- ----------------------------------------------------- Data transfer Interface USB3.0 +-------------------------- ----------------------------------------------------- + Time Sync interface DF50A -------------------------- ----------------------------------------------------- Weight 62g -------------------------- ----------------------------------------------------- @@ -46,16 +54,31 @@ Product Specification: ========================== ===================================================== +Software +-------- + + +================ ================================================================================= + Support system Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+ +---------------- --------------------------------------------------------------------------------- + SDK http://www.myntai.com/dev/mynteye +---------------- --------------------------------------------------------------------------------- + Support ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB +================ ================================================================================== + + Work Environment ----------------- -========================= ================ - Operating Temperature -15°C~60°C -------------------------- ---------------- - Storage Temperature -20°C~80°C -========================= ================ +========================= ============================== + Operating Temperature -15°C~55°C +------------------------- ------------------------------ + Storage Temperature -20°C~75°C +------------------------- ------------------------------ + Humidity 0% to 95% non-condensing +========================= ============================== Package: diff --git a/docs/src/sdk/exe_install_windows.rst b/docs/src/sdk/exe_install_windows.rst index 245803a..b0ae150 100644 --- a/docs/src/sdk/exe_install_windows.rst +++ b/docs/src/sdk/exe_install_windows.rst @@ -26,7 +26,7 @@ Download and install SDK .. tip:: - Download here: mynteye-s-2.3.6-win-x64-opencv-3.4.3.exe `Google Drive `_ `Baidu Pan `_ . + Download here: mynteye-s-2.3.6-win-x64-opencv-3.4.3.exe `Google Drive `_ `Baidu Pan(key:rj4k) `_ . After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop. diff --git a/docs/src/tools/calibration_tool.rst b/docs/src/tools/calibration_tool.rst index 95e97e1..c1efc6e 100644 --- a/docs/src/tools/calibration_tool.rst +++ b/docs/src/tools/calibration_tool.rst @@ -12,12 +12,12 @@ Introduction Currently the calibration tool only supports Ubuntu 16.04 LTS, but support the official, ROS multiple version of OpenCV dependencies. -==================== ==================== ====================== ==================== -Platform Architecture Different dependence Description -==================== ==================== ====================== ==================== +==================== ==================== ====================== +Platform Architecture Different dependence +==================== ==================== ====================== Ubuntu 16.04 LTS x64(amd64) libopencv-dev - ros-kinetic-opencv3 -==================== ==================== ====================== ==================== +Ubuntu 16.04 LTS x64(amd64) ros-kinetic-opencv3 +==================== ==================== ====================== @@ -59,70 +59,74 @@ Installation 2.2 Install ppa Package -------- -$ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk -$ sudo apt-get update -$ sudo apt-get install mynteye-s-calibrator -$ sudo ln -sf /opt/myntai/mynteye-s-calibrator/mynteye-s-calibrator /usr/local/bin/ mynteye-s-calibrator +.. code-block:: bash + + $ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk + $ sudo apt-get update + $ sudo apt-get install mynteye-s-calibrator + $ sudo ln -sf /opt/myntai/mynteye-s-calibrator/mynteye-s-calibrator /usr/local/bin/ mynteye-s-calibrator 2.3 Install deb Package -------- Install the deb package with udo dpkg -i: -$ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb -... -(Reading database ... 359020 files and directories currently installed.) -Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ... -Unpacking mynteye-s-calibrator (1.0.0) over (1.0.0) ... -Setting up mynteye-s-calibrator (1.0.0) ... +.. code-block:: bash + + $ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb + ... + (Reading database ... 359020 files and directories currently installed.) + Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ... + Unpacking mynteye-s-calibrator (1.0.0) over (1.0.0) ... + Setting up mynteye-s-calibrator (1.0.0) ... If you encounter an error that the dependency package is not installed, for example: --------- -$ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb -Selecting previously unselected package mynteye-s-calibrator. -(Reading database ... 358987 files and directories currently installed.) -Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ... -Unpacking mynteye-s-calibrator (1.0.0) ... -dpkg: dependency problems prevent configuration of mynteye-s-calibrator: -mynteye-s-calibrator depends on libatlas-base-dev; however: -Package libatlas-base-dev is not installed. +.. code-block:: bash -dpkg: error processing package mynteye-s-calibrator (--install): -dependency problems - leaving unconfigured -Errors were encountered while processing: -mynteye-s-calibrator + $ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb + Selecting previously unselected package mynteye-s-calibrator. + (Reading database ... 358987 files and directories currently installed.) + Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ... + Unpacking mynteye-s-calibrator (1.0.0) ... + dpkg: dependency problems prevent configuration of mynteye-s-calibrator: + mynteye-s-calibrator depends on libatlas-base-dev; however: + Package libatlas-base-dev is not installed. + dpkg: error processing package mynteye-s-calibrator (--install): + dependency problems - leaving unconfigured + Errors were encountered while processing: + mynteye-s-calibrator You can continue use sudo apt-get -f install to finished install --------- -$ sudo apt-get -f install -Reading package lists... Done -Building dependency tree -Reading state information... Done +.. code-block:: bash -Correcting dependencies... Done -The following additional packages will be installed: -libatlas-base-dev -Suggested packages: -libblas-doc liblapack-doc -The following NEW packages will be installed: -libatlas-base-dev -0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded. -1 not fully installed or removed. -Need to get 3,596 kB of archives. -After this operation, 30.8 MB of additional disk space will be used. -Do you want to continue? [Y/n] -Get:1 http://cn.archive.ubuntu.com/ubuntu xenial/universe amd64 libatlas-base-dev amd64 3.10.2-9 [3,596 kB] -Fetched 3,596 kB in 3s (1,013 kB/s) -Selecting previously unselected package libatlas-base-dev. -(Reading database ... 358993 files and directories currently installed.) -Preparing to unpack .../libatlas-base-dev_3.10.2-9_amd64.deb ... -Unpacking libatlas-base-dev (3.10.2-9) ... -Setting up libatlas-base-dev (3.10.2-9) ... -update-alternatives: using /usr/lib/atlas-base/atlas/libblas.so to provide /usr/lib/libblas.so (libblas.so) in auto mode -update-alternatives: using /usr/lib/atlas-base/atlas/liblapack.so to provide /usr/lib/liblapack.so (liblapack.so) in auto mode -Setting up mynteye-s-calibrator (1.0.0) ... + $ sudo apt-get -f install + Reading package lists... Done + Building dependency tree + Reading state information... Done + Correcting dependencies... Done + The following additional packages will be installed: + libatlas-base-dev + Suggested packages: + libblas-doc liblapack-doc + The following NEW packages will be installed: + libatlas-base-dev + 0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded. + 1 not fully installed or removed. + Need to get 3,596 kB of archives. + After this operation, 30.8 MB of additional disk space will be used. + Do you want to continue? [Y/n] + Get:1 http://cn.archive.ubuntu.com/ubuntu xenial/universe amd64 libatlas-base-dev amd64 3.10.2-9 [3,596 kB] + Fetched 3,596 kB in 3s (1,013 kB/s) + Selecting previously unselected package libatlas-base-dev. + (Reading database ... 358993 files and directories currently installed.) + Preparing to unpack .../libatlas-base-dev_3.10.2-9_amd64.deb ... + Unpacking libatlas-base-dev (3.10.2-9) ... + Setting up libatlas-base-dev (3.10.2-9) ... + update-alternatives: using /usr/lib/atlas-base/atlas/libblas.so to provide /usr/lib/libblas.so (libblas.so) in auto mode + update-alternatives: using /usr/lib/atlas-base/atlas/liblapack.so to provide /usr/lib/liblapack.so (liblapack.so) in auto mode + Setting up mynteye-s-calibrator (1.0.0) ... How To Use @@ -137,14 +141,15 @@ How To Use 3.2 Use Command -------- -* After installing the calibration tool, you can run the mynteye-s-calibrator command directly on the terminal to calibrate.。 -h can see its options： +* After installing the calibration tool, you can run the `mynteye-s-calibrator` command directly on the terminal to calibrate. -h can see its options: -$ mynteye-s-calibrator -h -Usage: mynteye-s-calibrator [options] -help: mynteye-s-calibrator -h -calibrate: mynteye-s-calibrator -x 11 -y 7 -s 0.036 +.. code-block:: bash -Calibrate MYNT EYE S device. + $ mynteye-s-calibrator -h + Usage: mynteye-s-calibrator [options] + help: mynteye-s-calibrator -h + calibrate: mynteye-s-calibrator -x 11 -y 7 -s 0.036 + Calibrate MYNT EYE S device. Options: @@ -153,9 +158,9 @@ Options: -y HEIGHT, --height=HEIGHT The chessboard height, default: 7 -s METERS, --square=METERS The chessboard square size in meters, default: 0.036 -n NUMBER, --number=NUMBER The number of images to use for calibration, default: 11 --p PATH, --path=PATH The path to save the result, default: SN? +-p PATH, --path=PATH The path to save the result, default: folder name using device's SN -* -x -y -s Used to set the width, height, and grid size of the calibration plate. Width and height refer to the number of black and white intersections in the horizontal and vertical directions of the checkerboard. Lattice size in m +* -x -y -s Used to set the width, height, and grid size of the calibration plate. Width and height refer to the number of black and white intersections in the horizontal and vertical directions of the checkerboard. Square size in meters. 3.3 Steps For Usage @@ -170,7 +175,7 @@ Options: * Follow the prompts to select an index for the camera's resolution, perform image calibration at this resolution -* The S1030 camera only needs to be calibrated to 752*480 resolution. The S2100 camera needs to be calibrated to 2560*800 and 1280*400 resolutions. +* The S1030 camera only need calibrate 752*480 resolution. The S2100 camera need calibrate 2560*800 and 1280*400 resolutions. * As far as possible, let the calibration plate cover the left and right eye images of the camera, and take care of the surroundings (maximum distortion). The calibration tool will automatically @@ -207,7 +212,7 @@ Reference acquisition image, as follows: * 1. The terminal will print out the left and right purpose calibration results. -* 2. The calibration results are written into the file in the SNXXX directory. +* 2. The calibration results will be written into the files in directory. a) camera_left.yaml: Left eye parameter b) camera_right.yaml: Right eye parameter @@ -226,7 +231,7 @@ Reference acquisition image, as follows: 3.4 Calibration result -------- -Calibration result，It is desirable to have a reprojection error of 0.2 or less. If it exceeds 1, it needs to be recalibrated. +Calibration result, It is desirable to have a reprojection error of 0.2 or less. If exceeds 1, it needs to be recalibrated. Reprojection error, visible output after calibration completion "Final reprojection error: 0.201