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docs/src/mynteye/product_description.rst
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@ -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. 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. 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.

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docs/src/mynteye/spec_s1030.rst
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@ -16,29 +16,33 @@ Product Specification:
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Resolution 752*480; 376*240 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 Pixel Size 6.0*6.0μm
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Baseline 120.0mm Baseline 120.0mm
-------------------------- ---------------------------------------
Camera Lens Replacable Standard M12
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Visual Angle D:146° H:122° V:76° Visual Angle D:146° H:122° V:76°
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Focal Length 2.1mm Focal Length 2.1mm
-------------------------- ---------------------------------------
Filter Dual Pass Filter
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
IR Support No IR Support No
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
IR detectable range - IR detectable range \-
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Color Mode Monochrome Color Mode Monochrome
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Working Distance 0.8-5m+ Depth Working Distance 0.8-5m+
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Scanning Mode Global Shutter 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 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 Support ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
================ ================================================================================== ================ ==================================================================================
Environment Work Environment
------------- -----------------
=========================== ================================ =========================== ================================

20
docs/src/mynteye/spec_s1030_ir.rst
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@ -16,7 +16,7 @@ Product Specification:
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Resolution 752*480; 376*240 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 Pixel Size 6.0*6.0μm
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
@ -27,6 +27,8 @@ Product Specification:
Visual Angle D:146° H:122° V:76° Visual Angle D:146° H:122° V:76°
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Focal Length 2.1mm Focal Length 2.1mm
-------------------------- ---------------------------------------
Filter Dual Pass Filter
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
IR Support Yes IR Support Yes
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
@ -34,11 +36,15 @@ Product Specification:
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Color Mode Monochrome Color Mode Monochrome
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Working Distance 0.8-5m+ Depth Working Distance 0.8-5m+
-------------------------- --------------------------------------- -------------------------- ---------------------------------------
Scanning Mode Global Shutter 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 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 Support ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
================ ================================================================================== ================ ==================================================================================
Environment Work Environment
------------- -----------------
=========================== ================================ =========================== ================================

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docs/src/mynteye/spec_s2100.rst
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@ -14,31 +14,39 @@ Product Specification:
Size PCB dimension:15x100mm Size PCB dimension:15x100mm
Total dimension:125x47x26.6mm 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 Resolution 1280x400; 2560x800
-------------------------- -----------------------------------------------------
Depth Resolution Based on CPU/GPU Up to 1280*400\@60FPS
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Pixel Size 3.0*3.0μm Pixel Size 3.0*3.0μm
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Baseline 80.0mm Baseline 80.0mm
-------------------------- -----------------------------------------------------
Camera Lens Replacable Standard M7
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Visual Angle D:141° H:124° V:87° Visual Angle D:141° H:124° V:87°
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Focal Length 0.95mm Focal Length 0.95mm
-------------------------- -----------------------------------------------------
IR Support No
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Color Mode Color Color Mode Color
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Working Distance 0.26-1m Depth Working Distance 0.26-3m+
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Scanning Mode Global Shutter 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 Output data format YUYV
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Data transfer Interface USB3.0 Data transfer Interface USB3.0
-------------------------- -----------------------------------------------------
Time Sync interface DF50A
-------------------------- ----------------------------------------------------- -------------------------- -----------------------------------------------------
Weight 62g 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 Work Environment
----------------- -----------------
========================= ================ ========================= ==============================
Operating Temperature -15°C~60°C Operating Temperature -15°C~55°C
------------------------- ---------------- ------------------------- ------------------------------
Storage Temperature -20°C~80°C Storage Temperature -20°C~75°C
========================= ================ ------------------------- ------------------------------
Humidity 0% to 95% non-condensing
========================= ==============================
Package: Package:

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docs/src/sdk/exe_install_windows.rst
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@ -26,7 +26,7 @@ Download and install SDK
.. tip:: .. tip::
Download here: mynteye-s-2.3.6-win-x64-opencv-3.4.3.exe `Google Drive <https://drive.google.com/open?id=1PYC_5Mh2pzLFVXkYlkllEzPnr50EbKht>`_ `Baidu Pan <https://pan.baidu.com/s/1s4KIcuYkO5i_9E1pG5blQA>`_ . Download here: mynteye-s-2.3.6-win-x64-opencv-3.4.3.exe `Google Drive <https://drive.google.com/open?id=1PYC_5Mh2pzLFVXkYlkllEzPnr50EbKht>`_ `Baidu Pan(key:rj4k) <https://pan.baidu.com/s/1yCKjvivB2gsqTV8xyY7DQg>`_ .
After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop. After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop.

37
docs/src/tools/calibration_tool.rst
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@ -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. 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 Ubuntu 16.04 LTS x64(amd64) libopencv-dev
ros-kinetic-opencv3 Ubuntu 16.04 LTS x64(amd64) ros-kinetic-opencv3
==================== ==================== ====================== ==================== ==================== ==================== ======================
@ -59,6 +59,8 @@ Installation
2.2 Install ppa Package 2.2 Install ppa Package
-------- --------
.. code-block:: bash
$ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk $ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk
$ sudo apt-get update $ sudo apt-get update
$ sudo apt-get install mynteye-s-calibrator $ sudo apt-get install mynteye-s-calibrator
@ -69,6 +71,8 @@ $ sudo ln -sf /opt/myntai/mynteye-s-calibrator/mynteye-s-calibrator /usr/local/b
-------- --------
Install the deb package with udo dpkg -i: Install the deb package with udo dpkg -i:
.. code-block:: bash
$ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb $ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb
... ...
(Reading database ... 359020 files and directories currently installed.) (Reading database ... 359020 files and directories currently installed.)
@ -77,7 +81,8 @@ Unpacking mynteye-s-calibrator (1.0.0) over (1.0.0) ...
Setting up mynteye-s-calibrator (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: If you encounter an error that the dependency package is not installed, for example:
--------
.. code-block:: bash
$ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb $ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb
Selecting previously unselected package mynteye-s-calibrator. Selecting previously unselected package mynteye-s-calibrator.
@ -87,20 +92,19 @@ Unpacking mynteye-s-calibrator (1.0.0) ...
dpkg: dependency problems prevent configuration of mynteye-s-calibrator: dpkg: dependency problems prevent configuration of mynteye-s-calibrator:
mynteye-s-calibrator depends on libatlas-base-dev; however: mynteye-s-calibrator depends on libatlas-base-dev; however:
Package libatlas-base-dev is not installed. Package libatlas-base-dev is not installed.
dpkg: error processing package mynteye-s-calibrator (--install): dpkg: error processing package mynteye-s-calibrator (--install):
dependency problems - leaving unconfigured dependency problems - leaving unconfigured
Errors were encountered while processing: Errors were encountered while processing:
mynteye-s-calibrator mynteye-s-calibrator
You can continue use sudo apt-get -f install to finished install You can continue use sudo apt-get -f install to finished install
--------
.. code-block:: bash
$ sudo apt-get -f install $ sudo apt-get -f install
Reading package lists... Done Reading package lists... Done
Building dependency tree Building dependency tree
Reading state information... Done Reading state information... Done
Correcting dependencies... Done Correcting dependencies... Done
The following additional packages will be installed: The following additional packages will be installed:
libatlas-base-dev libatlas-base-dev
@ -137,13 +141,14 @@ How To Use
3.2 Use Command 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:
.. code-block:: bash
$ mynteye-s-calibrator -h $ mynteye-s-calibrator -h
Usage: mynteye-s-calibrator [options] Usage: mynteye-s-calibrator [options]
help: mynteye-s-calibrator -h help: mynteye-s-calibrator -h
calibrate: mynteye-s-calibrator -x 11 -y 7 -s 0.036 calibrate: mynteye-s-calibrator -x 11 -y 7 -s 0.036
Calibrate MYNT EYE S device. Calibrate MYNT EYE S device.
Options: Options:
@ -153,9 +158,9 @@ Options:
-y HEIGHT, --height=HEIGHT The chessboard height, default: 7 -y HEIGHT, --height=HEIGHT The chessboard height, default: 7
-s METERS, --square=METERS The chessboard square size in meters, default: 0.036 -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 -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 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 * 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, * 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 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. * 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 <SN number> directory.
a) camera_left.yaml: Left eye parameter a) camera_left.yaml: Left eye parameter
b) camera_right.yaml: Right eye parameter b) camera_right.yaml: Right eye parameter
@ -226,7 +231,7 @@ Reference acquisition image, as follows:
3.4 Calibration result 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 Reprojection error, visible output after calibration completion "Final reprojection error: 0.201