From 9dcf3acf2af1ba91abbc3d9d266b7baf84ded1a7 Mon Sep 17 00:00:00 2001 From: John Zhao Date: Mon, 11 Mar 2019 13:27:49 +0800 Subject: [PATCH 01/10] docs(*): update docs --- .gitignore | 2 + Makefile | 15 +- doc/build.sh | 83 - doc/en/mainpage.md | 11 - doc/en/spec_control_api.md | 26 - doc/en/spec_control_channel.md | 53 - doc/en/spec_hardware_info.md | 16 - doc/en/spec_image_data.md | 20 - doc/en/spec_image_params.md | 23 - doc/en/spec_imu_data.md | 42 - doc/en/spec_imu_params.md | 23 - doc/en/specs_ctrl.md | 4 - doc/en/specs_data.md | 7 - doc/langs.sh | 20 - doc/static/custom.css | 3 - doc/static/images/icon.png | Bin 17927 -> 0 bytes doc/static/images/imu_analytics.png | Bin 57121 -> 0 bytes doc/static/images/make_install.png | Bin 32704 -> 0 bytes doc/static/images/stamp_analytics.png | Bin 129696 -> 0 bytes doc/zh-Hans/api.doxyfile | 2497 ------------------------- doc/zh-Hans/guide_build_linux.md | 44 - doc/zh-Hans/guide_build_win.md | 113 -- doc/zh-Hans/guide_log.md | 6 - doc/zh-Hans/guide_opencv.md | 13 - doc/zh-Hans/guide_ros.md | 30 - doc/zh-Hans/guide_samples.md | 46 - doc/zh-Hans/guide_tools.md | 73 - doc/zh-Hans/guides.md | 9 - doc/zh-Hans/mainpage.md | 11 - doc/zh-Hans/spec_control_api.md | 27 - doc/zh-Hans/spec_control_channel.md | 53 - doc/zh-Hans/spec_hardware_info.md | 19 - doc/zh-Hans/spec_image_data.md | 21 - doc/zh-Hans/spec_image_params.md | 25 - doc/zh-Hans/spec_imu_data.md | 42 - doc/zh-Hans/spec_imu_params.md | 23 - doc/zh-Hans/specs_ctrl.md | 4 - doc/zh-Hans/specs_data.md | 7 - doc/en/api.doxyfile => docs/Doxyfile | 33 +- docs/Makefile | 19 + docs/api/api.rst | 23 + docs/api/device.rst | 30 + docs/api/enums.rst | 67 + docs/api/types.rst | 75 + docs/api/utils.rst | 32 + {doc => docs}/arch.graphml | 0 {doc => docs}/arch.jpg | Bin docs/conf.py | 194 ++ docs/index.rst | 25 + docs/make.bat | 35 + docs/requirements.txt | 5 + include/mynteye/types.h | 73 +- 52 files changed, 569 insertions(+), 3453 deletions(-) delete mode 100755 doc/build.sh delete mode 100644 doc/en/mainpage.md delete mode 100644 doc/en/spec_control_api.md delete mode 100644 doc/en/spec_control_channel.md delete mode 100644 doc/en/spec_hardware_info.md delete mode 100644 doc/en/spec_image_data.md delete mode 100644 doc/en/spec_image_params.md delete mode 100644 doc/en/spec_imu_data.md delete mode 100644 doc/en/spec_imu_params.md delete mode 100644 doc/en/specs_ctrl.md delete mode 100644 doc/en/specs_data.md delete mode 100644 doc/langs.sh delete mode 100644 doc/static/custom.css delete mode 100644 doc/static/images/icon.png delete mode 100644 doc/static/images/imu_analytics.png delete mode 100644 doc/static/images/make_install.png delete mode 100644 doc/static/images/stamp_analytics.png delete mode 100644 doc/zh-Hans/api.doxyfile delete mode 100644 doc/zh-Hans/guide_build_linux.md delete mode 100644 doc/zh-Hans/guide_build_win.md delete mode 100644 doc/zh-Hans/guide_log.md delete mode 100644 doc/zh-Hans/guide_opencv.md delete mode 100644 doc/zh-Hans/guide_ros.md delete mode 100644 doc/zh-Hans/guide_samples.md delete mode 100644 doc/zh-Hans/guide_tools.md delete mode 100644 doc/zh-Hans/guides.md delete mode 100644 doc/zh-Hans/mainpage.md delete mode 100644 doc/zh-Hans/spec_control_api.md delete mode 100644 doc/zh-Hans/spec_control_channel.md delete mode 100644 doc/zh-Hans/spec_hardware_info.md delete mode 100644 doc/zh-Hans/spec_image_data.md delete mode 100644 doc/zh-Hans/spec_image_params.md delete mode 100644 doc/zh-Hans/spec_imu_data.md delete mode 100644 doc/zh-Hans/spec_imu_params.md delete mode 100644 doc/zh-Hans/specs_ctrl.md delete mode 100644 doc/zh-Hans/specs_data.md rename doc/en/api.doxyfile => docs/Doxyfile (99%) create mode 100644 docs/Makefile create mode 100644 docs/api/api.rst create mode 100644 docs/api/device.rst create mode 100644 docs/api/enums.rst create mode 100644 docs/api/types.rst create mode 100644 docs/api/utils.rst rename {doc => docs}/arch.graphml (100%) rename {doc => docs}/arch.jpg (100%) create mode 100644 docs/conf.py create mode 100644 docs/index.rst create mode 100644 docs/make.bat create mode 100644 docs/requirements.txt diff --git a/.gitignore b/.gitignore index 69bcc41..6dac89a 100644 --- a/.gitignore +++ b/.gitignore @@ -7,6 +7,8 @@ _build/ _install/ _output/ +/docs/_doxygen/ + /get-pip.py /*INFO* diff --git a/Makefile b/Makefile index f4057ff..67d3d54 100644 --- a/Makefile +++ b/Makefile @@ -62,22 +62,17 @@ all: init samples tools ros # doc -apidoc: +apidoc: cleandoc @$(call echo,Make $@) - @# @[ -e ./_install/include ] || $(MAKE) install - @[ -e /usr/local/include/mynteye ] || $(MAKE) install - @$(SH) ./doc/build.sh + @cd docs; make html opendoc: apidoc @$(call echo,Make $@) - @$(shell $(SH) ./doc/langs.sh 1); \ - for lang in "$${LANGS[@]}"; do \ - html=./doc/_output/$$lang/html/index.html; \ - [ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \ - done + @$(SH) ./scripts/open.sh docs/_build/html/index.html cleandoc: - @$(call rm,./doc/_output/) + @$(call rm,./docs/_build/) + @$(call rm,./docs/_doxygen/) .PHONY: apidoc opendoc cleandoc diff --git a/doc/build.sh b/doc/build.sh deleted file mode 100755 index 5160c61..0000000 --- a/doc/build.sh +++ /dev/null @@ -1,83 +0,0 @@ -#!/usr/bin/env bash -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# _VERBOSE_=1 -# _TEST_=1 - -BASE_DIR=$(cd "$(dirname "$0")" && pwd) -ROOT_DIR=$(realpath "$BASE_DIR/..") -SCRIPTS_DIR="$ROOT_DIR/scripts" - -source "$SCRIPTS_DIR/common/echo.sh" -source "$SCRIPTS_DIR/common/mkdir.sh" -source "$SCRIPTS_DIR/common/detect.sh" - -_detect "doxygen" -_detect "pdflatex" 1 - -source "$BASE_DIR/langs.sh" -DOXYFILE="api.doxyfile" -OUTPUT="$BASE_DIR/_output" - -# \usepackage{CJKutf8} -# \begin{document} -# \begin{CJK}{UTF8}{gbsn} -# ... -# \end{CJK} -# \end{document} -_texcjk() { - tex="$1"; shift; - _echo_in "add cjk to $tex" - sed -i "" -E $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex - sed -i "" -E $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex -} - -for lang in "${LANGS[@]}"; do - _echo_s "Build doc $lang" - [ -d "$BASE_DIR/$lang" ] || continue - cd "$BASE_DIR/$lang" - if [ -f "$DOXYFILE" ]; then - _mkdir "$OUTPUT/$lang" - _echo_i "doxygen $DOXYFILE" - doxygen $DOXYFILE - - version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \ - sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"` - - # html - if [ -d "$OUTPUT/$lang/html" ]; then - dirname="mynt-eye-s-sdk-apidoc"; \ - [ -n "$version" ] && dirname="$dirname-$version"; \ - dirname="$dirname-$lang" - cd "$OUTPUT/$lang" - [ -d "$dirname" ] && rm -rf "$dirname" - mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname" - fi - - # latex - if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then - _echo_in "doxygen make latex" - filename="mynt-eye-s-sdk-apidoc"; \ - [ -n "$version" ] && filename="$filename-$version"; \ - filename="$filename-$lang.pdf" - cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make - [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename" - fi - - _echo_d "doxygen completed" - else - _echo_e "$DOXYFILE not found" - fi -done diff --git a/doc/en/mainpage.md b/doc/en/mainpage.md deleted file mode 100644 index 47a2dda..0000000 --- a/doc/en/mainpage.md +++ /dev/null @@ -1,11 +0,0 @@ -# MYNT EYE S SDK {#mainpage} - -* API Classes -* API Modules - * \link enumerations Enumerations\endlink - * \link datatypes Datatypes\endlink - * \link utils Utiliities\endlink - * \link calibration Intrinsics & Extrinsics\endlink -* Device Specifications - * @subpage specs_data - * @subpage specs_ctrl diff --git a/doc/en/spec_control_api.md b/doc/en/spec_control_api.md deleted file mode 100644 index 475bf06..0000000 --- a/doc/en/spec_control_api.md +++ /dev/null @@ -1,26 +0,0 @@ -# Control Protocols {#spec_control_api} - -There are two control modes, one is through UVC standard protocol, the other is through UVC custom protocol with extension unit. - -## Standard Protocol - -| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Note | -| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :--- | -| Gain | gain | 2 | 24 | 0 | 48 | √ | 0x12 | valid if manual-exposure | -| Brightness | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | valid if manual-exposure | -| Contrast | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | valid if manual-exposure | - -## Custom Protocol - -| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note | -| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- | -| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} | -| IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} | -| Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure | -| Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure | -| Max exposure time | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | valid if auto-exposure | -| Desired brightness | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | valid if auto-exposure | -| IR control | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | | -| HDR mode | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0: 10-bit; 1: 12-bit | -| Zero drift calibration | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | | -| Erase chip | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | | diff --git a/doc/en/spec_control_channel.md b/doc/en/spec_control_channel.md deleted file mode 100644 index 2e53b47..0000000 --- a/doc/en/spec_control_channel.md +++ /dev/null @@ -1,53 +0,0 @@ -# Control Channels {#spec_control_channel} - -| Name | Field | Address | Bandwidth | Node | -| :----- | :----- | :----- | :----- | :----- | -| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | | -| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | | -| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | | -| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | | -| File channel | XU_FILE_CHANNEL | 5 | 2000 | | - -## Camera Control Channel - -The channel provides get, set and query (min, max, default). - -## Half-Duplex Channel - -The channel only provides set, such as zero drift correction. - -## IMU Channel - -The channel is used to request and response IMU data, see @ref spec_imu_data. - -## File Channel - -The channel is used to read and write device information, image params, and IMU params. - -| Name | Header | Size | File | Checksum | -| :--- | :- | :--- | :--- | :-------- | -| Bytes | 1 | 2 | - | 1 | -| Type | uint8_t | uint16_t | - | uint8_t | -| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes | - -| Header Bit Subscript | Description | -| :------------------- | :---------- | -| 0 | Device information | -| 1 | Image params | -| 2 | IMU params | -| 3~6 | Undefined | -| 7 | 0: Get; 1: Set | - -### File Content Packet - -| Name | ID | Size | Content | -| :--- | :- | :--- | :------ | -| Bytes | 1 | 2 | - | -| Type | uint8_t | uint16_t | - | -| Description | Content ID | Content size | Content data | - -| File | ID | Max Size | -| :--- | :- | :------- | -| Device information | 1 | 250 | -| Image params | 2 | 250 | -| IMU params | 4 | 500 | diff --git a/doc/en/spec_hardware_info.md b/doc/en/spec_hardware_info.md deleted file mode 100644 index 16bf998..0000000 --- a/doc/en/spec_hardware_info.md +++ /dev/null @@ -1,16 +0,0 @@ -# Device Information {#spec_hardware_info} - -| Name | Field | Fixed Value | USB Descriptor | UVC Extension Unit | Bytes | Note | -| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- | -| VID | vid | 0x04B4 | √ | × | 2 | | -| PID | pid | 0x00F9 | √ | × | 2 | | -| Device name | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 | -| Serial number | serial_number | - | √ | √ Get | 16 | | -| Firmware version | firmware_version | - | √ | √ Get | 2 | major,minor | -| Hardware version | hardware_version | - | × | √ Get | 3 | major,minor,flag | -| Spec version | spec_version | - | × | √ Get | 2 | major,minor | -| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 | -| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 | -| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 | -| Auxiliary chip version | auxiliary_chip_version | - | × | √ Get | 2 | major,minor | -| isp version | isp_version | - | × | √ Get | 2 | major,minor | diff --git a/doc/en/spec_image_data.md b/doc/en/spec_image_data.md deleted file mode 100644 index 4996d5c..0000000 --- a/doc/en/spec_image_data.md +++ /dev/null @@ -1,20 +0,0 @@ -# Image Data {#spec_image_data} - -| Name | Field | Unit | Bytes | Note | -| :----- | :----- | :----- | :-------- | :----- | -| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] | -| Timestamp | timestamp | 10 us | 4 | uint32_t | -| Exposure Time | exposure_time | 10 us | 2 | uint16_t | - -## Image Packet - -| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum | -| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- | -| Bytes | 1 | 1 | 2 | 4 | 2 | 1 | -| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t | -| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes | - -* The image packet will be dropped, if checksum is incorrect. -* The accuracy of the time unit: 0.01 ms / 10 us. - * The timestamp could indicate 11.9 hours, it will accumulate again after overflow. -* The timestamp accumulation starts from the time of power-on, instead of opening. diff --git a/doc/en/spec_image_params.md b/doc/en/spec_image_params.md deleted file mode 100644 index 70990eb..0000000 --- a/doc/en/spec_image_params.md +++ /dev/null @@ -1,23 +0,0 @@ -# Image Params {#spec_image_params} - -## Image Intrinsics - -| Name | Field | Unit | Bytes | Note | -| :----- | :----- | :----- | :-------- | :----- | -| Image width | width | px | 2 | uint16_t; [0,65535] | -| Image height | height | px | 2 | uint16_t; [0,65535] | -| Focal length | fx | - | 8 | double | -| ^ | fy | - | 8 | double | -| Principal point | cx | - | 8 | double | -| ^ | cy | - | 8 | double | -| Distortion model | model | - | 1 | uint8_t; pinhole,... | -| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 | - -## Image Extrinsics - -Transformation matrix from left image to right image. - -| Name | Field | Unit | Bytes | Note | -| :----- | :----- | :----- | :-------- | :----- | -| Rotation matrix | rotation[3][3] | - | 72 | double | -| Translation vector | translation[3] | - | 24 | double | diff --git a/doc/en/spec_imu_data.md b/doc/en/spec_imu_data.md deleted file mode 100644 index b4edb31..0000000 --- a/doc/en/spec_imu_data.md +++ /dev/null @@ -1,42 +0,0 @@ -# IMU Data {#spec_imu_data} - -## IMU Request Packet - -| Name | Header | Serial Number | -| :--- | :----- | :------------ | -| Bytes | 1 | 4 | -| Type | uint8_t | uint32_t | -| Description | 0x5A | First request should be 0, otherwise the last one | - -## IMU Response Packet - -The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments. - -| Name | Header | State | Size | IMU Packets | Checksum | -| :--- | :----- | :---- | :--- | :---------- | :------- | -| Bytes | 1 | 1 | 2 | ... | 1 | -| Type | uint8_t | uint8_t | uint16_t | - | uint8_t | -| Description | 0x5B | 0 is success, others are failed | Content size | IMU packets | Checksum, XOR of all content bytes | - -### IMU Packet - -The IMU packet is an array of IMU datas. - -| Name | Serial Number | Timestamp | Count | IMU Datas | -| :--- | :------------ | :-------- | :---- | :-------- | -| Bytes | 4 | 4 | 1 | ... | -| Type | uint32_t | uint32_t | uint8_t | - | -| Description | Serial number | IMU basic timestamp | The number of IMU datas | IMU datas | - -### IMU Segment - -| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope | -| :--- | :----- | :------- | :------------ | :---------- | :-------- | -| Bytes | 2 | 2 | 6 | 2 | 6 | -| Type | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 | -| Description | The timestamp offset | Image frame ID | Accel x,y,z values | IMU temperature | Gyro x,y,z values | - -* Formula for converting the accel & gyro values to real ones: **real = data * range / 0x10000** . - * ``accel`` default ``range`` is **8 g**, ``gyro`` default ``range`` is **1000 deg/s**. -* Formula for converting the temperature to real value: **real = data / ratio + offset** . - * default ``ratio`` is **326.8**, default ``offset`` is **25℃**. diff --git a/doc/en/spec_imu_params.md b/doc/en/spec_imu_params.md deleted file mode 100644 index c4fcc4b..0000000 --- a/doc/en/spec_imu_params.md +++ /dev/null @@ -1,23 +0,0 @@ -# IMU Params {#spec_imu_params} - -## IMU Intrinsics - -| Name | Field | Unit | Bytes | Note | -| :----- | :----- | :----- | :-------- | :----- | -| Scale matrix | acc_scale[3][3] | - | 72 | double | -| ^ | gyro_scale[3][3] | - | 72 | double | -| Zero-drift | acc_drift[3] | - | 24 | double | -| ^ | gyro_drift[3] | - | 24 | double | -| Noise density | acc_noise[3] | - | 24 | double | -| ^ | gyro_noise[3] | - | 24 | double | -| Random walk | acc_bias[3] | - | 24 | double | -| ^ | gyro_bias[3] | - | 24 | double | - -## IMU Extrinsics - -Transformation matrix from left image to IMU. - -| Name | Field | Unit | Bytes | Note | -| :----- | :----- | :----- | :-------- | :----- | -| Rotation matrix | rotation[3][3] | - | 72 | double | -| Translation vector | translation[3] | - | 24 | double | diff --git a/doc/en/specs_ctrl.md b/doc/en/specs_ctrl.md deleted file mode 100644 index ba2e3c1..0000000 --- a/doc/en/specs_ctrl.md +++ /dev/null @@ -1,4 +0,0 @@ -# Device Control Specification {#specs_ctrl} - -* @subpage spec_control_api -* @subpage spec_control_channel diff --git a/doc/en/specs_data.md b/doc/en/specs_data.md deleted file mode 100644 index 8dee2a2..0000000 --- a/doc/en/specs_data.md +++ /dev/null @@ -1,7 +0,0 @@ -# Device Data Specification {#specs_data} - -* @subpage spec_hardware_info -* @subpage spec_image_params -* @subpage spec_imu_params -* @subpage spec_image_data -* @subpage spec_imu_data diff --git a/doc/langs.sh b/doc/langs.sh deleted file mode 100644 index 5db2caf..0000000 --- a/doc/langs.sh +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/env bash -# Copyright 2018 Slightech Co., Ltd. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -LANGS=( - en - zh-Hans -) -[ $# -gt 0 ] && echo "LANGS=(${LANGS[@]})" diff --git a/doc/static/custom.css b/doc/static/custom.css deleted file mode 100644 index f2c2edf..0000000 --- a/doc/static/custom.css +++ /dev/null @@ -1,3 +0,0 @@ -#projectlogo img { - margin: 1em 0.5em 1em 1em; -} diff --git a/doc/static/images/icon.png b/doc/static/images/icon.png deleted file mode 100644 index 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The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the path to -# strip. -# -# Note that you can specify absolute paths here, but also relative paths, which -# will be relative from the directory where doxygen is started. -# This tag requires that the tag FULL_PATH_NAMES is set to YES. - -STRIP_FROM_PATH = - -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the -# path mentioned in the documentation of a class, which tells the reader which -# header file to include in order to use a class. If left blank only the name of -# the header file containing the class definition is used. Otherwise one should -# specify the list of include paths that are normally passed to the compiler -# using the -I flag. - -STRIP_FROM_INC_PATH = - -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but -# less readable) file names. This can be useful is your file systems doesn't -# support long names like on DOS, Mac, or CD-ROM. -# The default value is: NO. - -SHORT_NAMES = NO - -# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the -# first line (until the first dot) of a Javadoc-style comment as the brief -# description. If set to NO, the Javadoc-style will behave just like regular Qt- -# style comments (thus requiring an explicit @brief command for a brief -# description.) -# The default value is: NO. - -JAVADOC_AUTOBRIEF = YES - -# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first -# line (until the first dot) of a Qt-style comment as the brief description. If -# set to NO, the Qt-style will behave just like regular Qt-style comments (thus -# requiring an explicit \brief command for a brief description.) -# The default value is: NO. - -QT_AUTOBRIEF = NO - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a -# multi-line C++ special comment block (i.e. a block of //! or /// comments) as -# a brief description. This used to be the default behavior. The new default is -# to treat a multi-line C++ comment block as a detailed description. Set this -# tag to YES if you prefer the old behavior instead. -# -# Note that setting this tag to YES also means that rational rose comments are -# not recognized any more. -# The default value is: NO. - -MULTILINE_CPP_IS_BRIEF = NO - -# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the -# documentation from any documented member that it re-implements. -# The default value is: YES. - -INHERIT_DOCS = YES - -# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new -# page for each member. If set to NO, the documentation of a member will be part -# of the file/class/namespace that contains it. -# The default value is: NO. - -SEPARATE_MEMBER_PAGES = NO - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen -# uses this value to replace tabs by spaces in code fragments. -# Minimum value: 1, maximum value: 16, default value: 4. - -TAB_SIZE = 2 - -# This tag can be used to specify a number of aliases that act as commands in -# the documentation. An alias has the form: -# name=value -# For example adding -# "sideeffect=@par Side Effects:\n" -# will allow you to put the command \sideeffect (or @sideeffect) in the -# documentation, which will result in a user-defined paragraph with heading -# "Side Effects:". You can put \n's in the value part of an alias to insert -# newlines (in the resulting output). You can put ^^ in the value part of an -# alias to insert a newline as if a physical newline was in the original file. - -ALIASES = - -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding "class=itcl::class" -# will allow you to use the command class in the itcl::class meaning. - -TCL_SUBST = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources -# only. Doxygen will then generate output that is more tailored for C. For -# instance, some of the names that are used will be different. The list of all -# members will be omitted, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_FOR_C = NO - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or -# Python sources only. Doxygen will then generate output that is more tailored -# for that language. For instance, namespaces will be presented as packages, -# qualified scopes will look different, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources. Doxygen will then generate output that is tailored for Fortran. -# The default value is: NO. - -OPTIMIZE_FOR_FORTRAN = NO - -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for VHDL. -# The default value is: NO. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given -# extension. Doxygen has a built-in mapping, but you can override or extend it -# using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, Javascript, -# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: -# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: -# Fortran. In the later case the parser tries to guess whether the code is fixed -# or free formatted code, this is the default for Fortran type files), VHDL. For -# instance to make doxygen treat .inc files as Fortran files (default is PHP), -# and .f files as C (default is Fortran), use: inc=Fortran f=C. -# -# Note: For files without extension you can use no_extension as a placeholder. -# -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments -# according to the Markdown format, which allows for more readable -# documentation. See http://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you can -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in -# case of backward compatibilities issues. -# The default value is: YES. - -MARKDOWN_SUPPORT = YES - -# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up -# to that level are automatically included in the table of contents, even if -# they do not have an id attribute. -# Note: This feature currently applies only to Markdown headings. -# Minimum value: 0, maximum value: 99, default value: 0. -# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. - -TOC_INCLUDE_HEADINGS = 0 - -# When enabled doxygen tries to link words that correspond to documented -# classes, or namespaces to their corresponding documentation. Such a link can -# be prevented in individual cases by putting a % sign in front of the word or -# globally by setting AUTOLINK_SUPPORT to NO. -# The default value is: YES. - -AUTOLINK_SUPPORT = YES - -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should set this -# tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); -# versus func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. -# The default value is: NO. - -BUILTIN_STL_SUPPORT = NO - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. -# The default value is: NO. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen -# will parse them like normal C++ but will assume all classes use public instead -# of private inheritance when no explicit protection keyword is present. -# The default value is: NO. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate -# getter and setter methods for a property. Setting this option to YES will make -# doxygen to replace the get and set methods by a property in the documentation. -# This will only work if the methods are indeed getting or setting a simple -# type. If this is not the case, or you want to show the methods anyway, you -# should set this option to NO. -# The default value is: YES. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. -# The default value is: NO. - -DISTRIBUTE_GROUP_DOC = YES - -# If one adds a struct or class to a group and this option is enabled, then also -# any nested class or struct is added to the same group. By default this option -# is disabled and one has to add nested compounds explicitly via \ingroup. -# The default value is: NO. - -GROUP_NESTED_COMPOUNDS = NO - -# Set the SUBGROUPING tag to YES to allow class member groups of the same type -# (for instance a group of public functions) to be put as a subgroup of that -# type (e.g. under the Public Functions section). Set it to NO to prevent -# subgrouping. Alternatively, this can be done per class using the -# \nosubgrouping command. -# The default value is: YES. - -SUBGROUPING = YES - -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions -# are shown inside the group in which they are included (e.g. using \ingroup) -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX -# and RTF). -# -# Note that this feature does not work in combination with -# SEPARATE_MEMBER_PAGES. -# The default value is: NO. - -INLINE_GROUPED_CLASSES = NO - -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions -# with only public data fields or simple typedef fields will be shown inline in -# the documentation of the scope in which they are defined (i.e. file, -# namespace, or group documentation), provided this scope is documented. If set -# to NO, structs, classes, and unions are shown on a separate page (for HTML and -# Man pages) or section (for LaTeX and RTF). -# The default value is: NO. - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or -# enum is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically be -# useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. -# The default value is: NO. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can be -# an expensive process and often the same symbol appears multiple times in the -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small -# doxygen will become slower. If the cache is too large, memory is wasted. The -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 -# symbols. At the end of a run doxygen will report the cache usage and suggest -# the optimal cache size from a speed point of view. -# Minimum value: 0, maximum value: 9, default value: 0. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in -# documentation are documented, even if no documentation was available. Private -# class members and static file members will be hidden unless the -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. -# Note: This will also disable the warnings about undocumented members that are -# normally produced when WARNINGS is set to YES. -# The default value is: NO. - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will -# be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal -# scope will be included in the documentation. -# The default value is: NO. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be -# included in the documentation. -# The default value is: NO. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined -# locally in source files will be included in the documentation. If set to NO, -# only classes defined in header files are included. Does not have any effect -# for Java sources. -# The default value is: YES. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. If set to YES, local methods, -# which are defined in the implementation section but not in the interface are -# included in the documentation. If set to NO, only methods in the interface are -# included. -# The default value is: NO. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base name of -# the file that contains the anonymous namespace. By default anonymous namespace -# are hidden. -# The default value is: NO. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all -# undocumented members inside documented classes or files. If set to NO these -# members will be included in the various overviews, but no documentation -# section is generated. This option has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_MEMBERS = YES - -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. If set -# to NO, these classes will be included in the various overviews. This option -# has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# (class|struct|union) declarations. If set to NO, these declarations will be -# included in the documentation. -# The default value is: NO. - -HIDE_FRIEND_COMPOUNDS = YES - -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any -# documentation blocks found inside the body of a function. If set to NO, these -# blocks will be appended to the function's detailed documentation block. -# The default value is: NO. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation that is typed after a -# \internal command is included. If the tag is set to NO then the documentation -# will be excluded. Set it to YES to include the internal documentation. -# The default value is: NO. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES, upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. -# The default value is: system dependent. - -CASE_SENSE_NAMES = NO - -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with -# their full class and namespace scopes in the documentation. If set to YES, the -# scope will be hidden. -# The default value is: NO. - -HIDE_SCOPE_NAMES = NO - -# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will -# append additional text to a page's title, such as Class Reference. If set to -# YES the compound reference will be hidden. -# The default value is: NO. - -HIDE_COMPOUND_REFERENCE= NO - -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of -# the files that are included by a file in the documentation of that file. -# The default value is: YES. - -SHOW_INCLUDE_FILES = NO - -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each -# grouped member an include statement to the documentation, telling the reader -# which file to include in order to use the member. -# The default value is: NO. - -SHOW_GROUPED_MEMB_INC = NO - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include -# files with double quotes in the documentation rather than with sharp brackets. -# The default value is: NO. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the -# documentation for inline members. -# The default value is: YES. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the -# (detailed) documentation of file and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. -# The default value is: YES. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief -# descriptions of file, namespace and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. Note that -# this will also influence the order of the classes in the class list. -# The default value is: NO. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the -# (brief and detailed) documentation of class members so that constructors and -# destructors are listed first. If set to NO the constructors will appear in the -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief -# member documentation. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting -# detailed member documentation. -# The default value is: NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy -# of group names into alphabetical order. If set to NO the group names will -# appear in their defined order. -# The default value is: NO. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by -# fully-qualified names, including namespaces. If set to NO, the class list will -# be sorted only by class name, not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the alphabetical -# list. -# The default value is: NO. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper -# type resolution of all parameters of a function it will reject a match between -# the prototype and the implementation of a member function even if there is -# only one candidate or it is obvious which candidate to choose by doing a -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still -# accept a match between prototype and implementation in such cases. -# The default value is: NO. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo -# list. This list is created by putting \todo commands in the documentation. -# The default value is: YES. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test -# list. This list is created by putting \test commands in the documentation. -# The default value is: YES. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug -# list. This list is created by putting \bug commands in the documentation. -# The default value is: YES. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) -# the deprecated list. This list is created by putting \deprecated commands in -# the documentation. -# The default value is: YES. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional documentation -# sections, marked by \if ... \endif and \cond -# ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the -# initial value of a variable or macro / define can have for it to appear in the -# documentation. If the initializer consists of more lines than specified here -# it will be hidden. Use a value of 0 to hide initializers completely. The -# appearance of the value of individual variables and macros / defines can be -# controlled using \showinitializer or \hideinitializer command in the -# documentation regardless of this setting. -# Minimum value: 0, maximum value: 10000, default value: 30. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at -# the bottom of the documentation of classes and structs. If set to YES, the -# list will mention the files that were used to generate the documentation. -# The default value is: YES. - -SHOW_USED_FILES = NO - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This -# will remove the Files entry from the Quick Index and from the Folder Tree View -# (if specified). -# The default value is: YES. - -SHOW_FILES = NO - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces -# page. This will remove the Namespaces entry from the Quick Index and from the -# Folder Tree View (if specified). -# The default value is: YES. - -SHOW_NAMESPACES = NO - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command command input-file, where command is the value of the -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided -# by doxygen. Whatever the program writes to standard output is used as the file -# version. For an example see the documentation. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. You can -# optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. -# -# Note that if you run doxygen from a directory containing a file called -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE -# tag is left empty. - -LAYOUT_FILE = - -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing -# the reference definitions. This must be a list of .bib files. The .bib -# extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. -# For LaTeX the style of the bibliography can be controlled using -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the -# search path. See also \cite for info how to create references. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# Configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated to -# standard output by doxygen. If QUIET is set to YES this implies that the -# messages are off. -# The default value is: NO. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES -# this implies that the warnings are on. -# -# Tip: Turn warnings on while writing the documentation. -# The default value is: YES. - -WARNINGS = YES - -# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: YES. - -WARN_IF_UNDOCUMENTED = YES - -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some parameters -# in a documented function, or documenting parameters that don't exist or using -# markup commands wrongly. -# The default value is: YES. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that -# are documented, but have no documentation for their parameters or return -# value. If set to NO, doxygen will only warn about wrong or incomplete -# parameter documentation, but not about the absence of documentation. -# The default value is: NO. - -WARN_NO_PARAMDOC = NO - -# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. -# The default value is: NO. - -WARN_AS_ERROR = NO - -# The WARN_FORMAT tag determines the format of the warning messages that doxygen -# can produce. The string should contain the $file, $line, and $text tags, which -# will be replaced by the file and line number from which the warning originated -# and the warning text. Optionally the format may contain $version, which will -# be replaced by the version of the file (if it could be obtained via -# FILE_VERSION_FILTER) -# The default value is: $file:$line: $text. - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning and error -# messages should be written. If left blank the output is written to standard -# error (stderr). - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag is used to specify the files and/or directories that contain -# documented source files. You may enter file names like myfile.cpp or -# directories like /usr/src/myproject. Separate the files or directories with -# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING -# Note: If this tag is empty the current directory is searched. - -INPUT = mainpage.md \ - specs_data.md \ - spec_hardware_info.md \ - spec_image_params.md \ - spec_imu_params.md \ - spec_image_data.md \ - spec_imu_data.md \ - specs_ctrl.md \ - spec_control_api.md \ - spec_control_channel.md \ - /usr/local/include/mynteye - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: https://www.gnu.org/software/libiconv/) for the list of -# possible encodings. -# The default value is: UTF-8. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and -# *.h) to filter out the source-files in the directories. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# read by doxygen. -# -# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, -# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, -# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, -# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, -# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf. - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.idl \ - *.ddl \ - *.odl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.cs \ - *.d \ - *.php \ - *.php4 \ - *.php5 \ - *.phtml \ - *.inc \ - *.m \ - *.markdown \ - *.md \ - *.mm \ - *.dox \ - *.py \ - *.pyw \ - *.f90 \ - *.f95 \ - *.f03 \ - *.f08 \ - *.f \ - *.for \ - *.tcl \ - *.vhd \ - *.vhdl \ - *.ucf \ - *.qsf - -# The RECURSIVE tag can be used to specify whether or not subdirectories should -# be searched for input files as well. -# The default value is: NO. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = /usr/local/include/mynteye/logger.h \ - /usr/local/include/mynteye/miniglog.h - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. -# The default value is: NO. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories for example use the pattern */test/* - -EXCLUDE_PATTERNS = - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories use the pattern */test/* - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or directories -# that contain example code fragments that are included (see the \include -# command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank all -# files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude commands -# irrespective of the value of the RECURSIVE tag. -# The default value is: NO. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or directories -# that contain images that are to be included in the documentation (see the -# \image command). - -IMAGE_PATH = ../static/images - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command: -# -# -# -# where is the value of the INPUT_FILTER tag, and is the -# name of an input file. Doxygen will then use the output that the filter -# program writes to standard output. If FILTER_PATTERNS is specified, this tag -# will be ignored. -# -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: pattern=filter -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the -# patterns match the file name, INPUT_FILTER is applied. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will also be used to filter the input files that are used for -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). -# The default value is: NO. - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and -# it is also possible to disable source filtering for a specific pattern using -# *.ext= (so without naming a filter). -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want to reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = - -#--------------------------------------------------------------------------- -# Configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be -# generated. Documented entities will be cross-referenced with these sources. -# -# Note: To get rid of all source code in the generated output, make sure that -# also VERBATIM_HEADERS is set to NO. -# The default value is: NO. - -SOURCE_BROWSER = NO - -# Setting the INLINE_SOURCES tag to YES will include the body of functions, -# classes and enums directly into the documentation. -# The default value is: NO. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any -# special comment blocks from generated source code fragments. Normal C, C++ and -# Fortran comments will always remain visible. -# The default value is: YES. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# function all documented functions referencing it will be listed. -# The default value is: NO. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES then for each documented function -# all documented entities called/used by that function will be listed. -# The default value is: NO. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set -# to YES then the hyperlinks from functions in REFERENCES_RELATION and -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will -# link to the documentation. -# The default value is: YES. - -REFERENCES_LINK_SOURCE = YES - -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the -# source code will show a tooltip with additional information such as prototype, -# brief description and links to the definition and documentation. Since this -# will make the HTML file larger and loading of large files a bit slower, you -# can opt to disable this feature. -# The default value is: YES. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -SOURCE_TOOLTIPS = YES - -# If the USE_HTAGS tag is set to YES then the references to source code will -# point to the HTML generated by the htags(1) tool instead of doxygen built-in -# source browser. The htags tool is part of GNU's global source tagging system -# (see https://www.gnu.org/software/global/global.html). You will need version -# 4.8.6 or higher. -# -# To use it do the following: -# - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the config file -# - Make sure the INPUT points to the root of the source tree -# - Run doxygen as normal -# -# Doxygen will invoke htags (and that will in turn invoke gtags), so these -# tools must be available from the command line (i.e. in the search path). -# -# The result: instead of the source browser generated by doxygen, the links to -# source code will now point to the output of htags. -# The default value is: NO. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a -# verbatim copy of the header file for each class for which an include is -# specified. Set to NO to disable this. -# See also: Section \class. -# The default value is: YES. - -VERBATIM_HEADERS = NO - -#--------------------------------------------------------------------------- -# Configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all -# compounds will be generated. Enable this if the project contains a lot of -# classes, structs, unions or interfaces. -# The default value is: YES. - -ALPHABETICAL_INDEX = YES - -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all classes will -# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag -# can be used to specify a prefix (or a list of prefixes) that should be ignored -# while generating the index headers. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output -# The default value is: YES. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each -# generated HTML page (for example: .htm, .php, .asp). -# The default value is: .html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for -# each generated HTML page. If the tag is left blank doxygen will generate a -# standard header. -# -# To get valid HTML the header file that includes any scripts and style sheets -# that doxygen needs, which is dependent on the configuration options used (e.g. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a -# default header using -# doxygen -w html new_header.html new_footer.html new_stylesheet.css -# YourConfigFile -# and then modify the file new_header.html. See also section "Doxygen usage" -# for information on how to generate the default header that doxygen normally -# uses. -# Note: The header is subject to change so you typically have to regenerate the -# default header when upgrading to a newer version of doxygen. For a description -# of the possible markers and block names see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each -# generated HTML page. If the tag is left blank doxygen will generate a standard -# footer. See HTML_HEADER for more information on how to generate a default -# footer and what special commands can be used inside the footer. See also -# section "Doxygen usage" for information on how to generate the default footer -# that doxygen normally uses. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style -# sheet that is used by each HTML page. It can be used to fine-tune the look of -# the HTML output. If left blank doxygen will generate a default style sheet. -# See also section "Doxygen usage" for information on how to generate the style -# sheet that doxygen normally uses. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as -# it is more robust and this tag (HTML_STYLESHEET) will in the future become -# obsolete. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_STYLESHEET = - -# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined -# cascading style sheets that are included after the standard style sheets -# created by doxygen. Using this option one can overrule certain style aspects. -# This is preferred over using HTML_STYLESHEET since it does not replace the -# standard style sheet and is therefore more robust against future updates. -# Doxygen will copy the style sheet files to the output directory. -# Note: The order of the extra style sheet files is of importance (e.g. the last -# style sheet in the list overrules the setting of the previous ones in the -# list). For an example see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_STYLESHEET = ../static/custom.css - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the -# files will be copied as-is; there are no commands or markers available. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_FILES = - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen -# will adjust the colors in the style sheet and background images according to -# this color. Hue is specified as an angle on a colorwheel, see -# https://en.wikipedia.org/wiki/Hue for more information. For instance the value -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 -# purple, and 360 is red again. -# Minimum value: 0, maximum value: 359, default value: 220. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use grayscales only. A -# value of 255 will produce the most vivid colors. -# Minimum value: 0, maximum value: 255, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the -# luminance component of the colors in the HTML output. Values below 100 -# gradually make the output lighter, whereas values above 100 make the output -# darker. The value divided by 100 is the actual gamma applied, so 80 represents -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not -# change the gamma. -# Minimum value: 40, maximum value: 240, default value: 80. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting this -# to YES can help to show when doxygen was last run and thus if the -# documentation is up to date. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_TIMESTAMP = NO - -# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML -# documentation will contain a main index with vertical navigation menus that -# are dynamically created via Javascript. If disabled, the navigation index will -# consists of multiple levels of tabs that are statically embedded in every HTML -# page. Disable this option to support browsers that do not have Javascript, -# like the Qt help browser. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_MENUS = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_SECTIONS = NO - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries -# shown in the various tree structured indices initially; the user can expand -# and collapse entries dynamically later on. Doxygen will expand the tree to -# such a level that at most the specified number of entries are visible (unless -# a fully collapsed tree already exceeds this amount). So setting the number of -# entries 1 will produce a full collapsed tree by default. 0 is a special value -# representing an infinite number of entries and will result in a full expanded -# tree by default. -# Minimum value: 0, maximum value: 9999, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files will be -# generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: https://developer.apple.com/tools/xcode/), introduced with -# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See https://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_DOCSET = NO - -# This tag determines the name of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# The default value is: Doxygen generated docs. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDNAME = "Slightech generated docs" - -# This tag specifies a string that should uniquely identify the documentation -# set bundle. This should be a reverse domain-name style string, e.g. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_BUNDLE_ID = com.slightech.mynteye - -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style -# string, e.g. com.mycompany.MyDocSet.documentation. -# The default value is: org.doxygen.Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_ID = com.slightech.mynteye.documentation - -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. -# The default value is: Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_NAME = MYNT EYE S SDK - -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. -# -# The HTML Help Workshop contains a compiler that can convert all HTML output -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML -# files are now used as the Windows 98 help format, and will replace the old -# Windows help format (.hlp) on all Windows platforms in the future. Compressed -# HTML files also contain an index, a table of contents, and you can search for -# words in the documentation. The HTML workshop also contains a viewer for -# compressed HTML files. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_HTMLHELP = NO - -# The CHM_FILE tag can be used to specify the file name of the resulting .chm -# file. You can add a path in front of the file if the result should not be -# written to the html output directory. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_FILE = - -# The HHC_LOCATION tag can be used to specify the location (absolute path -# including file name) of the HTML help compiler (hhc.exe). If non-empty, -# doxygen will try to run the HTML help compiler on the generated index.hhp. -# The file has to be specified with full path. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -HHC_LOCATION = - -# The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the master .chm file (NO). -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -GENERATE_CHI = NO - -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) -# and project file content. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_INDEX_ENCODING = - -# The BINARY_TOC flag controls whether a binary table of contents is generated -# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it -# enables the Previous and Next buttons. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members to -# the table of contents of the HTML help documentation and to the tree view. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help -# (.qch) of the generated HTML documentation. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify -# the file name of the resulting .qch file. The path specified is relative to -# the HTML output folder. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help -# Project output. For more information please see Qt Help Project / Namespace -# (see: http://doc.qt.io/qt-4.8/qthelpproject.html#namespace). -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_NAMESPACE = com.slightech.mynteye - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt -# Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: http://doc.qt.io/qt-4.8/qthelpproject.html#virtual-folders). -# The default value is: doc. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_VIRTUAL_FOLDER = doc - -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom -# filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's filter section matches. Qt Help Project / Filter Attributes (see: -# http://doc.qt.io/qt-4.8/qthelpproject.html#filter-attributes). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_SECT_FILTER_ATTRS = - -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be -# generated, together with the HTML files, they form an Eclipse help plugin. To -# install this plugin and make it available under the help contents menu in -# Eclipse, the contents of the directory containing the HTML and XML files needs -# to be copied into the plugins directory of eclipse. The name of the directory -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. -# After copying Eclipse needs to be restarted before the help appears. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the Eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have this -# name. Each documentation set should have its own identifier. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. - -ECLIPSE_DOC_ID = com.slightech.mynteye - -# If you want full control over the layout of the generated HTML pages it might -# be necessary to disable the index and replace it with your own. The -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top -# of each HTML page. A value of NO enables the index and the value YES disables -# it. Since the tabs in the index contain the same information as the navigation -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -DISABLE_INDEX = YES - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. If the tag -# value is set to YES, a side panel will be generated containing a tree-like -# index structure (just like the one that is generated for HTML Help). For this -# to work a browser that supports JavaScript, DHTML, CSS and frames is required -# (i.e. any modern browser). Windows users are probably better off using the -# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can -# further fine-tune the look of the index. As an example, the default style -# sheet generated by doxygen has an example that shows how to put an image at -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has -# the same information as the tab index, you could consider setting -# DISABLE_INDEX to YES when enabling this option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_TREEVIEW = YES - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that -# doxygen will group on one line in the generated HTML documentation. -# -# Note that a value of 0 will completely suppress the enum values from appearing -# in the overview section. -# Minimum value: 0, maximum value: 20, default value: 4. -# This tag requires that the tag GENERATE_HTML is set to YES. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used -# to set the initial width (in pixels) of the frame in which the tree is shown. -# Minimum value: 0, maximum value: 1500, default value: 250. -# This tag requires that the tag GENERATE_HTML is set to YES. - -TREEVIEW_WIDTH = 260 - -# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to -# external symbols imported via tag files in a separate window. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of LaTeX formulas included as images in -# the HTML documentation. When you change the font size after a successful -# doxygen run you need to manually remove any form_*.png images from the HTML -# output directory to force them to be regenerated. -# Minimum value: 8, maximum value: 50, default value: 10. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANSPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are not -# supported properly for IE 6.0, but are supported on all modern browsers. -# -# Note that when changing this option you need to delete any form_*.png files in -# the HTML output directory before the changes have effect. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_TRANSPARENT = YES - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# https://www.mathjax.org) which uses client side Javascript for the rendering -# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX -# installed or if you want to formulas look prettier in the HTML output. When -# enabled you may also need to install MathJax separately and configure the path -# to it using the MATHJAX_RELPATH option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. -# Possible values are: HTML-CSS (which is slower, but has the best -# compatibility), NativeMML (i.e. MathML) and SVG. -# The default value is: HTML-CSS. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the HTML -# output directory using the MATHJAX_RELPATH option. The destination directory -# should contain the MathJax.js script. For instance, if the mathjax directory -# is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax -# Content Delivery Network so you can quickly see the result without installing -# MathJax. However, it is strongly recommended to install a local copy of -# MathJax from https://www.mathjax.org before deployment. -# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/ - -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax -# extension names that should be enabled during MathJax rendering. For example -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces -# of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an -# example see the documentation. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for -# the HTML output. The underlying search engine uses javascript and DHTML and -# should work on any modern browser. Note that when using HTML help -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) -# there is already a search function so this one should typically be disabled. -# For large projects the javascript based search engine can be slow, then -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to -# search using the keyboard; to jump to the search box use + S -# (what the is depends on the OS and browser, but it is typically -# , /API 类 -* API 模块 - * \link enumerations 枚举类型\endlink - * \link datatypes 数据类型\endlink - * \link utils 工具函数\endlink - * \link calibration 内参与外参\endlink -* 设备说明 - * @subpage specs_data - * @subpage specs_ctrl diff --git a/doc/zh-Hans/spec_control_api.md b/doc/zh-Hans/spec_control_api.md deleted file mode 100644 index 6c1f9a8..0000000 --- a/doc/zh-Hans/spec_control_api.md +++ /dev/null @@ -1,27 +0,0 @@ -# 控制 API 说明 {#spec_control_api} - -控制有两种实现方式,一是通过 UVC 标准协议,二是通过 UVC 拓展通道自定义协议。 - -## 标准协议 - -| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 | -| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- | -| 亮度 | brightness | 2 | 192 | 0 | 255 | √ | 0x14 | 关闭自动曝光,手动设定的参数 | - -> UVC 标准协议实现的控制,有现成的 API 进行 Get & Set ,包括 Min, Max, Default 。 - -## 自定义协议 - -| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 通道地址 | 说明 | -| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- | -| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0:开启自动曝光; 1:关闭 | -| 最大增益 | max_gain | 2 | 8 | 0 | 255 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光,可设定的阈值 | -| 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光,可设定的阈值 | -| 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | | -| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | | -| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | - | XU_CAM_CTRL | 0x0100 | 开始自动曝光,可设定的阈值 | -| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | | -| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | | -| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | | -| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | | - diff --git a/doc/zh-Hans/spec_control_channel.md b/doc/zh-Hans/spec_control_channel.md deleted file mode 100644 index b232943..0000000 --- a/doc/zh-Hans/spec_control_channel.md +++ /dev/null @@ -1,53 +0,0 @@ -# 拓展通道说明 {#spec_control_channel} - -| 名称 | 字段 | 地址 | 带宽 | 说明 | -| :----- | :----- | :----- | :----- | :----- | -| 相机控制通道 | XU_CAM_CTRL_CHANNEL | 1 | 3 | | -| 半双工通道 | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | | -| IMU 请求通道 | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | | -| IMU 响应通道 | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | | -| 文件通道 | XU_FILE_CHANNEL | 5 | 2000 | | - -## 相机控制通道 - -相机控制通道是那些需要 Get & Set & Query 的控制通道,其中 Query 细分为 Min, Max, Default 。 - -## 半双工通道 - -半双工通道是那些仅需 Set 的控制通道,如请求零漂矫正。 - -## IMU 通道 - -用来请求和响应 IMU 数据的通道,可参见 @ref spec_imu_data 。 - -## 文件通道 - -用来读写硬件信息、图像参数、 IMU 参数的通道。 - -| Name | Header | Size | File | Checksum | -| :--- | :----- | :--- | :--- | :-------- | -| 字节数 | 1 | 2 | - | 1 | -| 类型 | uint8_t | uint16_t | - | uint8_t | -| 描述 | 标识 | 文件内容大小 | 文件内容 | 校验码(文件内容所有字节异或) | - -| Header Bit Subscript | Description | -| :------------------- | :---------- | -| 0 | 硬件信息 | -| 1 | 图像参数 | -| 2 | IMU 参数 | -| 3~6 | 未定义 | -| 7 | 0: Get; 1: Set | - -### 文件内容包 - -| Name | ID | Size | Content | -| :--- | :- | :--- | :------ | -| 字节数 | 1 | 2 | - | -| 类型 | uint8_t | uint16_t | - | -| 描述 | 内容 ID | 内容大小 | 内容 | - -| File | ID | Max Size | -| :--- | :- | :------- | -| 硬件信息 | 1 | 250 | -| 图像参数 | 2 | 404 | -| IMU 参数 | 4 | 500 | diff --git a/doc/zh-Hans/spec_hardware_info.md b/doc/zh-Hans/spec_hardware_info.md deleted file mode 100644 index ba2dd41..0000000 --- a/doc/zh-Hans/spec_hardware_info.md +++ /dev/null @@ -1,19 +0,0 @@ -# 硬件信息说明 {#spec_hardware_info} - -| 名称 | 字段 | 固定值 | 描述符获取 | 拓展通道获取 | 字节数 | 说明 | -| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- | -| VID | vid | 0x04B4 | √ | × | 2 | | -| PID | pid | 0x00F9 | √ | × | 2 | | -| 设备名称 | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 | -| 序列号 | serial_number | - | √ | √ Get | 16 | | -| 固件版本 | firmware_version | - | √ | √ Get | 2 | major,minor | -| 硬件版本 | hardware_version | - | × | √ Get | 3 | major,minor,flag | -| 协议版本 | spec_version | - | × | √ Get | 2 | major,minor | -| 镜头类型 | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ,未 Set 默认 0 | -| IMU 类型 | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ,未 Set 默认 0 | -| 基线长度 | nominal_baseline | - | × | √ Get/Set | 2 | 单位 mm ,未 set 默认 0 | -| 辅助芯片版本 | auxiliary_chip_version | - | × | √ Get | 2 | major,minor | -| ISP版本 | isp_version | - | × | √ Get | 2 | major,minor | - -* 描述符获取:指通用 USB 设备信息,可用工具查看。 -* 拓展通道获取:指通过拓展通道(UVC Extension Unit)问硬件获取到的信息,需要读取。 diff --git a/doc/zh-Hans/spec_image_data.md b/doc/zh-Hans/spec_image_data.md deleted file mode 100644 index bb5261d..0000000 --- a/doc/zh-Hans/spec_image_data.md +++ /dev/null @@ -1,21 +0,0 @@ -# 图像数据说明 {#spec_image_data} - -| 名称 | 字段 | 单位 | 字节数 | 说明 | -| :----- | :----- | :----- | :-------- | :----- | -| 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] | -| 时间戳 | timestamp | 1 us | 8 | uint64_t | -| 曝光时间 | exposure_time | 1 us | 2 | uint16_t | - -> 图像数据传输方式:倒序排在图像尾部。 - -## 图像数据包 - -| Name | Header | Size | FrameID | Timestamp | ExposureTime | Checksum | -| :--- | :----- | :--- | :------ | :-------- | :----------- | :------- | -| 字节数 | 1 | 1 | 2 | 8 | 2 | 1 | -| 类型 | uint8_t | uint8_t | uint16_t | uint64_t | uint16_t | uint8_t | -| 描述 | 0x3B | 0x10 (数据内容大小) | 帧 ID | 时间戳 | 曝光时间 | 校验码(数据内容所有字节异或) | - -* 数据包校验不过,会丢弃该帧。 -* 时间的单位精度为: 1 us 。 -* 时间累计是从上电时从开始,而不是从打开时开始。 diff --git a/doc/zh-Hans/spec_image_params.md b/doc/zh-Hans/spec_image_params.md deleted file mode 100644 index dad04f8..0000000 --- a/doc/zh-Hans/spec_image_params.md +++ /dev/null @@ -1,25 +0,0 @@ -# 图像参数说明 {#spec_image_params} - -## 图像内参 - -| 名称 | 字段 | 单位 | 字节数 | 说明 | -| :----- | :----- | :----- | :-------- | :----- | -| 宽度 | width | px | 2 | uint16_t; [0,65535] | -| 高度 | height | px | 2 | uint16_t; [0,65535] | -| 焦距 | fx | - | 8 | double | -| ^ | fy | - | 8 | double | -| 图像中心 | cx | - | 8 | double | -| ^ | cy | - | 8 | double | -| 畸变模型 | model | - | 1 | uint8_t; pinhole,... | -| 畸变参数 | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 | - -> 图像分辨率不同,内参不同。多分辨率的话,需有多个内参。 - -## 图像外参 - -Left Image 到 Right Image 的变换矩阵。 - -| 名称 | 字段 | 单位 | 字节数 | 说明 | -| :----- | :----- | :----- | :-------- | :----- | -| 旋转矩阵 | rotation[3][3] | - | 72 | double | -| 平移矩阵 | translation[3] | - | 24 | double | diff --git a/doc/zh-Hans/spec_imu_data.md b/doc/zh-Hans/spec_imu_data.md deleted file mode 100644 index 34f3490..0000000 --- a/doc/zh-Hans/spec_imu_data.md +++ /dev/null @@ -1,42 +0,0 @@ -# IMU 数据说明 {#spec_imu_data} - -## IMU 请求数据包 - -| Name | Header | Serial Number | -| :--- | :----- | :------------ | -| 字节数 | 1 | 4 | -| 类型 | uint8_t | uint32_t | -| 描述 | 0x5A | 首次请求写 0 ,不然写上次响应数据包最后一个 IMU 包的序列号 | - -## IMU 响应数据包 - -IMU 响应数据包里会包含1个 IMU 包,而每个 IMU 包又带有多个 IMU 段。 - -| Name | Header | State | Size | IMU Packets | Checksum | -| :--- | :----- | :---- | :--- | :---------- | :------- | -| 字节数 | 1 | 1 | 2 | ... | 1 | -| 类型 | uint8_t | uint8_t | uint16_t | - | uint8_t | -| 描述 | 0x5B | 正常状态为 0 ,否则错误 | 数据内容大小 | 所包含的 IMU 包 | 校验码(数据内容所有字节异或) | - -### IMU 包 - -IMU 包/小包,是一组 IMU 数据。 - -| Name | Count | IMU Datas | -| :--- | :-----| :-------- | -| 字节数 | 2 | ... | -| 类型 | uint16_t | - | -| 描述 | IMU 段数量 | 所包含的 IMU 段 | - -### IMU 段 - -| Name | Serial Number | Timestamp | flag | Temperature | Accelerometer or Gyroscope | -| :--- | :------------ | :-------- | :----| :----------- | :------------------------- | -| 字节数 | 4 | 8 | 1 | 2 | 6 | -| 类型 | uint32_t | uint64_t | int8_t | int16_t | int16_t * 3 | -| Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 x y z 三轴的值 | - -* 加速度计和陀螺仪的计量值换算成物理值公式: **real = data * range / 0x10000** 。 - * 加速度计量程默认值为 **12 g** ,陀螺仪量程默认值为 **1000 deg/s** 。 -* 温度计量值换算成物理值公式: **real = data / ratio + offset** 。 - * ``ratio`` 默认值为 **326.8** , ``offset`` 默认值为 **25℃** 。 diff --git a/doc/zh-Hans/spec_imu_params.md b/doc/zh-Hans/spec_imu_params.md deleted file mode 100644 index 18dbc66..0000000 --- a/doc/zh-Hans/spec_imu_params.md +++ /dev/null @@ -1,23 +0,0 @@ -# IMU 参数说明 {#spec_imu_params} - -## IMU 内参 - -| 名称 | 字段 | 单位 | 字节数 | 说明 | -| :----- | :----- | :----- | :-------- | :----- | -| 比例因子 | acc_scale[3][3] | - | 72 | double | -| ^ | gyro_scale[3][3] | - | 72 | double | -| 零漂 | acc_drift[3] | - | 24 | double | -| ^ | gyro_drift[3] | - | 24 | double | -| 噪声密度 | acc_noise[3] | - | 24 | double | -| ^ | gyro_noise[3] | - | 24 | double | -| 随机游走 | acc_bias[3] | - | 24 | double | -| ^ | gyro_bias[3] | - | 24 | double | - -## IMU 外参 - -Left Image 到 IMU 的变换矩阵。 - -| 名称 | 字段 | 单位 | 字节数 | 说明 | -| :----- | :----- | :----- | :-------- | :----- | -| 旋转矩阵 | rotation[3][3] | - | 72 | double | -| 平移矩阵 | translation[3] | - | 24 | double | diff --git a/doc/zh-Hans/specs_ctrl.md b/doc/zh-Hans/specs_ctrl.md deleted file mode 100644 index 8232e93..0000000 --- a/doc/zh-Hans/specs_ctrl.md +++ /dev/null @@ -1,4 +0,0 @@ -# 设备控制说明 {#specs_ctrl} - -* @subpage spec_control_api -* @subpage spec_control_channel diff --git a/doc/zh-Hans/specs_data.md b/doc/zh-Hans/specs_data.md deleted file mode 100644 index a963b6b..0000000 --- a/doc/zh-Hans/specs_data.md +++ /dev/null @@ -1,7 +0,0 @@ -# 设备数据说明 {#specs_data} - -* @subpage spec_hardware_info -* @subpage spec_image_params -* @subpage spec_imu_params -* @subpage spec_image_data -* @subpage spec_imu_data diff --git a/doc/en/api.doxyfile b/docs/Doxyfile similarity index 99% rename from doc/en/api.doxyfile rename to docs/Doxyfile index 72e3fd4..745eed7 100644 --- a/doc/en/api.doxyfile +++ b/docs/Doxyfile @@ -38,27 +38,27 @@ PROJECT_NAME = "MYNT EYE S SDK" # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = 2.3.3 +PROJECT_NUMBER = 2.3.4 # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a # quick idea about the purpose of the project. Keep the description short. -PROJECT_BRIEF = http://www.myntai.com/mynteye/standard +PROJECT_BRIEF = https://www.myntai.com/mynteye/standard # With the PROJECT_LOGO tag one can specify a logo or an icon that is included # in the documentation. The maximum height of the logo should not exceed 55 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy # the logo to the output directory. -PROJECT_LOGO = ../static/images/icon.png +PROJECT_LOGO = # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path # into which the generated documentation will be written. If a relative path is # entered, it will be relative to the location where doxygen was started. If # left blank the current directory will be used. -OUTPUT_DIRECTORY = ../_output/en +OUTPUT_DIRECTORY = _doxygen # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- # directories (in 2 levels) under the output directory of each output format and @@ -791,17 +791,7 @@ WARN_LOGFILE = # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING # Note: If this tag is empty the current directory is searched. -INPUT = mainpage.md \ - specs_data.md \ - spec_hardware_info.md \ - spec_image_params.md \ - spec_imu_params.md \ - spec_image_data.md \ - spec_imu_data.md \ - specs_ctrl.md \ - spec_control_api.md \ - spec_control_channel.md \ - /usr/local/include/mynteye +INPUT = ../include/mynteye # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses @@ -938,7 +928,7 @@ EXAMPLE_RECURSIVE = NO # that contain images that are to be included in the documentation (see the # \image command). -IMAGE_PATH = ../static/images +IMAGE_PATH = # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program @@ -1115,7 +1105,7 @@ IGNORE_PREFIX = # If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output # The default value is: YES. -GENERATE_HTML = YES +GENERATE_HTML = NO # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of @@ -1185,7 +1175,7 @@ HTML_STYLESHEET = # list). For an example see the documentation. # This tag requires that the tag GENERATE_HTML is set to YES. -HTML_EXTRA_STYLESHEET = ../static/custom.css +HTML_EXTRA_STYLESHEET = # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or # other source files which should be copied to the HTML output directory. Note @@ -1667,7 +1657,7 @@ EXTRA_SEARCH_MAPPINGS = # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output. # The default value is: YES. -GENERATE_LATEX = YES +GENERATE_LATEX = NO # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of @@ -1947,7 +1937,7 @@ MAN_LINKS = NO # captures the structure of the code including all documentation. # The default value is: NO. -GENERATE_XML = NO +GENERATE_XML = YES # The XML_OUTPUT tag is used to specify where the XML pages will be put. If a # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of @@ -2102,7 +2092,8 @@ INCLUDE_FILE_PATTERNS = PREDEFINED = DOXYGEN_WORKING \ "MYNTEYE_BEGIN_NAMESPACE=namespace mynteye {" \ - "MYNTEYE_END_NAMESPACE=}" + "MYNTEYE_END_NAMESPACE=}" \ + "MYNTEYE_API=" "LAST=" # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this # tag can be used to specify a list of macro names that should be expanded. The diff --git a/docs/Makefile b/docs/Makefile new file mode 100644 index 0000000..298ea9e --- /dev/null +++ b/docs/Makefile @@ -0,0 +1,19 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line. +SPHINXOPTS = +SPHINXBUILD = sphinx-build +SOURCEDIR = . +BUILDDIR = _build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) \ No newline at end of file diff --git a/docs/api/api.rst b/docs/api/api.rst new file mode 100644 index 0000000..aebeac5 --- /dev/null +++ b/docs/api/api.rst @@ -0,0 +1,23 @@ +API +=== + +API +--- + +.. doxygenclass:: mynteye::API + :project: mynteyes + :members: + +api::StreamData +--------------- + +.. doxygenstruct:: mynteye::api::StreamData + :project: mynteyes + :members: + +api::MotionData +--------------- + +.. doxygenstruct:: mynteye::api::MotionData + :project: mynteyes + :members: diff --git a/docs/api/device.rst b/docs/api/device.rst new file mode 100644 index 0000000..bb4e193 --- /dev/null +++ b/docs/api/device.rst @@ -0,0 +1,30 @@ +Device +====== + +Device +------ + +.. doxygenclass:: mynteye::Device + :project: mynteyes + :members: + +device::Frame +------------- + +.. doxygenclass:: mynteye::device::Frame + :project: mynteyes + :members: + +device::StreamData +------------------ + +.. doxygenstruct:: mynteye::device::StreamData + :project: mynteyes + :members: + +device::MotionData +------------------ + +.. doxygenstruct:: mynteye::device::MotionData + :project: mynteyes + :members: diff --git a/docs/api/enums.rst b/docs/api/enums.rst new file mode 100644 index 0000000..29e02da --- /dev/null +++ b/docs/api/enums.rst @@ -0,0 +1,67 @@ +Enums +===== + +.. + .. doxygengroup:: enumerations + :project: mynteyes + +Model +----- + +.. doxygenenum:: mynteye::Model + :project: mynteyes + +Stream +------ + +.. doxygenenum:: mynteye::Stream + :project: mynteyes + + +Capabilities +------------ + +.. doxygenenum:: mynteye::Capabilities + :project: mynteyes + +Info +---- + +.. doxygenenum:: mynteye::Info + :project: mynteyes + +Option +------ + +.. doxygenenum:: mynteye::Option + :project: mynteyes + +Source +------ + +.. doxygenenum:: mynteye::Source + :project: mynteyes + +AddOns +------ + +.. doxygenenum:: mynteye::AddOns + :project: mynteyes + +Format +------ + +.. doxygenenum:: mynteye::Format + :project: mynteyes + +CalibrationModel +---------------- + +.. doxygenenum:: mynteye::CalibrationModel + :project: mynteyes + +DisparityComputingMethod +------------------------ + +.. doxygenenum:: mynteye::DisparityComputingMethod + :project: mynteyes diff --git a/docs/api/types.rst b/docs/api/types.rst new file mode 100644 index 0000000..3fa342a --- /dev/null +++ b/docs/api/types.rst @@ -0,0 +1,75 @@ +Types +===== + +OptionInfo +---------- + +.. doxygenstruct:: mynteye::OptionInfo + :project: mynteyes + :members: + +Resolution +---------- + +.. doxygenstruct:: mynteye::Resolution + :project: mynteyes + :members: + +StreamRequest +------------- + +.. doxygenstruct:: mynteye::StreamRequest + :project: mynteyes + :members: + +Intrinsics +---------- + +IntrinsicsPinhole +~~~~~~~~~~~~~~~~~ + +.. doxygenstruct:: mynteye::IntrinsicsPinhole + :project: mynteyes + :members: + +IntrinsicsEquidistant +~~~~~~~~~~~~~~~~~~~~~ + +.. doxygenstruct:: mynteye::IntrinsicsEquidistant + :project: mynteyes + :members: + +ImuIntrinsics +~~~~~~~~~~~~~ + +.. doxygenstruct:: mynteye::ImuIntrinsics + :project: mynteyes + :members: + +MotionIntrinsics +~~~~~~~~~~~~~~~~~ + +.. doxygenstruct:: mynteye::MotionIntrinsics + :project: mynteyes + :members: + +Extrinsics +---------- + +.. doxygenstruct:: mynteye::Extrinsics + :project: mynteyes + :members: + +ImgData +------- + +.. doxygenstruct:: mynteye::ImgData + :project: mynteyes + :members: + +ImuData +------- + +.. doxygenstruct:: mynteye::ImuData + :project: mynteyes + :members: diff --git a/docs/api/utils.rst b/docs/api/utils.rst new file mode 100644 index 0000000..443278e --- /dev/null +++ b/docs/api/utils.rst @@ -0,0 +1,32 @@ +Utils +===== + +select +------ + +.. doxygenfunction:: select + :project: mynteyes + +select_request +-------------- + +.. doxygenfunction:: select_request + :project: mynteyes + +get_real_exposure_time +---------------------- + +.. doxygenfunction:: get_real_exposure_time + :project: mynteyes + +get_sdk_root_dir +---------------- + +.. doxygenfunction:: get_sdk_root_dir + :project: mynteyes + +get_sdk_install_dir +------------------- + +.. doxygenfunction:: get_sdk_install_dir + :project: mynteyes diff --git a/doc/arch.graphml b/docs/arch.graphml similarity index 100% rename from doc/arch.graphml rename to docs/arch.graphml diff --git a/doc/arch.jpg b/docs/arch.jpg similarity index 100% rename from doc/arch.jpg rename to docs/arch.jpg diff --git a/docs/conf.py b/docs/conf.py new file mode 100644 index 0000000..3312174 --- /dev/null +++ b/docs/conf.py @@ -0,0 +1,194 @@ +# -*- coding: utf-8 -*- +# +# Configuration file for the Sphinx documentation builder. +# +# This file does only contain a selection of the most common options. For a +# full list see the documentation: +# http://www.sphinx-doc.org/en/master/config + +# -- Path setup -------------------------------------------------------------- + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +# +# import os +# import sys +# sys.path.insert(0, os.path.abspath('.')) + + +# -- Project information ----------------------------------------------------- + +project = 'MYNT® EYE S SDK' +copyright = '2018, MYNTAI' +author = 'MYNTAI' + +# The short X.Y version +version = '2.3.4' +# The full version, including alpha/beta/rc tags +release = version + + +# -- General configuration --------------------------------------------------- + +# If your documentation needs a minimal Sphinx version, state it here. +# +# needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ + 'breathe', +] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix(es) of source filenames. +# You can specify multiple suffix as a list of string: +# +# source_suffix = ['.rst', '.md'] +source_suffix = '.rst' + +# The master toctree document. +master_doc = 'index' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = 'en' + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This pattern also affects html_static_path and html_extra_path. +exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = None + + +# on_rtd is whether we are on readthedocs.org +import os +on_rtd = os.environ.get('READTHEDOCS', None) == 'True' + +import subprocess +subprocess.call('doxygen', shell=True) + + +# -- Options for HTML output ------------------------------------------------- + +if not on_rtd: # only import and set the theme if we're building docs locally + import sphinx_rtd_theme + + # The theme to use for HTML and HTML Help pages. See the documentation for + # a list of builtin themes. + # + # html_theme = 'alabaster' + html_theme = 'sphinx_rtd_theme' + html_theme_path = [sphinx_rtd_theme.get_html_theme_path()] + + # Theme options are theme-specific and customize the look and feel of a theme + # further. For a list of options available for each theme, see the + # documentation. + # + # html_theme_options = {} + + # Add any paths that contain custom static files (such as style sheets) here, + # relative to this directory. They are copied after the builtin static files, + # so a file named "default.css" will overwrite the builtin "default.css". + # html_static_path = ['_static'] + + # Custom sidebar templates, must be a dictionary that maps document names + # to template names. + # + # The default sidebars (for documents that don't match any pattern) are + # defined by theme itself. Builtin themes are using these templates by + # default: ``['localtoc.html', 'relations.html', 'sourcelink.html', + # 'searchbox.html']``. + # + # html_sidebars = {} + +# otherwise, readthedocs.org uses their theme by default, so no need to specify it + + +# -- Options for HTMLHelp output --------------------------------------------- + +# Output file base name for HTML help builder. +htmlhelp_basename = 'MYNTEYESSDKdoc' + + +# -- Options for LaTeX output ------------------------------------------------ + +latex_elements = { + # The paper size ('letterpaper' or 'a4paper'). + # + # 'papersize': 'letterpaper', + + # The font size ('10pt', '11pt' or '12pt'). + # + # 'pointsize': '10pt', + + # Additional stuff for the LaTeX preamble. + # + # 'preamble': '', + + # Latex figure (float) alignment + # + # 'figure_align': 'htbp', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'MYNTEYESSDK.tex', 'MYNT® EYE S SDK Documentation', + 'MYNTAI', 'manual'), +] + + +# -- Options for manual page output ------------------------------------------ + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'mynteyessdk', 'MYNT® EYE S SDK Documentation', + [author], 1) +] + + +# -- Options for Texinfo output ---------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'MYNTEYESSDK', 'MYNT® EYE S SDK Documentation', + author, 'MYNTEYESSDK', 'One line description of project.', + 'Miscellaneous'), +] + + +# -- Options for Epub output ------------------------------------------------- + +# Bibliographic Dublin Core info. +epub_title = project + +# The unique identifier of the text. This can be a ISBN number +# or the project homepage. +# +# epub_identifier = '' + +# A unique identification for the text. +# +# epub_uid = '' + +# A list of files that should not be packed into the epub file. +epub_exclude_files = ['search.html'] + + +# -- Extension configuration ------------------------------------------------- + +breathe_projects = { 'mynteyes': '_doxygen/xml' } diff --git a/docs/index.rst b/docs/index.rst new file mode 100644 index 0000000..4dfd886 --- /dev/null +++ b/docs/index.rst @@ -0,0 +1,25 @@ +.. MYNT® EYE S SDK documentation master file, created by + sphinx-quickstart on Mon Mar 11 08:59:35 2019. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +MYNT® EYE S SDK +=============== + +.. toctree:: + :caption: API REFERENCE + :maxdepth: 2 + + api/api + api/device + api/enums + api/types + api/utils + +.. + Indices and tables + ================== + + * :ref:`genindex` + * :ref:`modindex` + * :ref:`search` diff --git a/docs/make.bat b/docs/make.bat new file mode 100644 index 0000000..7893348 --- /dev/null +++ b/docs/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=. +set BUILDDIR=_build + +if "%1" == "" goto help + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.http://sphinx-doc.org/ + exit /b 1 +) + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% + +:end +popd diff --git a/docs/requirements.txt b/docs/requirements.txt new file mode 100644 index 0000000..f3eb52c --- /dev/null +++ b/docs/requirements.txt @@ -0,0 +1,5 @@ +breathe>=4.11.1 +restructuredtext-lint>=1.1.3 +Sphinx>=1.8.1 +sphinx-intl>=0.9.11 +sphinx-rtd-theme>=0.4.2 diff --git a/include/mynteye/types.h b/include/mynteye/types.h index adf52c8..27a4358 100644 --- a/include/mynteye/types.h +++ b/include/mynteye/types.h @@ -137,109 +137,125 @@ enum class Info : std::uint8_t { enum class Option : std::uint8_t { /** * Image gain, valid if manual-exposure - * + *

* range: [0,48], default: 24 + *

*/ GAIN, /** * Image brightness, valid if manual-exposure - * + *

* range: [0,240], default: 120 + *

*/ BRIGHTNESS, /** * Image contrast, valid if manual-exposure - * + *

* range: [0,255], default: 127 + *

*/ CONTRAST, /** * Image frame rate, must set IMU_FREQUENCY together - * + *

* values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25 + *

*/ FRAME_RATE, /** * IMU frequency, must set FRAME_RATE together - * + *

* values: {100,200,250,333,500}, default: 200 + *

*/ IMU_FREQUENCY, /** * Exposure mode - * - * 0: enable auto-exposure + *

+ * 0: enable auto-exposure
* 1: disable auto-exposure (manual-exposure) + *

*/ EXPOSURE_MODE, /** * Max gain, valid if auto-exposure - * - * range of standard 1: [0,48], default: 48 + *

+ * range of standard 1: [0,48], default: 48
* range of standard 2: [0,255], default: 8 + *

*/ MAX_GAIN, /** * Max exposure time, valid if auto-exposure - * - * range of standard 1: [0,240], default: 240 + *

+ * range of standard 1: [0,240], default: 240
* range of standard 2: [0,1000], default: 333 + *

*/ MAX_EXPOSURE_TIME, /** * min exposure time, valid if auto-exposure - * - * range: [0,1000], default: 0 + *

+ * range: [0,1000], default: 0
+ *

*/ MIN_EXPOSURE_TIME, /** * Desired brightness, valid if auto-exposure - * - * range of standard 1: [0,255], default: 192 + *

+ * range of standard 1: [0,255], default: 192
* range of standard 2: [1,255], default: 122 + *

*/ DESIRED_BRIGHTNESS, /** * IR control - * - * range: [0,160], default: 0 + *

+ * range: [0,160], default: 0
+ *

*/ IR_CONTROL, /** * HDR mode - * - * 0: 10-bit + *

+ * 0: 10-bit
* 1: 12-bit + *

*/ HDR_MODE, /** * The range of accelerometer - * - * value of standard 1: {4,8,16,32}, default: 8 + *

+ * value of standard 1: {4,8,16,32}, default: 8
* value of standard 2: {6,12,24,48}, default: 12 + *

*/ ACCELEROMETER_RANGE, /** * The range of gyroscope - * - * value of standard 1: {500,1000,2000,4000}, default: 1000 + *

+ * value of standard 1: {500,1000,2000,4000}, default: 1000
* value of standard 2: {250,500,1000,2000,4000}, default: 1000 + *

*/ GYROSCOPE_RANGE, /** * The parameter of accelerometer low pass filter - * + *

* values: {0,1,2}, default: 2 + *

*/ ACCELEROMETER_LOW_PASS_FILTER, /** * The parameter of gyroscope low pass filter - * + *

* values: {23,64}, default: 64 + *

*/ GYROSCOPE_LOW_PASS_FILTER, @@ -608,10 +624,11 @@ struct MYNTEYE_API ImuData { std::uint32_t frame_id; /** * IMU accel or gyro flag - * - * 0: accel and gyro are both valid - * 1: accel is valid + *

+ * 0: accel and gyro are both valid
+ * 1: accel is valid
* 2: gyro is valid + *

*/ std::uint8_t flag; /** IMU timestamp in 1us */ From 3038aaace0a6a9f99b4e638cb7988cfc5ce8dd97 Mon Sep 17 00:00:00 2001 From: John Zhao Date: Mon, 11 Mar 2019 13:52:33 +0800 Subject: [PATCH 02/10] build(makefile): add doc target --- Makefile | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Makefile b/Makefile index 67d3d54..08fb860 100644 --- a/Makefile +++ b/Makefile @@ -62,6 +62,8 @@ all: init samples tools ros # doc +doc: apidoc + apidoc: cleandoc @$(call echo,Make $@) @cd docs; make html @@ -74,7 +76,7 @@ cleandoc: @$(call rm,./docs/_build/) @$(call rm,./docs/_doxygen/) -.PHONY: apidoc opendoc cleandoc +.PHONY: doc apidoc opendoc cleandoc # deps From b4639a72f85cbdfc076fb76336c1fba25bd5c4b4 Mon Sep 17 00:00:00 2001 From: harjeb Date: Thu, 14 Mar 2019 11:48:41 +0800 Subject: [PATCH 03/10] update en doc --- docs/api/contents.rst | 12 + docs/images/firmware_update.png | Bin 0 -> 11237 bytes docs/images/firmware_update_cypressUSB.png | Bin 0 -> 176387 bytes docs/images/firmware_update_dir.png | Bin 0 -> 25283 bytes docs/images/firmware_update_driver.png | Bin 0 -> 25317 bytes .../images/firmware_update_driver_install.png | Bin 0 -> 38340 bytes docs/images/firmware_update_option.png | Bin 0 -> 481453 bytes docs/images/firmware_update_select.png | Bin 0 -> 131257 bytes docs/images/firmware_update_success.png | Bin 0 -> 6710 bytes docs/images/firmware_update_warning.png | Bin 0 -> 21960 bytes docs/images/firmware_update_westbridge.png | Bin 0 -> 1124 bytes docs/images/imu_analytics.png | Bin 0 -> 77800 bytes docs/images/mynteye_avatar_imu_coord.jpg | Bin 0 -> 121430 bytes .../images/mynteye_avatar_surface_zh-Hans.jpg | Bin 0 -> 150906 bytes docs/images/mynteye_imu_coord.jpg | Bin 0 -> 101984 bytes docs/images/mynteye_surface_zh-Hans.jpg | Bin 0 -> 198050 bytes docs/images/stamp_analytics.png | Bin 0 -> 47795 bytes docs/images/vs_cmd.png | Bin 0 -> 10881 bytes docs/images/vs_cmd_menu.png | Bin 0 -> 144850 bytes docs/images/vs_cmd_test.png | Bin 0 -> 45324 bytes docs/index.rst | 17 +- docs/src/analytics/analytics_imu.rst | 38 +++ docs/src/analytics/analytics_stamp.rst | 55 ++++ docs/src/analytics/contents.rst | 10 + docs/src/analytics/dataset.rst | 58 ++++ docs/src/control/auto_exposure.rst | 129 ++++++++ docs/src/control/contents.rst | 13 + docs/src/control/framerate.rst | 108 +++++++ docs/src/control/imu_low_pass_filter.rst | 63 ++++ docs/src/control/imu_range.rst | 108 +++++++ docs/src/control/infrared.rst | 51 +++ docs/src/control/manual_exposure.rst | 110 +++++++ docs/src/data/contents.rst | 22 ++ docs/src/data/get_depth.rst | 54 ++++ docs/src/data/get_device_info.rst | 41 +++ docs/src/data/get_disparity.rst | 62 ++++ docs/src/data/get_from_callbacks.rst | 119 +++++++ docs/src/data/get_img_params.rst | 34 ++ docs/src/data/get_imu.rst | 66 ++++ docs/src/data/get_imu_correspondence.rst | 109 +++++++ docs/src/data/get_imu_params.rst | 18 ++ docs/src/data/get_points.rst | 57 ++++ docs/src/data/get_stereo.rst | 40 +++ docs/src/data/get_stereo_rectified.rst | 51 +++ docs/src/data/get_with_plugin.rst | 96 ++++++ docs/src/data/save_params.rst | 39 +++ docs/src/data/write_img_params.rst | 27 ++ docs/src/data/write_imu_params.rst | 23 ++ docs/src/firmware/applicable.rst | 25 ++ docs/src/firmware/contents.rst | 10 + docs/src/firmware/from_v1.rst | 12 + docs/src/firmware/upgrade.rst | 104 ++++++ docs/src/log/contents.rst | 9 + docs/src/log/log_file.rst | 28 ++ docs/src/log/log_verbose.rst | 18 ++ docs/src/mynteye/contents.rst | 12 + docs/src/mynteye/imu_coord_s1030.rst | 8 + docs/src/mynteye/imu_coord_s2100.rst | 8 + docs/src/mynteye/intro.rst | 12 + docs/src/mynteye/surface_s1030.rst | 17 + docs/src/mynteye/surface_s2100.rst | 15 + docs/src/sdk/contents.rst | 15 + docs/src/sdk/exe_install_windows.rst | 47 +++ docs/src/sdk/install_macos.rst | 6 + docs/src/sdk/install_ros.rst | 117 +++++++ docs/src/sdk/platform.rst | 16 + docs/src/sdk/ppa_install_ubuntu.rst | 43 +++ docs/src/sdk/source_install_ubuntu.rst | 149 +++++++++ docs/src/sdk/source_install_windows.rst | 260 +++++++++++++++ docs/src/sdk/without_opencv.rst | 18 ++ docs/src/slam/contents.rst | 13 + docs/src/slam/how_to_use_kalibr.rst | 300 ++++++++++++++++++ docs/src/slam/maplab.rst | 4 + docs/src/slam/okvis.rst | 46 +++ docs/src/slam/orb_slam2.rst | 78 +++++ docs/src/slam/vins.rst | 61 ++++ docs/src/slam/viorb.rst | 57 ++++ docs/src/wrapper/contents.rst | 8 + docs/src/wrapper/ros.rst | 74 +++++ 79 files changed, 3214 insertions(+), 6 deletions(-) create mode 100644 docs/api/contents.rst create mode 100644 docs/images/firmware_update.png create mode 100644 docs/images/firmware_update_cypressUSB.png create mode 100644 docs/images/firmware_update_dir.png create mode 100644 docs/images/firmware_update_driver.png create mode 100644 docs/images/firmware_update_driver_install.png create mode 100644 docs/images/firmware_update_option.png create mode 100644 docs/images/firmware_update_select.png create mode 100644 docs/images/firmware_update_success.png create mode 100644 docs/images/firmware_update_warning.png create mode 100644 docs/images/firmware_update_westbridge.png create mode 100644 docs/images/imu_analytics.png create mode 100644 docs/images/mynteye_avatar_imu_coord.jpg create mode 100644 docs/images/mynteye_avatar_surface_zh-Hans.jpg create mode 100644 docs/images/mynteye_imu_coord.jpg create mode 100644 docs/images/mynteye_surface_zh-Hans.jpg create mode 100644 docs/images/stamp_analytics.png create mode 100644 docs/images/vs_cmd.png create mode 100644 docs/images/vs_cmd_menu.png create mode 100644 docs/images/vs_cmd_test.png create mode 100644 docs/src/analytics/analytics_imu.rst create mode 100644 docs/src/analytics/analytics_stamp.rst create mode 100644 docs/src/analytics/contents.rst create mode 100644 docs/src/analytics/dataset.rst create mode 100644 docs/src/control/auto_exposure.rst create mode 100644 docs/src/control/contents.rst create mode 100644 docs/src/control/framerate.rst create mode 100644 docs/src/control/imu_low_pass_filter.rst create mode 100644 docs/src/control/imu_range.rst create mode 100644 docs/src/control/infrared.rst create mode 100644 docs/src/control/manual_exposure.rst create mode 100644 docs/src/data/contents.rst create mode 100644 docs/src/data/get_depth.rst create mode 100644 docs/src/data/get_device_info.rst create mode 100644 docs/src/data/get_disparity.rst create mode 100644 docs/src/data/get_from_callbacks.rst create mode 100644 docs/src/data/get_img_params.rst create mode 100644 docs/src/data/get_imu.rst create mode 100644 docs/src/data/get_imu_correspondence.rst create mode 100644 docs/src/data/get_imu_params.rst create mode 100644 docs/src/data/get_points.rst create mode 100644 docs/src/data/get_stereo.rst create mode 100644 docs/src/data/get_stereo_rectified.rst create mode 100644 docs/src/data/get_with_plugin.rst create mode 100644 docs/src/data/save_params.rst create mode 100644 docs/src/data/write_img_params.rst create mode 100644 docs/src/data/write_imu_params.rst create mode 100644 docs/src/firmware/applicable.rst create mode 100644 docs/src/firmware/contents.rst create mode 100644 docs/src/firmware/from_v1.rst create mode 100644 docs/src/firmware/upgrade.rst create mode 100644 docs/src/log/contents.rst create mode 100644 docs/src/log/log_file.rst create mode 100644 docs/src/log/log_verbose.rst create mode 100644 docs/src/mynteye/contents.rst create mode 100644 docs/src/mynteye/imu_coord_s1030.rst create mode 100644 docs/src/mynteye/imu_coord_s2100.rst create mode 100644 docs/src/mynteye/intro.rst create mode 100644 docs/src/mynteye/surface_s1030.rst create mode 100644 docs/src/mynteye/surface_s2100.rst create mode 100644 docs/src/sdk/contents.rst create mode 100644 docs/src/sdk/exe_install_windows.rst create mode 100644 docs/src/sdk/install_macos.rst create mode 100644 docs/src/sdk/install_ros.rst create mode 100644 docs/src/sdk/platform.rst create mode 100644 docs/src/sdk/ppa_install_ubuntu.rst create mode 100644 docs/src/sdk/source_install_ubuntu.rst create mode 100644 docs/src/sdk/source_install_windows.rst create mode 100644 docs/src/sdk/without_opencv.rst create mode 100644 docs/src/slam/contents.rst create mode 100644 docs/src/slam/how_to_use_kalibr.rst create mode 100644 docs/src/slam/maplab.rst create mode 100644 docs/src/slam/okvis.rst create mode 100644 docs/src/slam/orb_slam2.rst create mode 100644 docs/src/slam/vins.rst create mode 100644 docs/src/slam/viorb.rst create mode 100644 docs/src/wrapper/contents.rst create mode 100644 docs/src/wrapper/ros.rst diff --git a/docs/api/contents.rst b/docs/api/contents.rst new file mode 100644 index 0000000..8d590fa --- /dev/null +++ b/docs/api/contents.rst @@ -0,0 +1,12 @@ +.. _api: + +API DOC +========= + +.. toctree:: + + api + device + enums + types + utils diff --git a/docs/images/firmware_update.png b/docs/images/firmware_update.png new file mode 100644 index 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zAPxO|0`YY$JGb8?uIYSCj$Xdf|ikWPWv7h5pc4S*scp6RporlkU_OpNX zXMdK=XRHYSAFIjzy7yoI^`_ is the path of parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices. +.. warning:: + + Please don't override parameters, you can use ``save_all_infos`` to backup parameters. + +And, `tools/writer/config/S1030/img.params.pinhole `_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices. + +.. tip:: + + The image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A`` + The image calibration parameters of S1030 are in ``tools/writer/config/S1030`` .. tip:: You can also write into devices with ``SN*.conf`` provided by old SDK. -.. warning:: - - Please don't override parameters, you can use ``save_all_infos`` to backup parameters. \ No newline at end of file diff --git a/docs/src/firmware/upgrade.rst b/docs/src/firmware/upgrade.rst index 2ac2681..09f3dac 100644 --- a/docs/src/firmware/upgrade.rst +++ b/docs/src/firmware/upgrade.rst @@ -86,7 +86,7 @@ Manually update drivers .. image:: ../../images/firmware_update_westbridge.png -* For example,if it is the win10 64 bit system computer,and the application is installed under the default path,you should select ``C:\\Program Files (x86)\\slightech\\MYNT EYE Camera Tool\\wlh\\x64``. +* For example,if it is the win10 64 bit system computer,and the application is installed under the default path,you should select ``C:\Program Files (x86)\slightech\MYNT EYE TOOL 2.0\WestBridge_driver\wlh\x64``. * After the installation driver is successful, you can find the ``Cypress USB BootLoader`` device in the device manager. diff --git a/docs/src/mynteye/contents.rst b/docs/src/mynteye/contents.rst index d2ca08f..2948900 100644 --- a/docs/src/mynteye/contents.rst +++ b/docs/src/mynteye/contents.rst @@ -1,7 +1,7 @@ .. _mynteye: -MYNT® EYE -========= +MYNT® EYE product introduction +============================== .. toctree:: @@ -9,4 +9,4 @@ MYNT® EYE surface_s1030 imu_coord_s1030 surface_s2100 - imu_coord_s2100 + imu_coord_s2100 \ No newline at end of file diff --git a/docs/src/sdk/changelog.rst b/docs/src/sdk/changelog.rst new file mode 100644 index 0000000..d2c9a67 --- /dev/null +++ b/docs/src/sdk/changelog.rst @@ -0,0 +1,22 @@ +.. _sdk_changelog: + +Changelog +========= + +2019-03-18 +---------- + + +1. Add API to get subsidiary chip&ISP's version(Depend on S2100/S210A 1.1 firmware & 1.0 subsidiary chip firmware). + +2. Fix point fragment issue in BM algorithm. + +3. Add 376*240 resolution support to S1030(Depend on 2.4.0 firmware of S1030). + +4. Add API to handle imu temperature drift.(Depend on imu calibration) + +5. Add version check feature. + +6. Fix depth image crash issue when use CUDA plugin. + +7. Documents update. \ No newline at end of file diff --git a/docs/src/sdk/contents.rst b/docs/src/sdk/contents.rst index 85f44ff..69cf0e2 100644 --- a/docs/src/sdk/contents.rst +++ b/docs/src/sdk/contents.rst @@ -5,6 +5,7 @@ MYNT® EYE SDK .. toctree:: + changelog platform ppa_install_ubuntu exe_install_windows diff --git a/docs/src/sdk/exe_install_windows.rst b/docs/src/sdk/exe_install_windows.rst index 2a837e3..813138c 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-2.3.3-win-x64-opencv-3.4.3.exe `Google Drive `_ `Baidu Pan `_ . + Download here: mynteye-s-2.3.4-win-x64-opencv-3.4.3.exe `Google Drive `_ `Baidu Pan `_ . After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop. @@ -39,6 +39,10 @@ First, you should install `Visual Studio 2017 \\samples`` directory and click ``generate.bat`` to generate project. +.. tip:: + + Right click sample and select ``Set as StartUp Project``,then launch with Release x64 mode. + The tutorials of samples are here: https://slightech.github.io/MYNT-EYE-S-SDK-Guide/src/data/contents.html. Start using SDK with Visual Studio 2017 diff --git a/docs/src/sdk/install_ros.rst b/docs/src/sdk/install_ros.rst index 6bcb65d..fe57a64 100644 --- a/docs/src/sdk/install_ros.rst +++ b/docs/src/sdk/install_ros.rst @@ -26,6 +26,18 @@ Prepare Environment * `ROS `_ +ROS Melodic (Ubuntu 18.04) +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. code-block:: bash + + sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' + sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 + sudo apt update + sudo apt install ros-melodic-desktop-full + sudo rosdep init + rosdep update + ROS Kinetic (Ubuntu 16.04) ~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -56,7 +68,7 @@ Running node .. code-block:: bash source wrappers/ros/devel/setup.bash - roslaunch mynt_eye_ros_wrapper mynteye.launch + roslaunch mynt_eye_ros_wrapper mynteye.launch # this node doesn't have preview Run the node, and preview by RViz: diff --git a/docs/src/sdk/platform.rst b/docs/src/sdk/platform.rst index 51d9028..735b275 100644 --- a/docs/src/sdk/platform.rst +++ b/docs/src/sdk/platform.rst @@ -3,13 +3,14 @@ Supported platforms ==================== -SDK is built on CMake and can be used cross multiple platforms such as "Linux, Windows, macOS, etc. We provides two installation: Download and install, and Compile and install from source code. +SDK is built on CMake and can be used cross multiple platforms such as "Linux, Windows, etc. We provides two installation: Download and install, and Compile and install from source code. These are the platforms that can be used: * Windows 10 -* Ubuntu 18.04/ 16.04 / 14.04 -* Jetson TX2 +* Ubuntu 18.04 / 16.04 / 14.04 +* Jetson TX1/TX2 / Xavier +* firefly RK3399 .. warning:: diff --git a/docs/src/sdk/ppa_install_ubuntu.rst b/docs/src/sdk/ppa_install_ubuntu.rst index 1809484..f97b7fb 100644 --- a/docs/src/sdk/ppa_install_ubuntu.rst +++ b/docs/src/sdk/ppa_install_ubuntu.rst @@ -21,8 +21,8 @@ Ubuntu SDK PPA Installation ✓ ✓ ✓ =============== =============== =============== -PPA installation ------------------ +x64 PPA installation +-------------------- .. code-block:: bash @@ -30,6 +30,15 @@ PPA installation $ sudo apt-get update $ sudo apt-get install mynt-eye-s-sdk +armv8 PPA installation +----------------------- + +.. code-block:: bash + + $ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk-arm + $ sudo apt-get update + $ sudo apt-get install mynt-eye-s-sdk + Run samples ------------ diff --git a/docs/src/sdk/source_install_ubuntu.rst b/docs/src/sdk/source_install_ubuntu.rst index f835bee..3089622 100644 --- a/docs/src/sdk/source_install_ubuntu.rst +++ b/docs/src/sdk/source_install_ubuntu.rst @@ -6,7 +6,7 @@ Ubuntu SDK Source Installation .. only:: html =============== =============== =============== - Ubuntu 18.04 Ubuntu 16.04 Ubuntu 14.04 + Ubuntu 14.04 Ubuntu 16.04 Ubuntu 18.04 =============== =============== =============== |build_passing| |build_passing| |build_passing| =============== =============== =============== @@ -16,7 +16,7 @@ Ubuntu SDK Source Installation .. only:: latex =============== =============== =============== - Ubuntu 18.04 Ubuntu 16.04 Ubuntu 14.04 + Ubuntu 14.04 Ubuntu 16.04 Ubuntu 18.04 =============== =============== =============== ✓ ✓ ✓ =============== =============== =============== diff --git a/docs/src/sdk/source_install_windows.rst b/docs/src/sdk/source_install_windows.rst index 1443480..f99ac63 100644 --- a/docs/src/sdk/source_install_windows.rst +++ b/docs/src/sdk/source_install_windows.rst @@ -97,7 +97,7 @@ After installing Visual Studio, confirm that the following command can run in th Initial Directory ``$(SolutionDir)`` ================= ======================================================================================= - In Visual Studio command Prompt, you can use the compile command ``cl`` ``link`` ``lib`` ``msbuild``, etc. + In Visual Studio command Prompt, you can use the compile command ``cl`` ``link`` ``lib`` ``msbuild``, etc.(need finish ``MSYS2``and ``Getting Source Code`` steps first) .. image:: ../../images/vs_cmd_test.png diff --git a/docs/src/slam/contents.rst b/docs/src/slam/contents.rst index 2c0638c..b492c38 100644 --- a/docs/src/slam/contents.rst +++ b/docs/src/slam/contents.rst @@ -7,6 +7,7 @@ SLAM how_to_use_kalibr vins + vins_fusion orb_slam2 okvis viorb diff --git a/docs/src/slam/okvis.rst b/docs/src/slam/okvis.rst index f31b8a3..35ffc89 100644 --- a/docs/src/slam/okvis.rst +++ b/docs/src/slam/okvis.rst @@ -18,10 +18,13 @@ First install dependencies based on the original OKVIS, and the follow: .. code-block:: bash - git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git + sudo apt-get install libgoogle-glog-dev + + git clone -b mynteye https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git + cd MYNT-EYE-OKVIS-Sample/ mkdir build && cd build - cmake -DCMAKE_BUILD_TYPE=Release .. - make -j4 + cmake .. + make Get camera calibration parameters ---------------------------------- @@ -33,7 +36,18 @@ Through the ``GetIntrinsics()`` and ``GetExtrinsics()`` function of the `MYNT-EY cd MYNT-EYE-S-SDK ./samples/_output/bin/tutorials/get_img_params -After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, then update to `here `_ . +After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained , and then update to `here `_ . + +.. tip:: + + You can get the camera model of device when get camera calibration parameters, if model is equidistant you need calibrate pinhole model by yourself or reference :ref:`write_img_params` to write a default pinhole config file to your device. + +.. code-block:: bash + + distortion_coefficients: [coeffs] # only first four parameters of coeffs need to be filled + focal_length: [fx, fy] + principal_point: [cx, cy] + distortion_type: radialtangential Run MYNTEYE OKVIS --------------------- @@ -43,4 +57,4 @@ Go to ``MYNT-EYE-OKVIS-Sample/build`` folder and Run the application ``okvis_app .. code-block:: bash cd MYNT-EYE-OKVIS-Sample/build - ./okvis_app_mynteye_s ../config/config_mynteye.yaml + ./okvis_app_mynteye_s ../config/config_mynteye_s.yaml diff --git a/docs/src/slam/orb_slam2.rst b/docs/src/slam/orb_slam2.rst index 9bba404..46e1539 100644 --- a/docs/src/slam/orb_slam2.rst +++ b/docs/src/slam/orb_slam2.rst @@ -15,7 +15,7 @@ If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps: Binocular camera sample ------------------------ -* Calibrate a stereo camera with `ROS-StereoCalibration `_ or OpenCV, and then update parameters to ``/config/mynteye_stereo.yaml``. +* Calibrate a stereo camera with `ROS-StereoCalibration `_ or OpenCV, and then update parameters to ``/config/mynteye_s_stereo.yaml``. * Execute ``build.sh``: @@ -28,7 +28,7 @@ Binocular camera sample .. code-block:: bash - ./Examples/Stereo/stereo_mynt ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw + ./Examples/Stereo/stereo_mynt_s ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw Building the nodes for mono and stereo (ROS) @@ -47,32 +47,25 @@ Building the nodes for mono and stereo (ROS) chmod +x build_ros.sh ./build_ros.sh -Mono_ROS Example -~~~~~~~~~~~~~~~~~ - - * Update ``distortion_parameters`` and ``projection_parameters`` in ``/config/mynteye_mono.yaml`` - -.. code-block:: bash - - cd MYNT-EYE-S-SDK - - ./samples/_output/bin/tutorials/get_img_params - -After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, and then update to ``/config/mynteye_mono.yaml``. - - * Launch ORB_SLAM2 ``Mono_ROS`` - -.. code-block:: bash - - rosrun ORB_SLAM2 mynteye_mono ./Vocabulary/ORBvoc.txt ./config/mynteye_mono.yaml /mynteye/left/image_raw Stereo_ROS Example ~~~~~~~~~~~~~~~~~~~ - * Calibrate a stereo camera with `ROS-StereoCalibration `_ or OpenCV, and then update parameters to ``/config/mynteye_stereo.yaml``. + * Reference ``Get camera calibration parameters`` in :ref:`slam_okvis` to get ``distortion_parameters`` and ``projection_parameters`` , and update ``/config/mynteye_s_stereo.yaml`` . * Launch ORB_SLAM2 ``Stereo_ROS`` +1. Launch mynteye node + .. code-block:: bash - rosrun ORB_SLAM2 ros_mynteye_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw + cd [path of mynteye-s-sdk] + make ros + source ./wrappers/ros/devel/setup.bash + roslaunch mynt_eye_ros_wrapper mynteye.launch + +2. Open another terminal and run ORB_SLAM2 + +.. code-block:: bash + + rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw diff --git a/docs/src/slam/vins.rst b/docs/src/slam/vins.rst index 2b9dfcf..e6e907e 100644 --- a/docs/src/slam/vins.rst +++ b/docs/src/slam/vins.rst @@ -9,7 +9,7 @@ If you wanna run VINS-Mono with MYNT EYE camera, please follow the steps: 1. Download `MYNT-EYE-S-SDK `_ and install mynt_eye_ros_wrapper. 2. Follow the normal procedure to install VINS-Mono. -3. Update ``distortion_parameters`` and ``projection_parameters`` to `here `_ . +3. Update ``distortion_parameters`` and ``projection_parameters`` to `here `_ . 4. Run mynt_eye_ros_wrapper and VINS-Mono. Install ROS Kinetic conveniently (if already installed, please ignore) @@ -28,7 +28,7 @@ Install MYNT-EYE-VINS-Sample mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src - git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-VINS-Sample.git + git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-Sample.git cd .. catkin_make source devel/setup.bash @@ -47,14 +47,27 @@ Use MYNT® EYE's left eye camera and IMU. By `MYNT-EYE-S-SDK `_ . +.. tip:: + + You can get the camera model of device when get camera calibration parameters, if model is equidistant you need calibrate pinhole model by yourself or reference :ref:`write_img_params` to write a default pinhole config file to your device. + Run VINS-Mono with MYNT® EYE ----------------------------- +1. Launch mynteye node + +.. code-block:: bash + + cd (local path of MYNT-EYE-S-SDK) + source ./wrappers/ros/devel/setup.bash + roslaunch mynt_eye_ros_wrapper mynteye.launch + +2. Open another terminal and run vins + .. code-block:: bash cd ~/catkin_ws - roslaunch mynt_eye_ros_wrapper mynteye.launch - roslaunch vins_estimator mynteye.launch + roslaunch vins_estimator mynteye_s.launch .. note:: diff --git a/docs/src/slam/vins_fusion.rst b/docs/src/slam/vins_fusion.rst new file mode 100644 index 0000000..5757752 --- /dev/null +++ b/docs/src/slam/vins_fusion.rst @@ -0,0 +1,55 @@ +.. _slam_vins_fusion: + +How to use in `VINS-Fusion `_ +==================================================================================== + + +If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps: +------------------------------------------------------------------------- + +1. Download `MYNT-EYE-S-SDK `_ and install mynt_eye_ros_wrapper. +2. Follow the normal procedure to install VINS-Fusion. +3. Run mynt_eye_ros_wrapper and VINS-Fusion. + + +Prerequisites +-------------- + +1. Install Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic.(if already installed, please ignore). `ROS Installation `_ +2. Install `Ceres `_ + + +Install MYNT-EYE-VINS-FUSION-Samples +------------------------------------- + +.. code-block:: bash + + mkdir -p ~/catkin_ws/src + cd ~/catkin_ws/src + git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git + cd .. + catkin_make + source ~/catkin_ws/devel/setup.bash + +(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS) + +Run VINS-FUSION with MYNT® EYE +------------------------------- + +1. Launch mynteye node + +.. code-block:: bash + + cd (local path of MYNT-EYE-S-SDK) + source ./wrappers/ros/devel/setup.bash + roslaunch mynt_eye_ros_wrapper mynteye.launch + +2. Open another terminal and run vins + +.. code-block:: bash + + cd ~/catkin_ws + roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion + # roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion + # roslaunch vins mynteye-avarta-mono-imu.launch # mono+imu fusion with mynteye-avarta + # roslaunch vins mynteye-avarta-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-avarta diff --git a/docs/src/slam/viorb.rst b/docs/src/slam/viorb.rst index f94dc4b..ecb0d2c 100644 --- a/docs/src/slam/viorb.rst +++ b/docs/src/slam/viorb.rst @@ -9,7 +9,7 @@ If you wanna run VIORB with MYNT® EYE,please follow the steps: 1. Download `MYNT-EYE-S-SDK `_ and install mynt_eye_ros_wrapper. 2. Follow the normal procedure to install VIORB. -3. Update camera parameters to ``/config/config_mynteye.yaml``. +3. Update camera parameters to ``/config/mynteye_s.yaml``. 4. Run mynt_eye_ros_wrapper and VIORB. Install MYNT-EYE-VIORB-Sample. @@ -17,7 +17,7 @@ Install MYNT-EYE-VIORB-Sample. .. code-block:: bash - git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-VIORB-Sample.git + git clone -b mynteye https://github.com/slightech/MYNT-EYE-VIORB-Sample.git cd MYNT-EYE-VIORB-Sample ``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line. Replace ``PATH`` by the folder where you cloned ``MYNT-EYE-VIORB-Sample``: @@ -45,13 +45,24 @@ Assume that the left eye of the mynteye camera is used with IMU. Through the ``G After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, and then update to ``/config/mynteye.yaml``. +.. tip:: + + You can get the camera model of device when get camera calibration parameters, if model is equidistant you need calibrate pinhole model by yourself or reference :ref:`write_img_params` to write a default pinhole config file to your device. + Run VIORB and mynt_eye_ros_wrapper -------------------------------------- +1. Launch mynteye node + .. code-block:: bash roslaunch mynt_eye_ros_wrapper mynteye.launch - roslaunch ORB_VIO testmynteye.launch + +2. Open another terminal and run viorb + +.. code-block:: bash + + roslaunch ORB_VIO testmynteye_s.launch Finally, ``pyplotscripts`` can be used to visualize some results. diff --git a/docs/src/wrapper/ros.rst b/docs/src/wrapper/ros.rst index bd7aa3a..169ce92 100644 --- a/docs/src/wrapper/ros.rst +++ b/docs/src/wrapper/ros.rst @@ -5,6 +5,10 @@ How to use ROS Compile and run the node according to :ref:`sdk_install_ros` . +.. tip:: + + Before doing below you need open a terminal to launch ros node first + ``rostopic list`` lists all released nodes: .. code-block:: bash @@ -62,6 +66,33 @@ The ROS file is structured like follows: In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, and set the control options. Please set ``gravity`` to the local gravity acceleration. +.. code-block:: xml + + # s2100/s210a modify frame/resolution + + + # s1030 modify frame/imu hz + + + + + + + + ... + + # s2100 modify brightness + + + + ... + + # s210a modify brightness + + + + ... + .. code-block:: xml From 633a9c6a6d81394b7a15aa59d10781cbe82d6931 Mon Sep 17 00:00:00 2001 From: harjeb Date: Mon, 18 Mar 2019 17:43:37 +0800 Subject: [PATCH 05/10] update doc --- docs/files/libmynteye.conf | 7 +++ docs/index.rst | 2 +- docs/src/mynteye/contents.rst | 4 +- docs/src/mynteye/spec_s1030.rst | 87 ++++++++++++++++++++++++++++++ docs/src/mynteye/spec_s2100.rst | 82 ++++++++++++++++++++++++++++ docs/src/mynteye/surface_s1030.rst | 2 +- docs/src/mynteye/surface_s2100.rst | 2 +- docs/src/slam/contents.rst | 4 +- docs/src/slam/vins_fusion.rst | 2 +- docs/src/slam/viorb.rst | 2 +- 10 files changed, 186 insertions(+), 8 deletions(-) create mode 100644 docs/files/libmynteye.conf create mode 100644 docs/src/mynteye/spec_s1030.rst create mode 100644 docs/src/mynteye/spec_s2100.rst diff --git a/docs/files/libmynteye.conf b/docs/files/libmynteye.conf new file mode 100644 index 0000000..e7595dc --- /dev/null +++ b/docs/files/libmynteye.conf @@ -0,0 +1,7 @@ +# libmynteye configuration +# +# 1) Copy this file to: /etc/ld.so.conf.d/libmynteye.conf +# 2) Run this cmd in Terminal: sudo /sbin/ldconfig + +/usr/local/cuda/lib64 +$HOME/opencv-3.4.1/lib diff --git a/docs/index.rst b/docs/index.rst index f8f0265..71ea681 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -7,8 +7,8 @@ MYNT® EYE S SDK =============== .. toctree:: - :maxdepth: 2 + :titlesonly: src/mynteye/contents src/sdk/contents diff --git a/docs/src/mynteye/contents.rst b/docs/src/mynteye/contents.rst index 2948900..7b7b1f2 100644 --- a/docs/src/mynteye/contents.rst +++ b/docs/src/mynteye/contents.rst @@ -8,5 +8,7 @@ MYNT® EYE product introduction intro surface_s1030 imu_coord_s1030 + spec_s1030 surface_s2100 - imu_coord_s2100 \ No newline at end of file + imu_coord_s2100 + spec_s2100 \ No newline at end of file diff --git a/docs/src/mynteye/spec_s1030.rst b/docs/src/mynteye/spec_s1030.rst new file mode 100644 index 0000000..d1fee33 --- /dev/null +++ b/docs/src/mynteye/spec_s1030.rst @@ -0,0 +1,87 @@ +.. _mynteye_spec_s1030: + +S1030-IR-120/Mono Product Specification +========================================= + +Product Specification: +----------------------- + + +========================== ======================================= + Model S1030-IR-120/Mono +-------------------------- --------------------------------------- + Size PCB dimension:149x24mm, + Total dimension:165x31.5x29.6mm +-------------------------- --------------------------------------- + Frame Rate 10/15/20/25/30/35/40/45/50/55/60FPS +-------------------------- --------------------------------------- + Resolution 752*480,376*240 +-------------------------- --------------------------------------- + Depth Resolution Base 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 +-------------------------- --------------------------------------- + IR Support Yes +-------------------------- --------------------------------------- + IR detectable range 3m +-------------------------- --------------------------------------- + Color Mode Monochrome +-------------------------- --------------------------------------- + Working Distance 0.7-2m +-------------------------- --------------------------------------- + Scanning Mode Global Shutter +-------------------------- --------------------------------------- + Power 1~2.7W@5V DC from USB +-------------------------- --------------------------------------- + Output data format Raw data +-------------------------- --------------------------------------- + Data transfer Interface USB3.0 +-------------------------- --------------------------------------- + Weight 184g +-------------------------- --------------------------------------- + UVC MODE Yes +========================== ======================================= + + + +Work Environment +----------------- + + +========================= ================ + Operating Temperature 50°C +------------------------- ---------------- + Storage Temperature -20°C +========================= ================ + + +Package: +--------- + +=================== ======================================= + Package Contents MYNT EYE x1 USB Micro-B Cable x1 +=================== ======================================= + +Warranty: +---------- + +==================== ============================================ + Product Warranty 12 Months Limited Manufacturer's Warranty +==================== ============================================ + +Accuracy +--------- + +============================ ============================================ + Depth Distance Deviation Less than 4% +============================ ============================================ + + diff --git a/docs/src/mynteye/spec_s2100.rst b/docs/src/mynteye/spec_s2100.rst new file mode 100644 index 0000000..628bbf4 --- /dev/null +++ b/docs/src/mynteye/spec_s2100.rst @@ -0,0 +1,82 @@ +.. _mynteye_spec_s2100: + + +S2100-146/Color Product Specification +======================================== + +Product Specification: +----------------------- + + +========================== ===================================================== + Model S2100-146/Color +-------------------------- ----------------------------------------------------- + Size PCB dimension:15x100mm + Total dimension:125x47x26.6mm +-------------------------- ----------------------------------------------------- + Frame Rate 1280x400@10/20/30/60fps 2560x800@10/20/30fps +-------------------------- ----------------------------------------------------- + Resolution 1280x400; 2560x800 +-------------------------- ----------------------------------------------------- + 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 +-------------------------- ----------------------------------------------------- + Color Mode Color +-------------------------- ----------------------------------------------------- + Working Distance 0.26-1m +-------------------------- ----------------------------------------------------- + Scanning Mode Global Shutter +-------------------------- ----------------------------------------------------- + Power 1.1W@5V DC from USB +-------------------------- ----------------------------------------------------- + Output data format YUYV +-------------------------- ----------------------------------------------------- + Data transfer Interface USB3.0 +-------------------------- ----------------------------------------------------- + Weight 62g +-------------------------- ----------------------------------------------------- + UVC MODE Yes +========================== ===================================================== + + + +Work Environment +----------------- + + +========================= ================ + Operating Temperature -15°C~60°C +------------------------- ---------------- + Storage Temperature -20°C~80°C +========================= ================ + + +Package: +--------- + +=================== ======================================= + Package Contents MYNT EYE x1 USB Micro-B Cable x1 +=================== ======================================= + +Warranty: +---------- + +==================== ============================================ + Product Warranty 12 Months Limited Manufacturer's Warranty +==================== ============================================ + +Accuracy +--------- + +============================ ============================================ + Depth Distance Deviation Less than 4% +============================ ============================================ + + diff --git a/docs/src/mynteye/surface_s1030.rst b/docs/src/mynteye/surface_s1030.rst index 8cc6c44..a834ca2 100644 --- a/docs/src/mynteye/surface_s1030.rst +++ b/docs/src/mynteye/surface_s1030.rst @@ -7,7 +7,7 @@ MYNTEYE-S1030 Size and structure Shell(mm) PCBA board(mm) ============= ============== 165x31.5x29.6 149x24 -============= =========== +============= ============== .. image:: ../../images/mynteye_surface_zh-Hans.jpg diff --git a/docs/src/mynteye/surface_s2100.rst b/docs/src/mynteye/surface_s2100.rst index a4d989a..d0556ce 100644 --- a/docs/src/mynteye/surface_s2100.rst +++ b/docs/src/mynteye/surface_s2100.rst @@ -7,7 +7,7 @@ MYNTEYE-S2100 Size and structure Shell(mm) PCBA board(mm) ============= ============== 125x47x40 100x15 -============= =========== +============= ============== .. image:: ../../images/mynteye_avatar_surface_zh-Hans.jpg diff --git a/docs/src/slam/contents.rst b/docs/src/slam/contents.rst index b492c38..10763dd 100644 --- a/docs/src/slam/contents.rst +++ b/docs/src/slam/contents.rst @@ -1,7 +1,7 @@ .. _slam: -SLAM -==== +Open Source project Support +============================ .. toctree:: diff --git a/docs/src/slam/vins_fusion.rst b/docs/src/slam/vins_fusion.rst index 5757752..231c5d5 100644 --- a/docs/src/slam/vins_fusion.rst +++ b/docs/src/slam/vins_fusion.rst @@ -5,7 +5,7 @@ How to use in `VINS-Fusion `_ and install mynt_eye_ros_wrapper. 2. Follow the normal procedure to install VINS-Fusion. diff --git a/docs/src/slam/viorb.rst b/docs/src/slam/viorb.rst index ecb0d2c..ac48dd1 100644 --- a/docs/src/slam/viorb.rst +++ b/docs/src/slam/viorb.rst @@ -1,7 +1,7 @@ .. _slam_viorb: How to use in `VIORB `_ -=============================================================--- +================================================================ If you wanna run VIORB with MYNT® EYE,please follow the steps: From d4771f509076df436c8490cab691ba07a6a76e1d Mon Sep 17 00:00:00 2001 From: harjeb Date: Thu, 21 Mar 2019 16:45:05 +0800 Subject: [PATCH 06/10] stm update --- docs/images/boardupdate.png | Bin 0 -> 302240 bytes docs/images/stmsuccess.png | Bin 0 -> 12913 bytes docs/images/stmupdate.png | Bin 0 -> 10902 bytes docs/src/firmware/applicable.rst | 12 ++++++++++-- docs/src/firmware/contents.rst | 1 + docs/src/firmware/stm_update.rst | 28 ++++++++++++++++++++++++++++ docs/src/firmware/upgrade.rst | 5 +++-- 7 files changed, 42 insertions(+), 4 deletions(-) create mode 100644 docs/images/boardupdate.png create mode 100644 docs/images/stmsuccess.png create mode 100644 docs/images/stmupdate.png create mode 100644 docs/src/firmware/stm_update.rst diff --git a/docs/images/boardupdate.png b/docs/images/boardupdate.png new file mode 100644 index 0000000000000000000000000000000000000000..5c884028d7c4dc74319be677c62abd16d9c92982 GIT binary patch literal 302240 zcmcG#1yoyI(?41Q6nD1}q(ut^C@#UZP@q_GC@ro5g1ZzbR$L3Tr7iC6?pCCD2=4B3 zY2WXA?(@9&{@456^{tz=ax&S;*)wO(%b8oaCdTA?nSCFDUOMUPwH8R2q$SV}knd9m7Fh*ZI*SLg?=| z(!yI>*rP}HUlgPzUcn4^GD7u;duOW8g9fdmtX*;H_fidgX)nBoHRhj>^YCJNj+7%d>x!;Z_qKj)aq-L#i%v`&lSIB@WT5Dkm*tL& z{X=f@JduL@+n{&V8}zV${runm{5+h9jRgL$bN*}a zv)R@5zchxr{Xec=L%x7n$hL*UH*PsPJXEup-4wvj$nrDkFS#+d$^}pm`OS* z(udhjVh=W1g-|0pzloZ<^I)pK0RQOeXPM@!{(>`Ej&?lhU;I?J@;LkRjub8+A!+v} zENJs9o?Tv@@2|vsB%i9&)j}^r6zM+yh3v#`c@8t(QUOD&c|6SEQ^%gon!oE|vpLb} z2`GIf8E<{ot+PS7KdFG!f+z`I=Ap$ta@|3_ja zwz_z<--@O1#HD^7b+v||A?+3t7mX)4Y3k_Lx_IJAKiht5w+E{jGib6~`>RMp=-;jQ z>V#z&KtFzvZ8pK;OeqG96f)Npn*vCV|FUb$W=xFeQI~@-TOw_nPSjOqQ_^;mW;@t=t=++Ca!8|s3yJ&DD(X|0t=xjP^%G~5f3xDv=CnIAq|rD| zK+fZDUybSnOL$Q;1<}!;jOMmT{1|GpK`O$wkoh${h1|xXI-4?k(z+zfFPWYAd+vPi zeWxU`3m?5FU)X7iqiK@vSIGbFW}D?-MDQe4m6XViX$kQ;+K=67f;a+ooI!Rp>1*sD zT1?)--IR~mHca!E4S=|*-2u%$N8toS0>V})J{|#z_BQN)mo=F|H~?K8twG zh|^bK^CgIE`*Dk-2E|?FyQ@@7do!0*tJLB`#moI(=KrwJMLX^*9cXH5NSN~6cS?Yz zO~^646F;GaWxY_C2inqYBR(}X)7o|aV}731*O1SU6D)FB-cK!FOwuyjjCe9xM8&%dbs+#cylV**g zwDZ{i(9GmR2pd%lq9)3biMm`m$*%jmQ9p$HJARE!)Sy^1$&)zOfzapw{%iHP5n)Vo z_`e6n-%&S(%kD>!{0&LXv%fQZSVbN}Zy><*p9@N_{AJ4j|4RkMzq8#e|6id%iCw+Plx( zawRG6A@?xalIBLN?@hYVIx7q1-9%VdpfM_ zfCHO*sxoFBChmUFf%pOpx$Gl0P>-s@|00^WR`~yjg&|`IMq$MJFY)a2{}4^=UYI9e z=*0gBBU;;oqYklipO<|($@Va>Zs>7{-!%Ro#$-LStbY+#Z83`*N>V;KOvLV;_%R}% z$OdNVJ^ULAbAA(7Wd|%HNg+4VoXOQPCoA;)7N{#vP{$to;z&Vku>N^*zpv8Uq{se` z3`F4#rs(p(e`?5E_k#EjuRlDTVyUo^dTFtdN}v5x`+sgjFkSQLZ^o+3N8xlJcgPsezP`QS5c+~n!)*|!KjC=c`h-3H6BqXzs&dzWR1x}kVbXnaAWRCvy&%`JeZ)FoZF!pcbIZ;SRJa7(y;bm>BXU34R-i*Hp&nVYb=-@X0^U$%%dW;ZG!yjMcu& z@e69-Z6O}me@!c@t>4;vtnILh>DZ2Q-iUlCbcYH|wrjl-#*}}0NSL%<)%jV%8|;BF z*Kf)xa|geTrtt%glbYQl+~k${r^d0?oIA4w@r&3u!W57_Oglo9YM?SEoH6Ky%3 zmd@~){7hs5bMQdL-T&pUF?`aug7aTdZCwUJZ{K=(qhDb;kJ>(E)0O%$)M1Ix(GCrF z2N;bcDr`0uMI>;no@W<@!mv`vG-N{=@*z)UiFaxcTe62rdwQ`hoNBmnDZ$EMeLs*6 zR2BSJi2aNBd#t^TMtO5NGL-CoENYmynGhQ|a=!p5Gd=^@I8L!+xpij{MS#8MEU>B9 z{m|I4x43`XWa)!~qI4l^!^y!ocmw@yJ8Q;k0W21ky%X{0EMT-lcaj+C&!0uw?tDnN zyywA~I;VYJVkg1$#ms=R1|uTnn#}hxjE&s?wF(L5qW2s%;edzekR|NnZ!C%t0!?L9 zO+b6J=n{c^A&(M2lomS~yn!qcAlv?SLNC>COB(<<$?=yAMe*+m7q$KHFMR2IAiHzq zfvL*!n1U0Z&>QvoZMEF6KMxq*@}kB(KZ}Tw%HE*F)+4OVjz%m z9G=KFqn{ z=lsF1K}k+h5kFJxAf$Sqt>eI{ub+2Sw7Xx&z9wTnX!C{Ar|ScXWS0XD)X2LqrIWzf z7n~w^5d@--Q}#7tGA}VzGpLtftMnY0JC2vBWPp!xF^qj9WMX`eGF{ycZhlD#%sUdV z7A@4_Bqd?U4}5Zoa1#7zKzxV!kS}14lrIykIMOU|0^8eXk4iluCYEN|{!!>)c}WiBYzMrd=kKNG-JQ}aJKZ+f<+-{674 z?=3}e71FKd2+E4AD9}Er-SykHs!y_C2yh;;ZWxl!UG)IO1toVgIlAsT#3%0tbrTdP zRB@XTQ0<{ISs~(PCUM+UFS_!+Z3~3B1XAVLCq4Auh6%B+vAk?P2%w8p%C@ZRp9zmUclkPA-i=oX)(_ZUJ70$`!PdFhtZbMLJ)lb3o1e>qCDSUEfR3 zL%i>eN;TVvuw%EOa3{H97q!*B}*sC@0 zoC;@G58)Rz-MM1}!e+OuAPOe$*qA$9`$b(0iKb%$q-;OIp4~^2)htmMOo4EM?{>$( zo+QrB*@}G4fQ5xw;89bZV0ox6h7=AF5Wj4CA`#YgOp`IQa9&KaRa)l z=EN%d&syIL*9aDaeG0X3pLCv8NX+_pE-44Z+B~72OzvDNHYJVuMbu?hN`nW%dkTaP zEQ=)zxjbE)9rXz-W08++4phqT`sAiyF0Pcs;qSpPY25z-;?c~)r4r>gHQBVWP=Og9 zv0ABCJ0nSr6`o@zL$=ANDpFH|9*C9L!nsw-YLJ7G3f1|5ASewRSTSmT4v0&L3|hL? 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zWM0+t>oJ}8w7=b3PLN@K|18DN2v+yDu#2nDosy^CXok5U7k(*w3p2L`_ in the ``Firmwares`` directory. diff --git a/docs/src/firmware/contents.rst b/docs/src/firmware/contents.rst index 23eb62e..264067a 100644 --- a/docs/src/firmware/contents.rst +++ b/docs/src/firmware/contents.rst @@ -7,4 +7,5 @@ MYNT® EYE Firmware applicable upgrade + stm_update from_v1.rst diff --git a/docs/src/firmware/stm_update.rst b/docs/src/firmware/stm_update.rst new file mode 100644 index 0000000..ef07426 --- /dev/null +++ b/docs/src/firmware/stm_update.rst @@ -0,0 +1,28 @@ +.. _firmware_stm_update: + +How to upgrade the auxiliary chip +================================== + +Update auxiliary chip +---------------------- + +* Plug in the MYNT® EYE camera into a USB3.0 port + +* Open MYNT EYE TOOL and select ``Options/BoardUpdate`` . + +.. image:: ../../images/boardupdate.png + +* Click ``StmUpdate`` . + +.. image:: ../../images/stmupdate.png + +* In the open file selection box, select the firmware you want to upgrade and start upgrading. + +* Once the upgrade is complete, it will display update finished. + +.. image:: ../../images/stmsuccess.png + + + + + diff --git a/docs/src/firmware/upgrade.rst b/docs/src/firmware/upgrade.rst index 09f3dac..7af7391 100644 --- a/docs/src/firmware/upgrade.rst +++ b/docs/src/firmware/upgrade.rst @@ -11,7 +11,8 @@ You can download the firmware and MYNT EYE TOOL installation package in the ``Fi Firmwares/ ├─Checksum.txt # file checksum - ├─MYNTEYE_S_2.3.0.img # firmware + ├─MYNTEYE_S_2.4.0.img # S1030 firmware + ├─MYNTEYE_S2100_1.1.img # S2100 firmware ├─... └─setup.zip # MYNTEYE TOOL zip @@ -21,7 +22,7 @@ Download preparation --------------------- * Download and unzip ``setup.zip`` -* Download firmware, such as ``MYNTEYE_S_2.3.0_rc0.img`` +* Find firmware, such as ``MYNTEYE_S_2.4.0.img`` * Please refer to :ref:`firmware_applicable` to select the firmware suitable for the SDK version * Please refer to ``Checksum.txt`` to find the firmware check code as follows: From abd2a3eb6708692194aeb76789336e6f222f29d1 Mon Sep 17 00:00:00 2001 From: harjeb Date: Thu, 21 Mar 2019 17:26:54 +0800 Subject: [PATCH 07/10] add firmware name --- docs/src/firmware/stm_update.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/src/firmware/stm_update.rst b/docs/src/firmware/stm_update.rst index ef07426..add2a21 100644 --- a/docs/src/firmware/stm_update.rst +++ b/docs/src/firmware/stm_update.rst @@ -16,7 +16,7 @@ Update auxiliary chip .. image:: ../../images/stmupdate.png -* In the open file selection box, select the firmware you want to upgrade and start upgrading. +* In the open file selection box, select the firmware ``MYNTEYE-S210x-auxiliary-chip-v1.0.bin`` and start upgrading. * Once the upgrade is complete, it will display update finished. From 06ff521d43b44ecda27d663c384563a503c0c71c Mon Sep 17 00:00:00 2001 From: kalman Date: Fri, 22 Mar 2019 19:13:12 +0800 Subject: [PATCH 08/10] fix(ros): change default range of accel --- .../ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml b/wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml index d4eaafb..c633900 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml @@ -50,7 +50,7 @@ standard2/ir_control: 80 # standard2/ir_control: 0 # standard2/accel_range range: [6,48] -standard2/accel_range: 24 +standard2/accel_range: -1 # standard2/accel_range: 6 # standard2/gyro_range range: [250,4000] From 239c855c187b6376d44f2f5074c26c8cc4b71dc9 Mon Sep 17 00:00:00 2001 From: kalman Date: Fri, 22 Mar 2019 19:15:09 +0800 Subject: [PATCH 09/10] feat(imu): add is_ets flag for imu --- src/mynteye/device/channel/def.h | 2 ++ src/mynteye/device/standard2/channels_adapter_s2.cc | 3 ++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/mynteye/device/channel/def.h b/src/mynteye/device/channel/def.h index a903854..ec8b2b9 100644 --- a/src/mynteye/device/channel/def.h +++ b/src/mynteye/device/channel/def.h @@ -72,6 +72,8 @@ struct ImuSegment { std::uint32_t frame_id; std::uint64_t timestamp; std::uint8_t flag; + // Is external time source + bool is_ets; std::int16_t temperature; std::int16_t accel[3]; std::int16_t gyro[3]; diff --git a/src/mynteye/device/standard2/channels_adapter_s2.cc b/src/mynteye/device/standard2/channels_adapter_s2.cc index 13efb89..0c0157b 100644 --- a/src/mynteye/device/standard2/channels_adapter_s2.cc +++ b/src/mynteye/device/standard2/channels_adapter_s2.cc @@ -55,7 +55,8 @@ struct ImuData { void unpack_imu_segment(const ImuData &imu, ImuSegment *seg) { seg->frame_id = imu.frame_id; seg->timestamp = imu.timestamp; - seg->flag = imu.flag; + seg->flag = imu.flag & 0b0011; + seg->is_ets = (imu.flag & 0b0100 == 0b0100); seg->temperature = imu.temperature; seg->accel[0] = (seg->flag == 1) ? imu.accel_or_gyro[0] : 0; seg->accel[1] = (seg->flag == 1) ? imu.accel_or_gyro[1] : 0; From 195da375f19528fade2d79a98ffe79ed2959f46b Mon Sep 17 00:00:00 2001 From: Osenberg Date: Fri, 22 Mar 2019 20:12:06 +0800 Subject: [PATCH 10/10] feat(ros): added multiple device launch for ros --- .../launch/mynteye.launch | 10 + .../launch/mynteye_multiple.launch | 7 + .../launch/sub/mynteye_1.launch | 377 ++++++++++++++++++ .../launch/sub/mynteye_2.launch | 377 ++++++++++++++++++ .../src/wrapper_nodelet.cc | 110 +++-- 5 files changed, 849 insertions(+), 32 deletions(-) create mode 100644 wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye_multiple.launch create mode 100644 wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch create mode 100644 wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch index b82dc5d..8cf722d 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch @@ -2,6 +2,13 @@ + + + + + + + @@ -227,6 +234,9 @@ + + + diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye_multiple.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye_multiple.launch new file mode 100644 index 0000000..0782cf5 --- /dev/null +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye_multiple.launch @@ -0,0 +1,7 @@ + + + + + + diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch new file mode 100644 index 0000000..3885271 --- /dev/null +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch @@ -0,0 +1,377 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch new file mode 100644 index 0000000..66215a0 --- /dev/null +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch @@ -0,0 +1,377 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + + - 'image_transport/compressedDepth' + + + + diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc index 0ff0e2d..5c09bab 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc @@ -1034,39 +1034,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet { private: void initDevice() { - NODELET_INFO_STREAM("Detecting MYNT EYE devices"); - - Context context; - auto &&devices = context.devices(); - - size_t n = devices.size(); - NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :("); - - NODELET_INFO_STREAM("MYNT EYE devices:"); - for (size_t i = 0; i < n; i++) { - auto &&device = devices[i]; - auto &&name = device->GetInfo(Info::DEVICE_NAME); - NODELET_INFO_STREAM(" index: " << i << ", name: " << name); - } - std::shared_ptr device = nullptr; - if (n <= 1) { - device = devices[0]; - NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0"); - } else { - while (true) { - size_t i; - NODELET_INFO_STREAM( - "There are " << n << " MYNT EYE devices, select index: "); - std::cin >> i; - if (i >= n) { - NODELET_WARN_STREAM("Index out of range :("); - continue; - } - device = devices[i]; - break; - } - } + + device = selectDevice(); api_ = API::Create(device); auto &&requests = device->GetStreamRequests(); @@ -1115,6 +1085,82 @@ class ROSWrapperNodelet : public nodelet::Nodelet { computeRectTransforms(); } + std::shared_ptr selectDevice() { + NODELET_INFO_STREAM("Detecting MYNT EYE devices"); + + Context context; + auto &&devices = context.devices(); + + bool is_multiple = false; + private_nh_.getParam("is_multiple", is_multiple); + if (is_multiple) { + std::string sn; + private_nh_.getParam("serial_number", sn); + NODELET_FATAL_COND(sn.empty(), "Must set serial_number " + "in mynteye_1.launch and mynteye_2.launch."); + + size_t n = devices.size(); + NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :("); + + NODELET_INFO_STREAM("MYNT EYE devices:"); + for (size_t i = 0; i < n; i++) { + auto &&device = devices[i]; + auto &&name = device->GetInfo(Info::DEVICE_NAME); + auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER); + NODELET_INFO_STREAM(" index: " << i << ", name: " << + name << ", serial number: " << serial_number); + } + for (size_t i = 0; i < n; i++) { + auto &&device = devices[i]; + auto &&name = device->GetInfo(Info::DEVICE_NAME); + auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER); + NODELET_INFO_STREAM(" index: " << i << ", name: " << + name << ", serial number: " << serial_number); + if (sn == serial_number) + return device; +#if 0 + if (i == (n - 1)) { + /* + NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found," + " check the serial_number configuration. "); + */ + NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found," + " check the serial_number configuration. "); + return nullptr; + } +#endif + } + } + size_t n = devices.size(); + NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :("); + + NODELET_INFO_STREAM("MYNT EYE devices:"); + for (size_t i = 0; i < n; i++) { + auto &&device = devices[i]; + auto &&name = device->GetInfo(Info::DEVICE_NAME); + NODELET_INFO_STREAM(" index: " << i << ", name: " << name); + } + + if (n <= 1) { + NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0"); + return devices[0]; + } else { + while (true) { + size_t i; + NODELET_INFO_STREAM( + "There are " << n << " MYNT EYE devices, select index: "); + std::cin >> i; + if (i >= n) { + NODELET_WARN_STREAM("Index out of range :("); + continue; + } + return devices[i]; + } + } + + return nullptr; + } + std::shared_ptr getDefaultIntrinsics() { auto res = std::make_shared(); res->width = 640;

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:caption: API REFERENCE + :maxdepth: 2 - api/api - api/device - api/enums - api/types - api/utils + src/mynteye/contents + src/sdk/contents + src/firmware/contents + src/data/contents + src/control/contents + src/log/contents + src/wrapper/contents + src/analytics/contents + src/slam/contents + api/contents .. Indices and tables diff --git a/docs/src/analytics/analytics_imu.rst b/docs/src/analytics/analytics_imu.rst new file mode 100644 index 0000000..d5578b9 --- /dev/null +++ b/docs/src/analytics/analytics_imu.rst @@ -0,0 +1,38 @@ +.. _analytics_imu: + +Analyzing IMU +============== + +The SDK provides the script ``imu_analytics.py`` for IMU analysis. The tool details can be seen in `tools/README.md `_ . +Refer to run commands and results on Linux: + +.. code-block:: bash + + $ python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml -al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl= + imu analytics ... + input: dataset + outdir: dataset + gyro_limits: None + accel_limits: [(-1.2, 1.2), (-1.2, 1.2), (-1.2, 1.2), (-1.2, 1.2)] + time_unit: None + time_limits: None + auto: False + gyro_show_unit: d + gyro_data_unit: d + temp_limits: None + open dataset ... + imu: 20040, temp: 20040 + timebeg: 4.384450, timeend: 44.615550, duration: 40.231100 + save figure to: + dataset/imu_analytics.png + imu analytics done + +The analysis result graph will be saved in the data set directory, as follows: + +.. image:: ../../images/imu_analytics.png + +In addition, the script specific options can be executed ``-h``: + +.. code-block:: bash + + $ python tools/analytics/imu_analytics.py -h diff --git a/docs/src/analytics/analytics_stamp.rst b/docs/src/analytics/analytics_stamp.rst new file mode 100644 index 0000000..931bdda --- /dev/null +++ b/docs/src/analytics/analytics_stamp.rst @@ -0,0 +1,55 @@ +.. _analytics_stamp: + +Analyze time stamps +==================== + +SDK provides a script for timestamp analysis ``stamp_analytics.py`` . Tool details are visible in `tools/README.md `_ . + +Reference run commands and results on Linux: + +.. code-block:: bash + + $ python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml + stamp analytics ... + input: dataset + outdir: dataset + open dataset ... + save to binary files ... + binimg: dataset/stamp_analytics_img.bin + binimu: dataset/stamp_analytics_imu.bin + img: 1007, imu: 20040 + + rate (Hz) + img: 25, imu: 500 + sample period (s) + img: 0.04, imu: 0.002 + + diff count + imgs: 1007, imus: 20040 + imgs_t_diff: 1006, imus_t_diff: 20039 + + diff where (factor=0.1) + imgs where diff > 0.04*1.1 (0) + imgs where diff < 0.04*0.9 (0) + imus where diff > 0.002*1.1 (0) + imus where diff < 0.002*0.9 (0) + + image timestamp duplicates: 0 + + save figure to: + dataset/stamp_analytics.png + stamp analytics done + +The analysis result graph will be saved in the dataset directory, as follows: + +.. image:: ../../images/stamp_analytics.png + +In addition, the script specific options can be executed ``-h`` to understand: + +.. code-block:: bash + + $ python tools/analytics/stamp_analytics.py -h + +.. tip:: + + Suggestions when recording data sets ``record.cc`` annotation display image inside ``cv::imshow()``, ``dataset.cc`` annotation display image inside ``cv::imwrite()`` . Because these operations are time-consuming, they can cause images to be discarded. In other words, consumption can't keep up with production, so some images are discarded. ``GetStreamDatas()`` used in ``record.cc`` only caches the latest 4 images. diff --git a/docs/src/analytics/contents.rst b/docs/src/analytics/contents.rst new file mode 100644 index 0000000..a8d258d --- /dev/null +++ b/docs/src/analytics/contents.rst @@ -0,0 +1,10 @@ +.. _analytics: + +Data Analytics +=============== + +.. toctree:: + + dataset + analytics_imu + analytics_stamp diff --git a/docs/src/analytics/dataset.rst b/docs/src/analytics/dataset.rst new file mode 100644 index 0000000..0692231 --- /dev/null +++ b/docs/src/analytics/dataset.rst @@ -0,0 +1,58 @@ +.. _dataset: + +Recording data sets +==================== + +The SDK provides the tool ``record`` for recording data sets. Tool details can be seen in `tools/README.md `_ . + +Reference run command: + +.. code-block:: bash + + ./tools/_output/bin/dataset/record + + # Windows + .\tools\_output\bin\dataset\record.bat + +Reference run results on Linux: + +.. code-block:: bash + + $ ./tools/_output/bin/dataset/record + I0513 21:28:57.128947 11487 utils.cc:26] Detecting MYNT EYE devices + I0513 21:28:57.807116 11487 utils.cc:33] MYNT EYE devices: + I0513 21:28:57.807155 11487 utils.cc:37] index: 0, name: MYNT-EYE-S1000 + I0513 21:28:57.807163 11487 utils.cc:43] Only one MYNT EYE device, select index: 0 + I0513 21:28:57.808437 11487 channels.cc:114] Option::GAIN: min=0, max=48, def=24, cur=24 + I0513 21:28:57.809999 11487 channels.cc:114] Option::BRIGHTNESS: min=0, max=240, def=120, cur=120 + I0513 21:28:57.818678 11487 channels.cc:114] Option::CONTRAST: min=0, max=255, def=127, cur=127 + I0513 21:28:57.831529 11487 channels.cc:114] Option::FRAME_RATE: min=10, max=60, def=25, cur=25 + I0513 21:28:57.848914 11487 channels.cc:114] Option::IMU_FREQUENCY: min=100, max=500, def=200, cur=500 + I0513 21:28:57.865185 11487 channels.cc:114] Option::EXPOSURE_MODE: min=0, max=1, def=0, cur=0 + I0513 21:28:57.881434 11487 channels.cc:114] Option::MAX_GAIN: min=0, max=48, def=48, cur=48 + I0513 21:28:57.897598 11487 channels.cc:114] Option::MAX_EXPOSURE_TIME: min=0, max=240, def=240, cur=240 + I0513 21:28:57.913918 11487 channels.cc:114] Option::DESIRED_BRIGHTNESS: min=0, max=255, def=192, cur=192 + I0513 21:28:57.930177 11487 channels.cc:114] Option::IR_CONTROL: min=0, max=160, def=0, cur=0 + I0513 21:28:57.946341 11487 channels.cc:114] Option::HDR_MODE: min=0, max=1, def=0, cur=0 + Saved 1007 imgs, 20040 imus to ./dataset + I0513 21:29:38.608772 11487 record.cc:118] Time beg: 2018-05-13 21:28:58.255395, end: 2018-05-13 21:29:38.578696, cost: 40323.3ms + I0513 21:29:38.608853 11487 record.cc:121] Img count: 1007, fps: 24.9732 + I0513 21:29:38.608873 11487 record.cc:123] Imu count: 20040, hz: 496.983 + +Results save into ``/dataset`` by default. You can also add parameter, select other directory to save. + +Record contents: + +.. code-block:: none + + / + └─dataset/ + ├─left/ + │ ├─stream.txt # Image infomation + │ ├─000000.png # Image,index 0 + │ └─... + ├─right/ + │ ├─stream.txt # Image information + │ ├─000000.png # Image,index 0 + │ └─... + └─motion.txt # IMU information diff --git a/docs/src/control/auto_exposure.rst b/docs/src/control/auto_exposure.rst new file mode 100644 index 0000000..e117140 --- /dev/null +++ b/docs/src/control/auto_exposure.rst @@ -0,0 +1,129 @@ +.. _auto_exposure: + +Enable auto exposure and its adjustment function +================================================= + +Using the ``SetOptionValue()`` function of the API, you can set various control values of the current open device. + +To enable auto exposure, set ``Option::EXPOSURE_MODE`` to ``0`` . + +For mynteye s1030, the settings available for adjustment during auto exposure are: + +* ``Option::MAX_GAIN`` Maximum gain. +* ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time. +* ``Option::DESIRED_BRIGHTNESS`` Expected brightness. + +For mynteye s2100/s210a, the settings available for adjustment during auto exposure are: + +* ``Option::MAX_GAIN`` Maximum gain. +* ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time. +* ``Option::DESIRED_BRIGHTNESS`` Expected brightness. +* ``Option::MIN_EXPOSURE_TIME`` Minimum exposure time. + +Reference Code: + +s1030: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + // auto-exposure: 0 + api->SetOptionValue(Option::EXPOSURE_MODE, 0); + + // max_gain: range [0,48], default 48 + api->SetOptionValue(Option::MAX_GAIN, 48); + // max_exposure_time: range [0,240], default 240 + api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240); + // desired_brightness: range [0,255], default 192 + api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192); + + LOG(INFO) << "Enable auto-exposure"; + LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN); + LOG(INFO) << "Set MAX_EXPOSURE_TIME to " + << api->GetOptionValue(Option::MAX_EXPOSURE_TIME); + LOG(INFO) << "Set DESIRED_BRIGHTNESS to " + << api->GetOptionValue(Option::DESIRED_BRIGHTNESS); + +s2100/s210a: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + bool ok; + auto &&request = api->SelectStreamRequest(&ok); + if (!ok) return 1; + api->ConfigStreamRequest(request); + + // auto-exposure: 0 + api->SetOptionValue(Option::EXPOSURE_MODE, 0); + + // max_gain: range [0,255], default 8 + api->SetOptionValue(Option::MAX_GAIN, 8); + // max_exposure_time: range [0,1000], default 333 + api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333); + // desired_brightness: range [1,255], default 122 + api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122); + // min_exposure_time: range [0,1000], default 0 + api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0); + + LOG(INFO) << "Enable auto-exposure"; + LOG(INFO) << "Set EXPOSURE_MODE to " + << api->GetOptionValue(Option::EXPOSURE_MODE); + LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN); + LOG(INFO) << "Set MAX_EXPOSURE_TIME to " + << api->GetOptionValue(Option::MAX_EXPOSURE_TIME); + LOG(INFO) << "Set DESIRED_BRIGHTNESS to " + << api->GetOptionValue(Option::DESIRED_BRIGHTNESS); + LOG(INFO) << "Set MIN_EXPOSURE_TIME to " + << api->GetOptionValue(Option::MIN_EXPOSURE_TIME); + + +Reference running results on Linux: + +s1030: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_auto_exposure + I0513 14:07:57.963943 31845 utils.cc:26] Detecting MYNT EYE devices + I0513 14:07:58.457536 31845 utils.cc:33] MYNT EYE devices: + I0513 14:07:58.457563 31845 utils.cc:37] index: 0, name: MYNT-EYE-S1000 + I0513 14:07:58.457567 31845 utils.cc:43] Only one MYNT EYE device, select index: 0 + I0513 14:07:58.474916 31845 auto_exposure.cc:37] Enable auto-exposure + I0513 14:07:58.491058 31845 auto_exposure.cc:38] Set MAX_GAIN to 48 + I0513 14:07:58.505131 31845 auto_exposure.cc:39] Set MAX_EXPOSURE_TIME to 240 + I0513 14:07:58.521375 31845 auto_exposure.cc:41] Set DESIRED_BRIGHTNESS to 192 + + +s2100/s210a: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_auto_exposure + I/utils.cc:30 Detecting MYNT EYE devices + I/utils.cc:40 MYNT EYE devices: + I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F + I/utils.cc:51 Only one MYNT EYE device, select index: 0 + I/utils.cc:79 MYNT EYE devices: + I/utils.cc:82 index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30 + I/utils.cc:82 index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60 + I/utils.cc:82 index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30 + I/utils.cc:93 There are 7 stream requests, select index: + 3 + I/auto_exposure.cc:72 Enable auto-exposure + I/auto_exposure.cc:73 Set EXPOSURE_MODE to 0 + I/auto_exposure.cc:75 Set MAX_GAIN to 8 + I/auto_exposure.cc:76 Set MAX_EXPOSURE_TIME to 333 + I/auto_exposure.cc:78 Set DESIRED_BRIGHTNESS to 122 + I/auto_exposure.cc:80 Set MIN_EXPOSURE_TIME to 0 + + +The sample program displays an image with a real exposure time in the upper left corner, in milliseconds. + +Complete code examples, see `auto_exposure.cc `_ . diff --git a/docs/src/control/contents.rst b/docs/src/control/contents.rst new file mode 100644 index 0000000..7f07276 --- /dev/null +++ b/docs/src/control/contents.rst @@ -0,0 +1,13 @@ +.. _ctrl: + +MYNT® EYE Control +================= + +.. toctree:: + + framerate + imu_range + auto_exposure + manual_exposure + infrared + imu_low_pass_filter \ No newline at end of file diff --git a/docs/src/control/framerate.rst b/docs/src/control/framerate.rst new file mode 100644 index 0000000..967270a --- /dev/null +++ b/docs/src/control/framerate.rst @@ -0,0 +1,108 @@ +.. _framerate: + +Set the frame rate of image & IMU frequency +============================================ + +Using the ``SetOptionValue()`` function in the API, you can set various control values​for the current device. + +For mynteye s1030, to set the image frame rate and IMU frequency, set ``Option::FRAME_RATE`` and ``Option::IMU_FREQUENCY``. + +.. Attention:: + + * The effective fps of the image: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55. + * The effective frequency of IMU: 100, 200, 250, 333, 500. + +For mynteye s2100/s210a, the image frame rate should be selected when running the sample, and the frame rate and resolution are combined as follows: + +.. code-block:: bash + + index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10 + index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20 + index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30 + index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60 + index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10 + index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20 + index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30 + + +Reference Code: + +s1030: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't + // succeed. + + // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55 + api->SetOptionValue(Option::FRAME_RATE, 25); + // IMU_FREQUENCY values: 100, 200, 250, 333, 500 + api->SetOptionValue(Option::IMU_FREQUENCY, 500); + + LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE); + LOG(INFO) << "Set IMU_FREQUENCY to " + << api->GetOptionValue(Option::IMU_FREQUENCY); + +s2100/s210a: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + if (!api) return 1; + + bool ok; + auto &&request = api->SelectStreamRequest(&ok); + if (!ok) return 1; + api->ConfigStreamRequest(request); + + LOG(INFO) << "Please set frame rate by 'SelectStreamRequest()'"; + + + +Reference running results on Linux: + +s1030: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_framerate + I0513 14:05:57.218222 31813 utils.cc:26] Detecting MYNT EYE devices + I0513 14:05:57.899404 31813 utils.cc:33] MYNT EYE devices: + I0513 14:05:57.899430 31813 utils.cc:37] index: 0, name: MYNT-EYE-S1000 + I0513 14:05:57.899435 31813 utils.cc:43] Only one MYNT EYE device, select index: 0 + I0513 14:05:58.076257 31813 framerate.cc:36] Set FRAME_RATE to 25 + I0513 14:05:58.076836 31813 framerate.cc:37] Set IMU_FREQUENCY to 500 + I0513 14:06:21.702361 31813 framerate.cc:82] Time beg: 2018-05-13 14:05:58.384967, end: 2018-05-13 14:06:21.666115, cost: 23281.1ms + I0513 14:06:21.702388 31813 framerate.cc:85] Img count: 573, fps: 24.6122 + I0513 14:06:21.702404 31813 framerate.cc:87] Imu count: 11509, hz: 494.348 + +s2100/s210a: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_framerate + I/utils.cc:30 Detecting MYNT EYE devices + I/utils.cc:40 MYNT EYE devices: + I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F + I/utils.cc:51 Only one MYNT EYE device, select index: 0 + I/utils.cc:79 MYNT EYE devices: + I/utils.cc:82 index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30 + I/utils.cc:82 index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60 + I/utils.cc:82 index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30 + I/utils.cc:93 There are 7 stream requests, select index: + 2 + I/framerate.cc:54 Please set frame rate by 'SelectStreamRequest()' + I/framerate.cc:99 Time beg: 2018-12-29 10:05:08.203095, end: 2018-12-29 10:08:20.074969, cost: 191872ms + I/framerate.cc:102 Img count: 5759, fps: 30.0148 + I/framerate.cc:104 Imu count: 77163, hz: 402.159 + + +After the sample program finishes running with ``ESC/Q``, it will output the calculated value of the frame rate of image & IMU frequency. + +Complete code samples,please see `framerate.cc `_ . diff --git a/docs/src/control/imu_low_pass_filter.rst b/docs/src/control/imu_low_pass_filter.rst new file mode 100644 index 0000000..096f3df --- /dev/null +++ b/docs/src/control/imu_low_pass_filter.rst @@ -0,0 +1,63 @@ +.. _imu_low_pass_filter: + +Low-pass Filter +=============== + +Using the ``SetOptionValue()`` function in the API, you can set various control values ​​for the current device. + +To set the value of accelerometer low-pass filter and gyroscope low-pass filter, set ``Option::ACCELEROMETER_LOW_PASS_FILTER`` and ``Option::GYROSCOPE_LOW_PASS_FILTER``. + +.. Attention:: + * s1030 doesn't support this feature + +Reference Code: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + if (!api) return 1; + + bool ok; + auto &&request = api->SelectStreamRequest(&ok); + if (!ok) return 1; + api->ConfigStreamRequest(request); + + // ACCELEROMETER_RANGE values: 0, 1, 2 + api->SetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER, 2); + // GYROSCOPE_RANGE values: 23, 64 + api->SetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER, 64); + + LOG(INFO) << "Set ACCELEROMETER_LOW_PASS_FILTER to " + << api->GetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER); + LOG(INFO) << "Set GYROSCOPE_LOW_PASS_FILTER to " + << api->GetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER); + + +Reference running results on Linux: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_imu_low_pass_filter + I/utils.cc:30 Detecting MYNT EYE devices + I/utils.cc:40 MYNT EYE devices: + I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F + I/utils.cc:51 Only one MYNT EYE device, select index: 0 + I/utils.cc:79 MYNT EYE devices: + I/utils.cc:82 index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30 + I/utils.cc:82 index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60 + I/utils.cc:82 index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30 + I/utils.cc:93 There are 7 stream requests, select index: + 1 + I/imu_low_pass_filter.cc:48 Set ACCELEROMETER_LOW_PASS_FILTER to 2 + I/imu_low_pass_filter.cc:50 Set GYROSCOPE_LOW_PASS_FILTER to 64 + I/imu_low_pass_filter.cc:96 Time beg: 2018-12-29 13:53:42.296299, end: 2018-12-29 14:06:33.295960, cost: 771000ms + I/imu_low_pass_filter.cc:99 Img count: 15412, fps: 19.9896 + I/imu_low_pass_filter.cc:101 Imu count: 309891, hz: 401.934 + +After the sample program finishes running with ``ESC/Q``, the low-pass filter of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off. + +Complete code samples,please see `imu_low_pass_filter.cc `_ 。 diff --git a/docs/src/control/imu_range.rst b/docs/src/control/imu_range.rst new file mode 100644 index 0000000..84e88da --- /dev/null +++ b/docs/src/control/imu_range.rst @@ -0,0 +1,108 @@ +.. _imu_range: + +Set the range of accelerometer & gyroscope +========================================== + +Using the ``SetOptionValue()`` function in the API, you can set various control values for the current device. + +To set the range of accelerometer and gyroscope, set ``Option::ACCELEROMETER_RANGE`` and ``Option::GYROSCOPE_RANGE``. + +.. Attention:: + For mynteye s1030, the available settings are: + + * The effective range of accelerometer(unit:g): 4, 8, 16, 32. + * Gyroscope Range Valid value (unit: DEG/S): 500, 1000, 2000, 4000. + + For mynteye s2100/s210a, the available settings are: + + * The effective range of accelerometer(unit:g): 6, 12, 24, 32. + * The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000. + +Reference Code: + +s1030: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + if (!api) + return 1; + + // ACCELEROMETER_RANGE values: 4, 8, 16, 32 + api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8); + // GYROSCOPE_RANGE values: 500, 1000, 2000, 4000 + api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000); + + LOG(INFO) << "Set ACCELEROMETER_RANGE to " + << api->GetOptionValue(Option::ACCELEROMETER_RANGE); + LOG(INFO) << "Set GYROSCOPE_RANGE to " + << api->GetOptionValue(Option::GYROSCOPE_RANGE); + +s2100/s210a: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + if (!api) return 1; + + bool ok; + auto &&request = api->SelectStreamRequest(&ok); + if (!ok) return 1; + api->ConfigStreamRequest(request); + + // ACCELEROMETER_RANGE values: 6, 12, 24, 32 + api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6); + // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000 + api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000); + + LOG(INFO) << "Set ACCELEROMETER_RANGE to " + << api->GetOptionValue(Option::ACCELEROMETER_RANGE); + LOG(INFO) << "Set GYROSCOPE_RANGE to " + << api->GetOptionValue(Option::GYROSCOPE_RANGE); + + +Reference running results on Linux: + +s1030: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_imu_range + I/utils.cc:28 Detecting MYNT EYE devices + I/utils.cc:38 MYNT EYE devices: + I/utils.cc:41 index: 0, name: MYNT-EYE-S1030, sn: 4B4C1F1100090712 + I/utils.cc:49 Only one MYNT EYE device, select index: 0 + I/imu_range.cc:34 Set ACCELEROMETER_RANGE to 8 + I/imu_range.cc:36 Set GYROSCOPE_RANGE to 1000 + I/imu_range.cc:81 Time beg: 2018-11-21 15:34:57.726428, end: 2018-11-21 15:35:12.190478, cost: 14464ms + I/imu_range.cc:84 Img count: 363, fps: 25.0967 + I/imu_range.cc:86 Imu count: 2825, hz: 195.312 + +s2100/s210a: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_imu_range + I/utils.cc:30 Detecting MYNT EYE devices + I/utils.cc:40 MYNT EYE devices: + I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F + I/utils.cc:51 Only one MYNT EYE device, select index: 0 + I/utils.cc:79 MYNT EYE devices: + I/utils.cc:82 index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30 + I/utils.cc:82 index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60 + I/utils.cc:82 index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30 + I/utils.cc:93 There are 7 stream requests, select index: + 3 + I/imu_range.cc:51 Set ACCELEROMETER_RANGE to 6 + I/imu_range.cc:53 Set GYROSCOPE_RANGE to 1000 + I/imu_range.cc:98 Time beg: 2018-12-29 10:03:10.706211, end: 2018-12-29 10:04:12.497427, cost: 61791.2ms + I/imu_range.cc:101 Img count: 3706, fps: 59.9762 + I/imu_range.cc:103 Imu count: 24873, hz: 402.533 + +After the sample program finishes running with ``ESC/Q``, the ranges of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off. + +Complete code samples,please see `imu_range.cc `_. diff --git a/docs/src/control/infrared.rst b/docs/src/control/infrared.rst new file mode 100644 index 0000000..710d00d --- /dev/null +++ b/docs/src/control/infrared.rst @@ -0,0 +1,51 @@ +.. _infrared: + +Enable IR and its adjustments function +======================================= + +Using the ``SetOptionValue()`` function of the API, you can set various control values for the current open device. + +Enabling IR is setting ``Option::IR_CONTROL`` greater than 0. The greater the value, the greater the IR's intensity. + +.. Attention:: + * mynteye s2100/s210a doesn't support this feature. + +Reference Code: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + // Detect infrared add-ons + LOG(INFO) << "Support infrared: " << std::boolalpha + << api->Supports(AddOns::INFRARED); + LOG(INFO) << "Support infrared2: " << std::boolalpha + << api->Supports(AddOns::INFRARED2); + + // Get infrared intensity range + auto &&info = api->GetOptionInfo(Option::IR_CONTROL); + LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}"; + + // Set infrared intensity value + api->SetOptionValue(Option::IR_CONTROL, 80); + +Reference running results on Linux: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_infrared + I0504 16:16:28.016624 25848 utils.cc:13] Detecting MYNT EYE devices + I0504 16:16:28.512462 25848 utils.cc:20] MYNT EYE devices: + I0504 16:16:28.512473 25848 utils.cc:24] index: 0, name: MYNT-EYE-S1000 + I0504 16:16:28.512477 25848 utils.cc:30] Only one MYNT EYE device, select index: 0 + I0504 16:16:28.520848 25848 infrared.cc:13] Support infrared: true + I0504 16:16:28.520869 25848 infrared.cc:15] Support infrared2: true + I0504 16:16:28.520889 25848 infrared.cc:20] Option::IR_CONTROL: {min: 0, max: 160, def: 0} + +At this point, if the image is displayed, you can see IR speckle on the image. + +.. attention:: + + The hardware will not record the IR value after being turned off. In order to keep IR enabled, you must set the IR value after turning on the device. + +Complete code samples,see `infrared.cc `_ . diff --git a/docs/src/control/manual_exposure.rst b/docs/src/control/manual_exposure.rst new file mode 100644 index 0000000..00195fc --- /dev/null +++ b/docs/src/control/manual_exposure.rst @@ -0,0 +1,110 @@ +.. _manual_exposure: + +Enable manual exposure and its adjustment function +=================================================== + +Using the ``SetOptionValue()`` function of the API, you can set various control values for the current open device. + +To enabling manual exposure, set ``Option::EXPOSURE_MODE`` to ``1``. + +For mynteye s1030, during manual exposure, the settings available for adjustment are: + +* ``Option::GAIN`` Gain. +* ``Option::BRIGHTNESS`` Brightness (Exposure time). +* ``Option::CONTRAST`` Contrast (Black level calibration). + +For mynteye s2100/s210a, during manual exposure, the settings available for adjustment are: + +* ``Option::BRIGHTNESS`` Brightness (Exposure time). + + +Reference Code: + +s1030: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + // manual-exposure: 1 + api->SetOptionValue(Option::EXPOSURE_MODE, 1); + + // gain: range [0,48], default 24 + api->SetOptionValue(Option::GAIN, 24); + // brightness/exposure_time: range [0,240], default 120 + api->SetOptionValue(Option::BRIGHTNESS, 120); + // contrast/black_level_calibration: range [0,255], default 127 + api->SetOptionValue(Option::CONTRAST, 127); + + LOG(INFO) << "Enable manual-exposure"; + LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN); + LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS); + LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST); + +s2100/s210a: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + bool ok; + auto &&request = api->SelectStreamRequest(&ok); + if (!ok) return 1; + api->ConfigStreamRequest(request); + + // manual-exposure: 1 + api->SetOptionValue(Option::EXPOSURE_MODE, 1); + + // brightness/exposure_time: range [0,240], default 120 + api->SetOptionValue(Option::BRIGHTNESS, 120); + + LOG(INFO) << "Enable manual-exposure"; + LOG(INFO) << "Set EXPOSURE_MODE to " + << api->GetOptionValue(Option::EXPOSURE_MODE); + LOG(INFO) << "Set BRIGHTNESS to " + << api->GetOptionValue(Option::BRIGHTNESS); + + +Reference running results on Linux: + +s1030: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_manual_exposure + I0513 14:09:17.104431 31908 utils.cc:26] Detecting MYNT EYE devices + I0513 14:09:17.501519 31908 utils.cc:33] MYNT EYE devices: + I0513 14:09:17.501551 31908 utils.cc:37] index: 0, name: MYNT-EYE-S1000 + I0513 14:09:17.501562 31908 utils.cc:43] Only one MYNT EYE device, select index: 0 + I0513 14:09:17.552918 31908 manual_exposure.cc:37] Enable manual-exposure + I0513 14:09:17.552953 31908 manual_exposure.cc:38] Set GAIN to 24 + I0513 14:09:17.552958 31908 manual_exposure.cc:39] Set BRIGHTNESS to 120 + I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 127 + +s2100/s210a: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/ctrl_manual_exposure + I/utils.cc:30 Detecting MYNT EYE devices + I/utils.cc:40 MYNT EYE devices: + I/utils.cc:43 index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F + I/utils.cc:51 Only one MYNT EYE device, select index: 0 + I/utils.cc:79 MYNT EYE devices: + I/utils.cc:82 index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30 + I/utils.cc:82 index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60 + I/utils.cc:82 index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10 + I/utils.cc:82 index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20 + I/utils.cc:82 index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30 + I/utils.cc:93 There are 7 stream requests, select index: + 3 + I/manual_exposure.cc:62 Enable manual-exposure + I/manual_exposure.cc:63 Set EXPOSURE_MODE to 1 + I/manual_exposure.cc:65 Set BRIGHTNESS to 120 + + +The sample program displays an image with a real exposure time in the upper left corner, in milliseconds. + +Complete code samples,see `manual_exposure.cc `_ . diff --git a/docs/src/data/contents.rst b/docs/src/data/contents.rst new file mode 100644 index 0000000..2fb2196 --- /dev/null +++ b/docs/src/data/contents.rst @@ -0,0 +1,22 @@ +.. _data: + +MYNT® EYE Data +============== + +.. toctree:: + + get_device_info + get_img_params + get_imu_params + get_stereo + get_stereo_rectified + get_disparity + get_depth + get_points + get_imu + get_imu_correspondence + get_from_callbacks + get_with_plugin + save_params + write_img_params + write_imu_params diff --git a/docs/src/data/get_depth.rst b/docs/src/data/get_depth.rst new file mode 100644 index 0000000..475760d --- /dev/null +++ b/docs/src/data/get_depth.rst @@ -0,0 +1,54 @@ +.. _get_depth: + +Get depth image +=============== + +Depth images belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. In addition, it should be check not be empty before use. + +For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified`. + +In addition, it is recommended to use plugins to calculate depth: Depth images work better and operate faster. Please refer to :ref:`get_with_plugin`. + +Reference code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + api->EnableStreamData(Stream::DEPTH); + + api->Start(Source::VIDEO_STREAMING); + + cv::namedWindow("frame"); + cv::namedWindow("depth"); + + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT); + auto &&right_data = api->GetStreamData(Stream::RIGHT); + + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + cv::imshow("frame", img); + + auto &&depth_data = api->GetStreamData(Stream::DEPTH); + if (!depth_data.frame.empty()) { + cv::imshow("depth", depth_data.frame); // CV_16UC1 + } + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + } + + api->Stop(Source::VIDEO_STREAMING); + +The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program. + +Complete code examples, see `get_depth.cc `_ . + +.. tip:: + +Preview the value of a region of the depth image, see `get_depth_with_region.cc `_ . diff --git a/docs/src/data/get_device_info.rst b/docs/src/data/get_device_info.rst new file mode 100644 index 0000000..ebc77a0 --- /dev/null +++ b/docs/src/data/get_device_info.rst @@ -0,0 +1,41 @@ +.. _get_device_info: + +Get device information +====================== + +Use ``GetInfo()`` function to get various current information values. + +Reference code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + LOG(INFO) << "Device name: " << api->GetInfo(Info::DEVICE_NAME); + LOG(INFO) << "Serial number: " << api->GetInfo(Info::SERIAL_NUMBER); + LOG(INFO) << "Firmware version: " << api->GetInfo(Info::FIRMWARE_VERSION); + LOG(INFO) << "Hardware version: " << api->GetInfo(Info::HARDWARE_VERSION); + LOG(INFO) << "Spec version: " << api->GetInfo(Info::SPEC_VERSION); + LOG(INFO) << "Lens type: " << api->GetInfo(Info::LENS_TYPE); + LOG(INFO) << "IMU type: " << api->GetInfo(Info::IMU_TYPE); + LOG(INFO) << "Nominal baseline: " << api->GetInfo(Info::NOMINAL_BASELINE); + +Reference result on Linux: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/get_device_info + I0503 16:40:21.109391 32106 utils.cc:13] Detecting MYNT EYE devices + I0503 16:40:21.604116 32106 utils.cc:20] MYNT EYE devices: + I0503 16:40:21.604127 32106 utils.cc:24] index: 0, name: MYNT-EYE-S1000 + I0503 16:40:21.604142 32106 utils.cc:30] Only one MYNT EYE device, select index: 0 + I0503 16:40:21.615054 32106 get_device_info.cc:10] Device name: MYNT-EYE-S1000 + I0503 16:40:21.615113 32106 get_device_info.cc:11] Serial number: 0610243700090720 + I0503 16:40:21.615129 32106 get_device_info.cc:12] Firmware version: 2.0 + I0503 16:40:21.615139 32106 get_device_info.cc:13] Hardware version: 2.0 + I0503 16:40:21.615146 32106 get_device_info.cc:14] Spec version: 1.0 + I0503 16:40:21.615155 32106 get_device_info.cc:15] Lens type: 0000 + I0503 16:40:21.615164 32106 get_device_info.cc:16] IMU type: 0000 + I0503 16:40:21.615171 32106 get_device_info.cc:17] Nominal baseline: 120 + +Complete code examples, see `get_device_info.cc `_ . diff --git a/docs/src/data/get_disparity.rst b/docs/src/data/get_disparity.rst new file mode 100644 index 0000000..a581dd0 --- /dev/null +++ b/docs/src/data/get_disparity.rst @@ -0,0 +1,62 @@ +.. _get_disparity: + +Get disparity image +=================== + +Disparity image belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. In addition, it should be check not be empty before use. + +For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` . + +It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` . + +.. tip:: + The SetDisparityComputingMethodType method is used to change disparity computing method. Currently, BM and SGBM are available, and SGBM is used by default in sdk. + +Reference code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + // api->EnableStreamData(Stream::DISPARITY); + api->EnableStreamData(Stream::DISPARITY_NORMALIZED); + + api->SetDisparityComputingMethodType(DisparityComputingMethod::BM); + + api->Start(Source::VIDEO_STREAMING); + + cv::namedWindow("frame"); + // cv::namedWindow("disparity"); + cv::namedWindow("disparity_normalized"); + + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT); + auto &&right_data = api->GetStreamData(Stream::RIGHT); + + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + cv::imshow("frame", img); + + // auto &&disp_data = api->GetStreamData(Stream::DISPARITY); + // if (!disp_data.frame.empty()) { + // cv::imshow("disparity", disp_data.frame); + // } + + auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED); + if (!disp_norm_data.frame.empty()) { + cv::imshow("disparity_normalized", disp_norm_data.frame); // CV_8UC1 + } + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + } + + api->Stop(Source::VIDEO_STREAMING); + +The above code uses OpenCV to display the image. Select the display window, press ``ESC/Q`` to exit in the program. + +Complete code examples, see `get_disparity.cc `_ . diff --git a/docs/src/data/get_from_callbacks.rst b/docs/src/data/get_from_callbacks.rst new file mode 100644 index 0000000..2fc2a0d --- /dev/null +++ b/docs/src/data/get_from_callbacks.rst @@ -0,0 +1,119 @@ +.. _get_from_callbacks: + +Get data from callbacks +======================== + +API offers function ``SetStreamCallback()`` and ``SetMotionCallback()`` to set callbacks for various data. + +.. attention:: + + Make sure to not block callback. If the data processing time is too long, use the callback as a data producer. + +Reference code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + // Attention: must not block the callbacks. + + // Get left image from callback + std::atomic_uint left_count(0); + api->SetStreamCallback( + Stream::LEFT, [&left_count](const api::StreamData &data) { + CHECK_NOTNULL(data.img); + ++left_count; + }); + + // Get depth image from callback + api->EnableStreamData(Stream::DEPTH); + std::atomic_uint depth_count(0); + cv::Mat depth; + std::mutex depth_mtx; + api->SetStreamCallback( + Stream::DEPTH, + [&depth_count, &depth, &depth_mtx](const api::StreamData &data) { + UNUSED(data) + ++depth_count; + { + std::lock_guard _(depth_mtx); + depth = data.frame; + } + }); + + // Get motion data from callback + std::atomic_uint imu_count(0); + std::shared_ptr imu; + std::mutex imu_mtx; + api->SetMotionCallback( + [&imu_count, &imu, &imu_mtx](const api::MotionData &data) { + CHECK_NOTNULL(data.imu); + ++imu_count; + { + std::lock_guard _(imu_mtx); + imu = data.imu; + } + }); + + api->Start(Source::ALL); + + CVPainter painter; + + cv::namedWindow("frame"); + cv::namedWindow("depth"); + + unsigned int depth_num = 0; + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT); + auto &&right_data = api->GetStreamData(Stream::RIGHT); + + // Concat left and right as img + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + + // Draw img data and size + painter.DrawImgData(img, *left_data.img); + + // Draw imu data + if (imu) { + std::lock_guard _(imu_mtx); + painter.DrawImuData(img, *imu); + } + + // Draw counts + std::ostringstream ss; + ss << "left: " << left_count << ", depth: " << depth_count + << ", imu: " << imu_count; + painter.DrawText(img, ss.str(), CVPainter::BOTTOM_RIGHT); + + // Show img + cv::imshow("frame", img); + + // Show depth + if (!depth.empty()) { + // Is the depth a new one? + if (depth_num != depth_count || depth_num == 0) { + std::lock_guard _(depth_mtx); + depth_num = depth_count; + // LOG(INFO) << "depth_num: " << depth_num; + ss.str(""); + ss.clear(); + ss << "depth: " << depth_count; + painter.DrawText(depth, ss.str()); + cv::imshow("depth", depth); // CV_16UC1 + } + } + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + } + + api->Stop(Source::ALL); + +OpenCV is used to display images and data above. When the window is selected, pressing ``ESC/Q`` will exit program. + +Complete code examples, see `get_from_callbacks.cc `_ . diff --git a/docs/src/data/get_img_params.rst b/docs/src/data/get_img_params.rst new file mode 100644 index 0000000..4161dbd --- /dev/null +++ b/docs/src/data/get_img_params.rst @@ -0,0 +1,34 @@ +.. _get_img_params: + +Get image calibration parameters +================================ + +Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameters. + +Reference code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + LOG(INFO) << "Intrinsics left: {" << *api->GetIntrinsicsBase(Stream::LEFT) + << "}"; + LOG(INFO) << "Intrinsics right: {" << *api->GetIntrinsicsBase(Stream::RIGHT) + << "}"; + LOG(INFO) << "Extrinsics right to left: {" + << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}"; + +Reference result on Linux: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/get_img_params + I0510 15:00:22.643263 6980 utils.cc:26] Detecting MYNT EYE devices + I0510 15:00:23.138811 6980 utils.cc:33] MYNT EYE devices: + I0510 15:00:23.138849 6980 utils.cc:37] index: 0, name: MYNT-EYE-S1000 + I0510 15:00:23.138855 6980 utils.cc:43] Only one MYNT EYE device, select index: 0 + I0510 15:00:23.210491 6980 get_img_params.cc:23] Intrinsics left: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 356.91961817119693023, cy: 217.27271340923883258, model: 0, coeffs: [-0.54898645145016478, 0.52837141203888638, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]} + I0510 15:00:23.210551 6980 get_img_params.cc:24] Intrinsics right: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 456.68367112303980093, cy: 250.70083335536796199, model: 0, coeffs: [-0.51012886039889305, 0.38764476500996770, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]} + I0510 15:00:23.210577 6980 get_img_params.cc:26] Extrinsics left to right: {rotation: [0.99701893306553813, -0.00095378124886237, -0.07715139279485062, 0.00144939967628305, 0.99997867219985104, 0.00636823256494144, 0.07714367342455503, -0.00646107164115277, 0.99699905125522237], translation: [-118.88991734400046596, -0.04560580387053091, -3.95313736911933855]} + +Complete code examples, see `get_img_params.cc `_ . diff --git a/docs/src/data/get_imu.rst b/docs/src/data/get_imu.rst new file mode 100644 index 0000000..05460ed --- /dev/null +++ b/docs/src/data/get_imu.rst @@ -0,0 +1,66 @@ +.. _get_imu_data: + +Get IMU data +============= + +The API offers ``Start()`` / ``Stop()`` function to start/stop capturing data. You can set the argument to``Source::MOTION_TRACKING`` to capture IMU data only, or set it to ``Source::ALL`` to capture both image and IMU data. + +During capturing data, you need ``EnableMotionDatas()`` to enable caching in order to get IMU data from ``GetMotionDatas()`` . Otherwise, IMU data is only available through the callback interface, see :ref:`get_from_callbacks` . + +Sample code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + // Enable this will cache the motion datas until you get them. + api->EnableMotionDatas(); + + api->Start(Source::ALL); + + CVPainter painter; + + cv::namedWindow("frame"); + + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT); + auto &&right_data = api->GetStreamData(Stream::RIGHT); + + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + + auto &&motion_datas = api->GetMotionDatas(); + /* + for (auto &&data : motion_datas) { + LOG(INFO) << "Imu frame_id: " << data.imu->frame_id + << ", timestamp: " << data.imu->timestamp + << ", accel_x: " << data.imu->accel[0] + << ", accel_y: " << data.imu->accel[1] + << ", accel_z: " << data.imu->accel[2] + << ", gyro_x: " << data.imu->gyro[0] + << ", gyro_y: " << data.imu->gyro[1] + << ", gyro_z: " << data.imu->gyro[2] + << ", temperature: " << data.imu->temperature; + } + */ + + painter.DrawImgData(img, *left_data.img); + if (!motion_datas.empty()) { + painter.DrawImuData(img, *motion_datas[0].imu); + } + + cv::imshow("frame", img); + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + } + + api->Stop(Source::ALL); + +OpenCV is used to display image and data. When window is selected, press ``ESC/Q`` to exit program. + +Complete code examples, see `get_imu.cc `_ . diff --git a/docs/src/data/get_imu_correspondence.rst b/docs/src/data/get_imu_correspondence.rst new file mode 100644 index 0000000..32748d1 --- /dev/null +++ b/docs/src/data/get_imu_correspondence.rst @@ -0,0 +1,109 @@ +.. _get_imu_correspondence: + +Get IMU data with timestamp correspondence +=========================================== + +If wanna get image with timestamp in the middle of IMU datas, you could call `EnableTimestampCorrespondence()`` to enable this feature. + +Reference code snippet: + +.. code-block:: c++ + + + auto &&api = API::Create(argc, argv); + + // Enable motion datas with timestamp correspondence of some stream + api->EnableTimestampCorrespondence(Stream::LEFT); + + api->Start(Source::ALL); + + cv::namedWindow("frame"); + + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT); + auto &&right_data = api->GetStreamData(Stream::RIGHT); + + auto img_stamp = left_data.img->timestamp; + LOG(INFO) << "Img timestamp: " << img_stamp + << ", diff_prev=" << (img_stamp - prev_img_stamp); + prev_img_stamp = img_stamp; + + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + + auto &&motion_datas = api->GetMotionDatas(); + LOG(INFO) << "Imu count: " << motion_datas.size(); + for (auto &&data : motion_datas) { + auto imu_stamp = data.imu->timestamp; + LOG(INFO) << "Imu timestamp: " << imu_stamp + << ", diff_prev=" << (imu_stamp - prev_imu_stamp) + << ", diff_img=" << (1.f + imu_stamp - img_stamp); + prev_imu_stamp = imu_stamp; + } + LOG(INFO); + + cv::imshow("frame", img); + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + } + + api->Stop(Source::ALL); + +Reference result on Linux: + +.. code-block:: bash + + $ ./samples/_output/bin/tutorials/get_imu_correspondence + I/utils.cc:30 Detecting MYNT EYE devices + I/utils.cc:40 MYNT EYE devices: + I/utils.cc:43 index: 0, name: MYNT-EYE-S1030, sn: 0281351000090807 + I/utils.cc:51 Only one MYNT EYE device, select index: 0 + I/synthetic.cc:126 camera calib model: kannala_brandt + I/utils.cc:79 MYNT EYE devices: + I/utils.cc:82 index: 0, request: width: 752, height: 480, format: Format::YUYV, fps: 60 + I/utils.cc:87 Only one stream request, select index: 0 + I/get_imu_correspondence.cc:50 Img timestamp: 171323050, diff_prev=39990 + I/get_imu_correspondence.cc:58 Imu count: 13 + I/get_imu_correspondence.cc:61 Imu timestamp: 171318710, diff_prev=171318710, diff_img=-4352 + I/get_imu_correspondence.cc:61 Imu timestamp: 171320730, diff_prev=2020, diff_img=-2320 + I/get_imu_correspondence.cc:61 Imu timestamp: 171322750, diff_prev=2020, diff_img=-304 + I/get_imu_correspondence.cc:61 Imu timestamp: 171324770, diff_prev=2020, diff_img=1712 + I/get_imu_correspondence.cc:61 Imu timestamp: 171326790, diff_prev=2020, diff_img=3728 + I/get_imu_correspondence.cc:61 Imu timestamp: 171328800, diff_prev=2010, diff_img=5744 + I/get_imu_correspondence.cc:61 Imu timestamp: 171330810, diff_prev=2010, diff_img=7760 + I/get_imu_correspondence.cc:61 Imu timestamp: 171332840, diff_prev=2030, diff_img=9776 + I/get_imu_correspondence.cc:61 Imu timestamp: 171334860, diff_prev=2020, diff_img=11808 + I/get_imu_correspondence.cc:61 Imu timestamp: 171336880, diff_prev=2020, diff_img=13824 + I/get_imu_correspondence.cc:61 Imu timestamp: 171338900, diff_prev=2020, diff_img=15840 + I/get_imu_correspondence.cc:61 Imu timestamp: 171340920, diff_prev=2020, diff_img=17872 + I/get_imu_correspondence.cc:61 Imu timestamp: 171342930, diff_prev=2010, diff_img=19872 + I/get_imu_correspondence.cc:66 + I/get_imu_correspondence.cc:50 Img timestamp: 171403040, diff_prev=79990 + I/get_imu_correspondence.cc:58 Imu count: 20 + I/get_imu_correspondence.cc:61 Imu timestamp: 171383310, diff_prev=40380, diff_img=-19728 + I/get_imu_correspondence.cc:61 Imu timestamp: 171385330, diff_prev=2020, diff_img=-17712 + I/get_imu_correspondence.cc:61 Imu timestamp: 171387350, diff_prev=2020, diff_img=-15696 + I/get_imu_correspondence.cc:61 Imu timestamp: 171389370, diff_prev=2020, diff_img=-13664 + I/get_imu_correspondence.cc:61 Imu timestamp: 171391380, diff_prev=2010, diff_img=-11664 + I/get_imu_correspondence.cc:61 Imu timestamp: 171393390, diff_prev=2010, diff_img=-9648 + I/get_imu_correspondence.cc:61 Imu timestamp: 171395420, diff_prev=2030, diff_img=-7616 + I/get_imu_correspondence.cc:61 Imu timestamp: 171397440, diff_prev=2020, diff_img=-5600 + I/get_imu_correspondence.cc:61 Imu timestamp: 171399460, diff_prev=2020, diff_img=-3584 + I/get_imu_correspondence.cc:61 Imu timestamp: 171401480, diff_prev=2020, diff_img=-1568 + I/get_imu_correspondence.cc:61 Imu timestamp: 171403500, diff_prev=2020, diff_img=464 + I/get_imu_correspondence.cc:61 Imu timestamp: 171405510, diff_prev=2010, diff_img=2464 + I/get_imu_correspondence.cc:61 Imu timestamp: 171407520, diff_prev=2010, diff_img=4480 + I/get_imu_correspondence.cc:61 Imu timestamp: 171409540, diff_prev=2020, diff_img=6496 + I/get_imu_correspondence.cc:61 Imu timestamp: 171411570, diff_prev=2030, diff_img=8528 + I/get_imu_correspondence.cc:61 Imu timestamp: 171413590, diff_prev=2020, diff_img=10544 + I/get_imu_correspondence.cc:61 Imu timestamp: 171415610, diff_prev=2020, diff_img=12576 + I/get_imu_correspondence.cc:61 Imu timestamp: 171417630, diff_prev=2020, diff_img=14592 + I/get_imu_correspondence.cc:61 Imu timestamp: 171419650, diff_prev=2020, diff_img=16608 + I/get_imu_correspondence.cc:61 Imu timestamp: 171421660, diff_prev=2010, diff_img=18624 + +Complete code examples, see `get_imu_correspondence.cc `_ . diff --git a/docs/src/data/get_imu_params.rst b/docs/src/data/get_imu_params.rst new file mode 100644 index 0000000..f0aac6f --- /dev/null +++ b/docs/src/data/get_imu_params.rst @@ -0,0 +1,18 @@ +.. _get_imu_params: + +Get IMU calibration parameters +============================== + +Use ``GetMotionIntrinsics()`` & ``GetMotionExtrinsics()`` to get current IMU calibration parameters. + +Reference commands: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + LOG(INFO) << "Motion intrinsics: {" << api->GetMotionIntrinsics() << "}"; + LOG(INFO) << "Motion extrinsics left to imu: {" + << api->GetMotionExtrinsics(Stream::LEFT) << "}"; + +Complete code examples, see `get_imu_params.cc `_ . diff --git a/docs/src/data/get_points.rst b/docs/src/data/get_points.rst new file mode 100644 index 0000000..a934cdd --- /dev/null +++ b/docs/src/data/get_points.rst @@ -0,0 +1,57 @@ +.. _get_points: + +Get point image +================ + +Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use. + +For detail process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` . + +It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` for detail. + +Sample code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + api->EnableStreamData(Stream::POINTS); + + api->Start(Source::VIDEO_STREAMING); + + cv::namedWindow("frame"); + PCViewer pcviewer; + + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT); + auto &&right_data = api->GetStreamData(Stream::RIGHT); + + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + cv::imshow("frame", img); + + auto &&points_data = api->GetStreamData(Stream::POINTS); + if (!points_data.frame.empty()) { + pcviewer.Update(points_data.frame); + } + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + if (pcviewer.WasStopped()) { + break; + } + } + + api->Stop(Source::VIDEO_STREAMING); + +`PCL `_ is used to display point images above. Program will close when point image window is closed. + +Complete code examples, see `get_points.cc `_ . + +.. attention:: + + Sample code only compiles when `PCL `_ is ready. If your PCL was installed in a different directory, please set ``CMAKE_PREFIX_PATH`` in `tutorials/CMakeLists.txt `_ to the path of ``PCLConfig.cmake`` . You can find ``CMAKE_PREFIX_PATH`` near ``find_package(PCL)`` . diff --git a/docs/src/data/get_stereo.rst b/docs/src/data/get_stereo.rst new file mode 100644 index 0000000..afa1e5a --- /dev/null +++ b/docs/src/data/get_stereo.rst @@ -0,0 +1,40 @@ +.. _get_stereo: + +Get original binocular image +============================= + +Use ``Start()`` or ``Stop()`` , to start or stop data capturing. If you only need the image data, use ``Source::VIDEO_STREAMING`` . + +When data capturing starts, call ``WaitForStreams()`` function. Once data capturing begins, use ``GetStreamData()`` to get your data. + +Reference commands: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + api->Start(Source::VIDEO_STREAMING); + + cv::namedWindow("frame"); + + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT); + auto &&right_data = api->GetStreamData(Stream::RIGHT); + + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + cv::imshow("frame", img); + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + } + + api->Stop(Source::VIDEO_STREAMING); + +The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program. + +Complete code examples, see `get_stereo.cc `_ . diff --git a/docs/src/data/get_stereo_rectified.rst b/docs/src/data/get_stereo_rectified.rst new file mode 100644 index 0000000..653b359 --- /dev/null +++ b/docs/src/data/get_stereo_rectified.rst @@ -0,0 +1,51 @@ +.. _get_stereo_rectified: + +Get stereo camera correction image +================================== + +The ``GetStreamData()`` API provided can only get the raw data of the hardware, for example, the stereo camera raw image. + +The stereo camera correction image belongs to the upper layer of synthetic data. For such data, you need to enable ``EnableStreamData()`` before you can get ``GetStreamData()``. + +In addition, ``WaitForStreams()`` waits for the key of the raw data. At the beginning when the synthetic data may still being processed, the value taken out will be null, so it needs to check not empty. + +.. tip:: + + If you want the synthetic data once it is generated, see :ref:`get_from_callbacks`. + +Reference code snippet: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + api->EnableStreamData(Stream::LEFT_RECTIFIED); + api->EnableStreamData(Stream::RIGHT_RECTIFIED); + + api->Start(Source::VIDEO_STREAMING); + + cv::namedWindow("frame"); + + while (true) { + api->WaitForStreams(); + + auto &&left_data = api->GetStreamData(Stream::LEFT_RECTIFIED); + auto &&right_data = api->GetStreamData(Stream::RIGHT_RECTIFIED); + + if (!left_data.frame.empty() && !right_data.frame.empty()) { + cv::Mat img; + cv::hconcat(left_data.frame, right_data.frame, img); + cv::imshow("frame", img); + } + + char key = static_cast(cv::waitKey(1)); + if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q + break; + } + } + + api->Stop(Source::VIDEO_STREAMING); + +OpenCV is used to display the image above. Select the display window, press ``ESC/Q`` to exit the program. + +Complete code examples, see `get_stereo_rectified.cc `_ . diff --git a/docs/src/data/get_with_plugin.rst b/docs/src/data/get_with_plugin.rst new file mode 100644 index 0000000..72b13c0 --- /dev/null +++ b/docs/src/data/get_with_plugin.rst @@ -0,0 +1,96 @@ +.. _get_with_plugin: + +Using the plugin to get data +============================ + +API provides a ``EnablePlugin()`` function to enable plugins under a path. + +Official provided plugins for calculating binocular parallax are now available in the `MYNTEYE_BOX `_ located in the ``Plugins`` directory. + +.. code-block:: none + + Plugins/ + ├─linux-x86_64/ + │ ├─libplugin_b_ocl1.2_opencv3.4.0.so + │ ├─libplugin_g_cuda9.1_opencv2.4.13.5.so + │ ├─libplugin_g_cuda9.1_opencv3.3.1.so + │ └─libplugin_g_cuda9.1_opencv3.4.0.so + ├─tegra-armv8/ + └─win-x86_64/ + +* The ``linux-x86_64`` directory shows the system and architecture. + + * You can find your CPU architecture from system information or ``uname -a``. + +* The library name ``libplugin_*`` shows the plugin identity and the third party dependency. + + * ``b`` ``g`` is a plugin identifier, indicating that different algorithms are used. + * ``ocl1.2`` shows it dependence on ``OpenCL 1.2``, if it exists. + * ``cuda9.1`` shows it dependence on ``CUDA 9.1``, if it exists. + * ``opencv3.4.0`` shows it dependence on ``OpenCV 3.4.0``, if it exists. + * ``mynteye2.0.0`` shows it dependency on ``MYNT EYE SDK 2.0.0``, if it exists. + +First, select the plugins that you are going to use depending on your situation. If you relying on third parties, please install a corresponding version. + +Then, enable the plugin with the following code: + +.. code-block:: c++ + + auto &&api = API::Create(argc, argv); + + api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so"); + +The path can be an absolute path or a relative path (relative to the current working directory). + +Finally, just call the API to get the data as before. + +.. tip:: + + If the plugin is not enabled, ``api->Start(Source::VIDEO_STREAMING);`` will automatically find the appropriate plug-in in the ``/plugins/`` directory to load. + + In other words, you can move the plug-in directory of the current platform into the ``< SDK > / plugins`` directory. To automatically load the official plugin, install the corresponding ``CUDA`` ``OpenCV`` plugin dependency, recompiling and then run ``API`` layer interface program. + +Before running, please execute the following commands to ensure that the plugin's dependency library can be searched: + +.. code-block:: bash + + # Linux + export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH + # /usr/local/lib means the path of dependency library + + # macOS + export DYLD_LIBRARY_PATH=/usr/local/lib:$DYLD_LIBRARY_PATH + # /usr/local/lib means the path of dependency library + + # Windows + set PATH=C:\opencv\x64\vc14\bin;%PATH% + # add to PATH of system environment + +In addition, the following command can be executed to check whether the dependency Library of the plug-in can be searched: + +.. code-block:: bash + + # Linux + ldd *.so + # *.so means plugin path + + # macOS + otool -L *.dylib + # *.dylib means plugin path + + # Windows + # please download Dependency Walker ,open DLL . + +If the plugin's dependent library is not found, it will report an error \"Open plugin failed\" when loading. + +Complete code sample, see `get_with_plugin.cc `_ . + +.. tip:: + + Linux can also add a dependency library path to the system environment, so that the compiled program can run directly. (does not require ``export LD_LIBRARY_PATH`` in the terminal then run again). + + * Create a ``/etc/ld.so.conf.d/libmynteye.conf`` file and write the dependent library path. + * Execute the ``sudo /sbin/ldconfig`` command in the terminal and refresh the cache. + + .. literalinclude:: ../../files/libmynteye.conf + :caption: e.g. libmynteye.conf diff --git a/docs/src/data/save_params.rst b/docs/src/data/save_params.rst new file mode 100644 index 0000000..43a4dd2 --- /dev/null +++ b/docs/src/data/save_params.rst @@ -0,0 +1,39 @@ +.. _save_params: + +Save device infomation and parameters +===================================== + +The SDK provides a tool ``save_all_infos`` for save information and parameters. For more information, please read `tools/README.md `_ . + +Reference commands: + +.. code-block:: bash + + ./tools/_output/bin/writer/save_all_infos + + # Windows + .\tools\_output\bin\writer\save_all_infos.bat + +Reference result on Linux: + +.. code-block:: bash + + $ ./tools/_output/bin/writer/save_all_infos + I0512 21:40:08.687088 4092 utils.cc:26] Detecting MYNT EYE devices + I0512 21:40:09.366693 4092 utils.cc:33] MYNT EYE devices: + I0512 21:40:09.366734 4092 utils.cc:37] index: 0, name: MYNT-EYE-S1000 + I0512 21:40:09.366757 4092 utils.cc:43] Only one MYNT EYE device, select index: 0 + I0512 21:40:09.367609 4092 save_all_infos.cc:38] Save all infos to "config/SN0610243700090720" + +Result save into ``/config`` by default. You can also add parameters to select other directory for save. + +Saved contents: + +.. code-block:: none + + / + └─config/ + └─SN0610243700090720/ + ├─device.info + ├─img.params + └─imu.params diff --git a/docs/src/data/write_img_params.rst b/docs/src/data/write_img_params.rst new file mode 100644 index 0000000..42d1dca --- /dev/null +++ b/docs/src/data/write_img_params.rst @@ -0,0 +1,27 @@ +.. _write_img_params: + +Write image parameters +======================= + +The SDK provides a tool ``img_params_writer`` for writing image parameters. For details, read `tools/README.md `_ . + +For getting image parameters, please read :ref:`get_img_params`. This is used to calculate the deviation. + +Reference commands: + +.. code-block:: bash + + ./tools/_output/bin/writer/img_params_writer tools/writer/config/img.params + + # Windows + .\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params + +And, `tools/writer/config/img.params `_ is the path of parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices. + +.. tip:: + + You can also write into devices with ``SN*.conf`` provided by old SDK. + +.. warning:: + + Please don't override parameters, you can use ``save_all_infos`` to backup parameters. \ No newline at end of file diff --git a/docs/src/data/write_imu_params.rst b/docs/src/data/write_imu_params.rst new file mode 100644 index 0000000..da2641b --- /dev/null +++ b/docs/src/data/write_imu_params.rst @@ -0,0 +1,23 @@ +.. _write_imu_params: + +Write IMU parameters +===================== + +SDK provides the tool ``imu_params_writer`` to write IMU parameters. For deltail, please read `tools/README.md `_ . + +Information about how to get IMU parameters, please read :ref:`get_imu_params` . + +Reference commands: + +.. code-block:: bash + + ./tools/_output/bin/writer/imu_params_writer tools/writer/config/imu.params + + # Windows + .\tools\_output\bin\writer\imu_params_writer.bat tools\writer\config\imu.params + +The path of parameters file can be found in `tools/writer/config/img.params `_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device. + +.. warning:: + + Please don't override parameters, you can use ``save_all_infos`` to backup parameters. \ No newline at end of file diff --git a/docs/src/firmware/applicable.rst b/docs/src/firmware/applicable.rst new file mode 100644 index 0000000..476cabe --- /dev/null +++ b/docs/src/firmware/applicable.rst @@ -0,0 +1,25 @@ +.. _firmware_applicable: + +Firmware and SDK compatibility +============================== + +============================ ======================== +Firmwares SDK Version +============================ ======================== +MYNTEYE_S_2.0.0_rc.img 2.0.0-rc (2.0.0-rc ~ 2.0.0-rc2) +MYNTEYE_S_2.0.0_rc2.img 2.0.0-rc2 (2.0.0-rc ~ 2.0.0-rc2) +MYNTEYE_S_2.0.0_rc1.img 2.0.0-rc1 +MYNTEYE_S_2.0.0_rc0.img 2.0.0-rc0 (2.0.0-rc1 ~ 2.0.0-alpha1) +MYNTEYE_S_2.0.0_alpha1.1.img 2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1) +MYNTEYE_S_2.0.0_alpha1.img 2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1) +MYNTEYE_S_2.0.0_alpha0.img 2.0.0-alpha0 +MYNTEYE_S_2.2.2.img 2.3.0 (2.2.2-rc1 ~ 2.3.0) +MYNTEYE_S_2.3.0.img 2.3.0 (2.2.2-rc1 ~ 2.3.3) +============================ ======================== + +.. attention:: + This firmware doesn't support S2100/S210A, please do not upgrade when you use S2100/S210A. + +``Firmwares`` indicates the firmware file name. It's in `MYNTEYE_BOX `_ in the ``Firmwares`` directory. + +``SDK Version`` indicates the version of the SDK that the firmware is adapted to, and the range of available versions are indicated in parentheses. diff --git a/docs/src/firmware/contents.rst b/docs/src/firmware/contents.rst new file mode 100644 index 0000000..23eb62e --- /dev/null +++ b/docs/src/firmware/contents.rst @@ -0,0 +1,10 @@ +.. _firmware: + +MYNT® EYE Firmware +================== + +.. toctree:: + + applicable + upgrade + from_v1.rst diff --git a/docs/src/firmware/from_v1.rst b/docs/src/firmware/from_v1.rst new file mode 100644 index 0000000..a3b5e2e --- /dev/null +++ b/docs/src/firmware/from_v1.rst @@ -0,0 +1,12 @@ +.. _sdk_from_v1: + +Change from SDK 1.x to 2.x +=========================== + +To replace the SDK version 1.x to 2.x, need to: + +1) Install SDK 2, Check the :ref:`sdk` . + +2) Upgrade firmware to 2.x version,Check the :ref:`firmware` . + +3) After launch the SDK 1.x , the image calibration parameters will be saved in ``/settings/SN*.conf`` .Please check the :ref:`write_img_params` and write ``SN*.conf`` into the devices. diff --git a/docs/src/firmware/upgrade.rst b/docs/src/firmware/upgrade.rst new file mode 100644 index 0000000..2ac2681 --- /dev/null +++ b/docs/src/firmware/upgrade.rst @@ -0,0 +1,104 @@ +.. _firmware_upgrade: + +How to upgrade the firmware +============================ + +Please use the MYNT EYE TOOL to upgrade the firmware. + +You can download the firmware and MYNT EYE TOOL installation package in the ``Firmwares`` folder of `MYNTEYE_BOX `_ . The file structure is as follows: + +.. code-block:: none + + Firmwares/ + ├─Checksum.txt # file checksum + ├─MYNTEYE_S_2.3.0.img # firmware + ├─... + └─setup.zip # MYNTEYE TOOL zip + +The firmware upgrade program currently only supports Windows, so you need to operate under Windows. Proceed as follows: + +Download preparation +--------------------- + +* Download and unzip ``setup.zip`` +* Download firmware, such as ``MYNTEYE_S_2.3.0_rc0.img`` + + * Please refer to :ref:`firmware_applicable` to select the firmware suitable for the SDK version + * Please refer to ``Checksum.txt`` to find the firmware check code as follows: + + * Run the command in CMD ``certutil -hashfile <*.img> MD5`` . + * If the check code is incorrect, it means that the download went wrong. Please download it again! + +Install MYNT EYE TOOL +--------------------- + +* Double click on ``setup.msi`` and install the application. + +Update Firmware +--------------- + +* Plug in the MYNT® EYE camera into a USB3.0 port + +* Open MYNT EYE TOOL and select ``Options/FirmwareUpdate`` . + +.. image:: ../../images/firmware_update_option.png + +* Click ``Update`` . + +.. image:: ../../images/firmware_update.png + :width: 60% + +* A warning dialog box will pop up, click ``yes`` . + + * This operation will erase the firmware, for details see README. + + * Usually, the MYNT EYE TOOL automatically installs the driver during the upgrade process. + * If the upgrade fails, refer to README. + +.. image:: ../../images/firmware_update_warning.png + :width: 60% + +.. image:: ../../images/firmware_update_dir.png + :width: 60% + +* In the open file selection box, select the firmware you want to upgrade and start upgrading. + +.. image:: ../../images/firmware_update_select.png + +* Once the upgrade is complete, the status will changes to ``Succeeded``. + +.. image:: ../../images/firmware_update_success.png + :width: 60% + +* Close the MYNT EYE TOOL,finish. + + +.. attention:: + If you can't find MYNT image device, ``WestBridge_driver``, and ``Cypress USB BootLoader`` at the same time in the device manager, try another computer to perform the above operation. If you can not upgrade successfully, please contact us in time. + + +Manually update drivers +------------------------ + +* If the application indicates that you failed to update, you may fail to install the driver automatically. You can try to install the driver manually and then update it. The following is the manual installation of the driver. + +* Open device manager, locate ``WestBridge_driver`` device, and right click Update Driver,select ``[application directory]WestBridge_driver\\[corresponding system folders](If it is more than win7, choose wlh)\\[system bits]`` . + +.. image:: ../../images/firmware_update_westbridge.png + +* For example,if it is the win10 64 bit system computer,and the application is installed under the default path,you should select ``C:\\Program Files (x86)\\slightech\\MYNT EYE Camera Tool\\wlh\\x64``. + +* After the installation driver is successful, you can find the ``Cypress USB BootLoader`` device in the device manager. + +.. image:: ../../images/firmware_update_cypressUSB.png + +* Then plug in the camera and open the application again to update. + +.. warning:: + + During the first time you open the MYNT® EYE camera after a firmware update, please hold the camera steadily for 3 seconds, for a zero drift compensation process. You can also call the API ``RunOptionAction(Option::ZERO_DRIFT_CALIBRATION)`` for zero drift correction. + +.. :: + + .. image:: ../../images/firmware_update_driver.png + .. image:: ../../images/firmware_update_driver_install.png diff --git a/docs/src/log/contents.rst b/docs/src/log/contents.rst new file mode 100644 index 0000000..0730925 --- /dev/null +++ b/docs/src/log/contents.rst @@ -0,0 +1,9 @@ +.. _log: + +Running log +=========== + +.. toctree:: + + log_file + log_verbose diff --git a/docs/src/log/log_file.rst b/docs/src/log/log_file.rst new file mode 100644 index 0000000..1442b2b --- /dev/null +++ b/docs/src/log/log_file.rst @@ -0,0 +1,28 @@ +.. _log_file: + +Enable log file +================ + +.. tip:: + + If import glog to build. + +The general configuration of the log in the head file `logger.h `_ . + +Uncomment ``FLAGS_log_dir = \".\";`` recompile and save to current work directory. Run ``camera_a`` log file as follows: + +.. code-block:: none + + / + ├─camera_a.ERROR + ├─camera_a.FATAL + ├─camera_a.INFO + ├─camera_a.WARNING + ├─camera_a.john-ubuntu.john.log.ERROR.20180513-141833.519 + ├─camera_a.john-ubuntu.john.log.FATAL.20180513-141833.519 + ├─camera_a.john-ubuntu.john.log.INFO.20180513-141832.519 + └─camera_a.john-ubuntu.john.log.WARNING.20180513-141833.519 + +``camera_a.INFO`` shows the program and levers of log it is running. The link to the real log file is ``camera_a.john-ubuntu.john.log.INFO.20180513-141832.519``. Even if it ran several times, ``camera_a.INFO`` still leaves the link to last log file. + +Excute `make cleanlog` to clean all log files. diff --git a/docs/src/log/log_verbose.rst b/docs/src/log/log_verbose.rst new file mode 100644 index 0000000..d9ac33e --- /dev/null +++ b/docs/src/log/log_verbose.rst @@ -0,0 +1,18 @@ +.. _log_verbose: + +Enabled detailed level +======================= + +.. tip:: + + If import glog to build. + +The general configuration of the log is in the head file `logger.h `_ . + +Uncomment ``FLAGS_v = 2`` ; and recompile to enable the detail levels, the log is printed by ``VLOG(n)`` + +For information on how to use the log library, such as how to configure, print, etc., please open its document and learn more: + +.. code-block:: bash + + $ ./scripts/open.sh third_party/glog/doc/glog.html diff --git a/docs/src/mynteye/contents.rst b/docs/src/mynteye/contents.rst new file mode 100644 index 0000000..d2ca08f --- /dev/null +++ b/docs/src/mynteye/contents.rst @@ -0,0 +1,12 @@ +.. _mynteye: + +MYNT® EYE +========= + +.. toctree:: + + intro + surface_s1030 + imu_coord_s1030 + surface_s2100 + imu_coord_s2100 diff --git a/docs/src/mynteye/imu_coord_s1030.rst b/docs/src/mynteye/imu_coord_s1030.rst new file mode 100644 index 0000000..9e75ea8 --- /dev/null +++ b/docs/src/mynteye/imu_coord_s1030.rst @@ -0,0 +1,8 @@ +.. _mynteye_imu_coord_s1030: + +MYNTEYE-S1030 IMU coordinata system +==================================== + +IMU coordinate system is right-handed,the axis directions are as follows: + +.. image:: ../../images/mynteye_imu_coord.jpg diff --git a/docs/src/mynteye/imu_coord_s2100.rst b/docs/src/mynteye/imu_coord_s2100.rst new file mode 100644 index 0000000..e534c22 --- /dev/null +++ b/docs/src/mynteye/imu_coord_s2100.rst @@ -0,0 +1,8 @@ +.. _mynteye_imu_coord_s2100: + +MYNTEYE-S2100 IMU coordinata system +==================================== + +IMU coordinate system is right-handed,the axis directions are as follows: + +.. image:: ../../images/mynteye_avatar_imu_coord.jpg diff --git a/docs/src/mynteye/intro.rst b/docs/src/mynteye/intro.rst new file mode 100644 index 0000000..1b00496 --- /dev/null +++ b/docs/src/mynteye/intro.rst @@ -0,0 +1,12 @@ +.. _mynteye_intro: + +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. + +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. + +In order to ensure the quality of the output data of the camera products, we have calibrated the binocular and IMU. The product has passed various hardware stability tests, such as high- temperature and humidity continuous work and operation, low-temperature dynamic aging, high-temperature operation, low-temperature storage, whole-machine thermal shock, sinusoidal vibration and random vibration tests to ensure the stability and reliability of the product. In addition to the research and development of products and technologies, it can also be directly applied to mass production, accelerating the process from R&D to productization. diff --git a/docs/src/mynteye/surface_s1030.rst b/docs/src/mynteye/surface_s1030.rst new file mode 100644 index 0000000..8cc6c44 --- /dev/null +++ b/docs/src/mynteye/surface_s1030.rst @@ -0,0 +1,17 @@ +.. _mynteye_surface_s1030: + +MYNTEYE-S1030 Size and structure +================================= + +============= ============== +Shell(mm) PCBA board(mm) +============= ============== +165x31.5x29.6 149x24 +============= =========== + +.. image:: ../../images/mynteye_surface_zh-Hans.jpg + +A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation. +B. Infrared structured-light transmitter and outlet: the infrared structured-light can effectively solve the problem associated with the visual positioning calculations of white wall non-textured object(For non-IR version, the outlet is reserved but there is no internal structured-light emitter). +C. USB Micro-B interface and set screw holes: during usage, plug in the USB Micro-B cable and secure it by fastening the set screws to avoid damage to the interface and to ensure stability in connection. +D. ¼ inch standardized set screw hole: for fixing the stereo camera to tripods or other devices. diff --git a/docs/src/mynteye/surface_s2100.rst b/docs/src/mynteye/surface_s2100.rst new file mode 100644 index 0000000..a4d989a --- /dev/null +++ b/docs/src/mynteye/surface_s2100.rst @@ -0,0 +1,15 @@ +.. _mynteye_surface_s2100: + +MYNTEYE-S2100 Size and structure +================================ + +============= ============== +Shell(mm) PCBA board(mm) +============= ============== +125x47x40 100x15 +============= =========== + +.. image:: ../../images/mynteye_avatar_surface_zh-Hans.jpg + +A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation. +B. USB Micro-B interface and set screw holes: during usage, plug in the USB Micro-B cable and secure it by fastening the set screws to avoid damage to the interface and to ensure stability in connection. diff --git a/docs/src/sdk/contents.rst b/docs/src/sdk/contents.rst new file mode 100644 index 0000000..85f44ff --- /dev/null +++ b/docs/src/sdk/contents.rst @@ -0,0 +1,15 @@ +.. _sdk: + +MYNT® EYE SDK +============= + +.. toctree:: + + platform + ppa_install_ubuntu + exe_install_windows + source_install_ubuntu + source_install_windows + install_macos + install_ros + without_opencv diff --git a/docs/src/sdk/exe_install_windows.rst b/docs/src/sdk/exe_install_windows.rst new file mode 100644 index 0000000..2a837e3 --- /dev/null +++ b/docs/src/sdk/exe_install_windows.rst @@ -0,0 +1,47 @@ +.. _sdk_exe_install_windows: + +Windows SDK exe Installation +============================= + +.. only:: html + + +-----------------+ + | Windows 10 | + +=================+ + | |build_passing| | + +-----------------+ + + .. |build_passing| image:: https://img.shields.io/badge/build-passing-brightgreen.svg?style=flat + +.. only:: latex + + +-----------------+ + | Windows 10 | + +=================+ + | ✓ | + +-----------------+ + +Download and install SDK +------------------------- + +.. tip:: + + Download here: mynteye-s-2.3.3-win-x64-opencv-3.4.3.exe `Google Drive `_ `Baidu Pan `_ . + +After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop. + +Goto the ``\\bin\\samples\\tutorials`` directory and click ``get_stereo.exe`` to run. + +Generate samples project +------------------------- + +First, you should install `Visual Studio 2017 `_ and `CMake `_ . + +Second, goto the ``\\samples`` directory and click ``generate.bat`` to generate project. + +The tutorials of samples are here: https://slightech.github.io/MYNT-EYE-S-SDK-Guide/src/data/contents.html. + +Start using SDK with Visual Studio 2017 +---------------------------------------- + +Goto the ``\\projects\\vs2017``, see the ``README.md``. diff --git a/docs/src/sdk/install_macos.rst b/docs/src/sdk/install_macos.rst new file mode 100644 index 0000000..7072889 --- /dev/null +++ b/docs/src/sdk/install_macos.rst @@ -0,0 +1,6 @@ +.. _sdk_install_macos: + +MacOS Installation x +==================== + +TODO diff --git a/docs/src/sdk/install_ros.rst b/docs/src/sdk/install_ros.rst new file mode 100644 index 0000000..6bcb65d --- /dev/null +++ b/docs/src/sdk/install_ros.rst @@ -0,0 +1,117 @@ +.. _sdk_install_ros: + +ROS Installation +================ + +.. only:: html + + =============== =============== + ROS Kinetic ROS Indigo + =============== =============== + |build_passing| |build_passing| + =============== =============== + + .. |build_passing| image:: https://img.shields.io/badge/build-passing-brightgreen.svg?style=flat + +.. only:: latex + + =============== =============== + ROS Kinetic ROS Indigo + =============== =============== + ✓ ✓ + =============== =============== + +Prepare Environment +-------------------- + +* `ROS `_ + +ROS Kinetic (Ubuntu 16.04) +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. code-block:: bash + + wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \ + chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic + +ROS Indigo (Ubuntu 14.04) +~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. code-block:: bash + + wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \ + chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws indigo + +Compiling Code +-------------- + +.. code-block:: bash + + cd + make ros + +Running node +------------ + +.. code-block:: bash + + source wrappers/ros/devel/setup.bash + roslaunch mynt_eye_ros_wrapper mynteye.launch + +Run the node, and preview by RViz: + +.. code-block:: bash + + source wrappers/ros/devel/setup.bash + roslaunch mynt_eye_ros_wrapper display.launch + +Testing Services +----------------- + +Run the node as follows, provide device information getting service, see follows: + +.. code-block:: bash + + $ source wrappers/ros/devel/setup.bash + $ rosrun mynt_eye_ros_wrapper get_device_info.py + LENS_TYPE: 0000 + SPEC_VERSION: 1.0 + NOMINAL_BASELINE: 120 + HARDWARE_VERSION: 2.0 + IMU_TYPE: 0000 + SERIAL_NUMBER: 0610243700090720 + FIRMWARE_VERSION: 2.0 + DEVICE_NAME: MYNT-EYE-S1000 + +Common issues - ROS Indigo +-------------------------- + +Cannot find ``libopencv`` while ``make ros`` +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +:: + + make[3]: *** No rule to make target `/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.2.4.8', needed by `/home/john/Workspace/MYNT-EYE-S-SDK/wrappers/ros/devel/lib/libmynteye_wrapper.so'. Stop. + +**Solution 1)** Install OpenCV 2: + +.. code-block:: bash + + sudo apt-get update + sudo apt-get install libcv-dev + +**Solution 2)** Install OpenCV 3 & re-compiled ``cv_bridge``: + +.. code-block:: bash + + sudo apt-get install ros-indigo-opencv3 + + git clone https://github.com/ros-perception/vision_opencv.git + mv vision_opencv/cv_bridge/ MYNT-EYE-S-SDK/wrappers/ros/src/ + +Then run ``make ros`` again + +Conclusion +----------- + +About more details, check the :ref:`wrapper_ros` . diff --git a/docs/src/sdk/platform.rst b/docs/src/sdk/platform.rst new file mode 100644 index 0000000..51d9028 --- /dev/null +++ b/docs/src/sdk/platform.rst @@ -0,0 +1,16 @@ +.. _sdk_platform: + +Supported platforms +==================== + +SDK is built on CMake and can be used cross multiple platforms such as "Linux, Windows, macOS, etc. We provides two installation: Download and install, and Compile and install from source code. + +These are the platforms that can be used: + +* Windows 10 +* Ubuntu 18.04/ 16.04 / 14.04 +* Jetson TX2 + +.. warning:: + + Due to the requirement of hardware transmission rate, please use the USB 3 interface. In addition, virtual machines have USB driver compatibility problems, thus they are not recommended. diff --git a/docs/src/sdk/ppa_install_ubuntu.rst b/docs/src/sdk/ppa_install_ubuntu.rst new file mode 100644 index 0000000..1809484 --- /dev/null +++ b/docs/src/sdk/ppa_install_ubuntu.rst @@ -0,0 +1,43 @@ +.. _sdk_ppa_install_ubuntu: + +Ubuntu SDK PPA Installation +============================ + +.. only:: html + + =============== =============== =============== + Ubuntu 14.04 Ubuntu 16.04 Ubuntu 18.04 + =============== =============== =============== + |build_passing| |build_passing| |build_passing| + =============== =============== =============== + + .. |build_passing| image:: https://img.shields.io/badge/build-passing-brightgreen.svg?style=flat + +.. only:: latex + + =============== =============== =============== + Ubuntu 14.04 Ubuntu 16.04 Ubuntu 18.04 + =============== =============== =============== + ✓ ✓ ✓ + =============== =============== =============== + +PPA installation +----------------- + +.. code-block:: bash + + $ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk + $ sudo apt-get update + $ sudo apt-get install mynt-eye-s-sdk + +Run samples +------------ + +.. tip:: + + samples path: /opt/mynt-eye-s-sdk/samples; tools path:/opt/mynt-eye-s-sdk/tools + +.. code-block:: bash + + $ cd /opt/mynt-eye-s-sdk/samples + $ ./api/camera_a \ No newline at end of file diff --git a/docs/src/sdk/source_install_ubuntu.rst b/docs/src/sdk/source_install_ubuntu.rst new file mode 100644 index 0000000..f835bee --- /dev/null +++ b/docs/src/sdk/source_install_ubuntu.rst @@ -0,0 +1,149 @@ +.. _sdk_source_install_ubuntu: + +Ubuntu SDK Source Installation +============================== + +.. only:: html + + =============== =============== =============== + Ubuntu 18.04 Ubuntu 16.04 Ubuntu 14.04 + =============== =============== =============== + |build_passing| |build_passing| |build_passing| + =============== =============== =============== + + .. |build_passing| image:: https://img.shields.io/badge/build-passing-brightgreen.svg?style=flat + +.. only:: latex + + =============== =============== =============== + Ubuntu 18.04 Ubuntu 16.04 Ubuntu 14.04 + =============== =============== =============== + ✓ ✓ ✓ + =============== =============== =============== + +.. tip:: + + If you used any other Linux distributions without apt-get package manager, you need to install required packages manaully instead of using ``make init``. + + ============= ===================================================================== + Linux How to install required packages + ============= ===================================================================== + Debian based sudo apt-get install build-essential cmake git libv4l-dev + Red Hat based sudo yum install make gcc gcc-c++ kernel-devel cmake git libv4l-devel + Arch Linux sudo pacman -S base-devel cmake git v4l-utils + ============= ===================================================================== + +.. :: + + `Installation of System Dependencies `_ + +Getting Source Code +-------------------- + +.. code-block:: bash + + sudo apt-get install git + git clone https://github.com/slightech/MYNT-EYE-S-SDK.git + +Required Packages +------------------ + +.. code-block:: bash + + cd + make init + +* `OpenCV `_ + +.. tip:: + + To build and install Opencv, Please refer to `Installation in Linux `_ . Alternatively, refer to the command below: + + .. code-block:: bash + + [compiler] sudo apt-get install build-essential + [required] sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev + [optional] sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev + + $ git clone https://github.com/opencv/opencv.git + $ cd opencv/ + $ git checkout tags/3.4.1 + + $ mkdir _build + $ cd _build/ + + $ cmake \ + -DCMAKE_BUILD_TYPE=RELEASE \ + -DCMAKE_INSTALL_PREFIX=/usr/local \ + \ + -DWITH_CUDA=OFF \ + \ + -DBUILD_DOCS=OFF \ + -DBUILD_EXAMPLES=OFF \ + -DBUILD_TESTS=OFF \ + -DBUILD_PERF_TESTS=OFF \ + .. + + $ make -j4 + $ sudo make install + +Building code +-------------- + +.. tip:: + + If opencv is installed in custom directory or if you want to specify a version, you should set the path before building: + + .. code-block:: bash + + # OpenCV_DIR is the directory where your OpenCVConfig.cmake exists + export OpenCV_DIR=~/opencv + + Otherwise, CMake will prompt cannot find OpenCV. If you need sdk without OpenCV, please read :ref:`sdk_without_opencv` . + +Build and install: + +.. code-block:: bash + + cd + make install + +Finally, sdk will install in ``/usr/local`` by default. + +Building samples +---------------- + +.. code-block:: bash + + cd + make samples + +Run samples: + +.. code-block:: bash + + ./samples/_output/bin/api/camera_a + +Tutorial samples, please read :ref:`data` and :ref:`ctrl` . + +Building tools +--------------- + +.. code-block:: bash + + cd + make tools + +Installation requirement: + +.. code-block:: bash + + cd /tools/ + sudo pip install -r requirements.txt + +The usage of tools and scripts will be introduced later. + +Conclusion +----------- + +If your project will use SDK, you can refer to the settings in ``samples/CMakeLists.txt`` for CMake. Alternatively, import the head file and dynamic library in the installation directory. diff --git a/docs/src/sdk/source_install_windows.rst b/docs/src/sdk/source_install_windows.rst new file mode 100644 index 0000000..1443480 --- /dev/null +++ b/docs/src/sdk/source_install_windows.rst @@ -0,0 +1,260 @@ +.. _sdk_source_install_windows: + +Windows SDK Source Installation +================================ + +.. only:: html + + +-----------------+ + | Windows 10 | + +=================+ + | |build_passing| | + +-----------------+ + + .. |build_passing| image:: https://img.shields.io/badge/build-passing-brightgreen.svg?style=flat + +.. only:: latex + + +-----------------+ + | Windows 10 | + +=================+ + | ✓ | + +-----------------+ + +.. tip:: + + Windows does not provide Visual Studio ``*.sln`` file directly and requires CMake to build. Firstly, CMake can be used across multiple platforms, it is easy to configure and can be maintained in a sustainable way. Secondly, the third-party codes (Glog, OpenCV) are built using CMake. + +.. tip:: + + There is currently no binary installer available, which requires you to compile from source. It is also the process of configuring the development environment. + +Prerequisites +------------- + +CMake (provide build) +~~~~~~~~~~~~~~~~~~~~~~ + +* `CMake `_,used to build and compile (necessary). +* `Git `_, used to get code (optional). +* `Doxygen `_, used to generate documents (optional). + +After you install the above tools, confirm that you can run this command in CMD (Command Prompt): + +.. code-block:: bat + + >cmake --version + cmake version 3.10.1 + + >git --version + git version 2.11.1.windows.1 + + >doxygen --version + 1.8.13 + +Visual Studio (provide compilation) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +* `Visual Studio `_ + + * `Visual Studio 2017 `_ + * `Visual Studio 2015 `_ + +* `Windows 10 SDK `_ + +After installing Visual Studio, confirm that the following command can run in the Visual Studio Command Prompt: + +.. code-block:: bat + + >cl + Microsoft (R) C/C++ Optimizing Compiler Version 19.14.26429.4 for x86 + + >msbuild + Microsoft (R) 生成引擎版本 15.7.179.6572 + +.. tip:: + + Visual Studio Command Prompt can be opened from the Start menu, + + .. image:: ../../images/vs_cmd_menu.png + :width: 30% + + You can also open it from the Visual Studio Tools menu. + + .. image:: ../../images/vs_cmd.png + :width: 40% + + However, if you do not have the Visual Studio 2015 Tools menu, you can add one yourself. + + Open Tools's External Tools... and Add the following: + + ================= ======================================================================================= + Field Value + ================= ======================================================================================= + Title Visual Studio Command Prompt + Command ``C:\Windows\System32\cmd.exe`` + Arguments ``/k "C:\Program Files (x86)\Microsoft Visual Studio 14.0\Common7\Tools\VsDevCmd.bat"`` + Initial Directory ``$(SolutionDir)`` + ================= ======================================================================================= + + In Visual Studio command Prompt, you can use the compile command ``cl`` ``link`` ``lib`` ``msbuild``, etc. + + .. image:: ../../images/vs_cmd_test.png + +MSYS2 (provide Linux command) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +* `MSYS2 `_ + + * `mirror `_ + * `pacman `_ + +After installation, verify that the following path has been added to the system environment variable PATH: + +.. code-block:: none + + C:\msys64\usr\bin + +Then, open MSYS2 MSYS, perform the update and install ``make``: + +.. code-block:: bash + + $ pacman -Syu + $ pacman -S make + +Finally, the CMD (Command Prompt) can run the following command: + +.. code-block:: bat + + >make --version + GNU Make 4.2.1 + +Getting Source Code +-------------------- + +.. code-block:: bat + + git clone https://github.com/slightech/MYNT-EYE-S-SDK.git + +Required Packages +----------------- + +.. code-block:: bat + + >cd + >make init + Make init + Init deps + Install cmd: pacman -S + Install deps: git clang-format + pacman -S clang-format (not exists) + error: target not found: clang-format + pip install --upgrade autopep8 cpplint pylint requests + ... + Init git hooks + ERROR: clang-format-diff is not installed! + Expect cmake version >= 3.0 + cmake version 3.10.1 + +* `OpenCV `_ + +.. tip:: + + The official OpenCV provides the ``exe`` for installation. If you want to compile from the source code, see the Official document `Installation in Windows `_ . or refer to the following command: + + .. code-block:: bat + + >git clone https://github.com/opencv/opencv.git + >cd opencv + >git checkout tags/3.4.1 + + >cd opencv + >mkdir _build + >cd _build + + >cmake ^ + -D CMAKE_BUILD_TYPE=RELEASE ^ + -D CMAKE_INSTALL_PREFIX=C:/opencv ^ + -D WITH_CUDA=OFF ^ + -D BUILD_DOCS=OFF ^ + -D BUILD_EXAMPLES=OFF ^ + -D BUILD_TESTS=OFF ^ + -D BUILD_PERF_TESTS=OFF ^ + -G "Visual Studio 15 2017 Win64" ^ + .. + + >msbuild ALL_BUILD.vcxproj /property:Configuration=Release + >msbuild INSTALL.vcxproj /property:Configuration=Release + +Building Code +-------------- + +.. tip:: + + If OpenCV is installed in a custom directory or wants to specify a version, you can set the path as follows before compiling: + + .. code-block:: bat + + # OpenCV_DIR is hte path where OpenCVConfig.cmake in + set OpenCV_DIR=C:\opencv + + Otherwise, CMake will prompt that OpenCV could not be found. If you don't want to rely on OpenCV, read :ref:`sdk_without_opencv` . + +Build and install: + +.. code-block:: bat + + cd + make install + +Finally, the SDK will install in ``/_install`` by default. + +Building samples +---------------- + +.. code-block:: bat + + cd + make samples + +Run samples: + +.. code-block:: bat + + .\samples\_output\bin\api\camera_a.bat + +For tutorial samples, please read :ref:`data` and :ref:`ctrl` . + +.. tip:: + + All compiled sample programs ``exe`` will have a corresponding ``bat``. ``bat`` will temporarily set system environment variables and then run ``exe``. So it is recommended to run ``bat``. + + If you run``exe`` directly, it may prompt that cannot find ``dll``. Then you should add ``\\_install\\bin`` ``%OPENCV_DIR%\\bin`` to ``PATH`` in system environment variable. + + How to set the environment variable for OpenCV, refer to the official document `Set the OpenCV environment variable and add it to the systems path `_ . + +Building tools +--------------- + +.. code-block:: bat + + cd + make tools + +The usage of tools and scripts will be introduced later. + +.. tip:: + + The script is based on Python. You need to install Python and its package management tool pip first, and then install the dependencies as follows: + + .. code-block:: bat + + cd \tools + pip install -r requirements.txt + + Note: Python is also in MSYS2, but fail install Matplotlib in test. + +Conclusion +----------- + +If your project will use SDK, you can refer to the settings in ``samples/CMakeLists.txt`` for CMake. Or just import the head file and dynamic library in the installation directory. diff --git a/docs/src/sdk/without_opencv.rst b/docs/src/sdk/without_opencv.rst new file mode 100644 index 0000000..35c80bb --- /dev/null +++ b/docs/src/sdk/without_opencv.rst @@ -0,0 +1,18 @@ +.. _sdk_without_opencv: + +OpenCV independency +=================== + +SDK provides a three-tier interface with OpenCV dependencies: + +* ``api``, upper interface, with OpenCV dependencies +* ``device``, interlayer interface, without OpenCV dependencies +* ``uvc``, bottom interface, without OpenCV dependencies + +If you don't want to use OpenCV, edit ``/cmake/Option.cmake`` , set ``WITH_API`` to ``OFF``. This will stop the compilation of the interface api: + +.. code-block:: cmake + + option(WITH_API "Build with API layer, need OpenCV" ON) + +For samples for the interface ``device``, please refer to `device/camera.cc `_ . diff --git a/docs/src/slam/contents.rst b/docs/src/slam/contents.rst new file mode 100644 index 0000000..2c0638c --- /dev/null +++ b/docs/src/slam/contents.rst @@ -0,0 +1,13 @@ +.. _slam: + +SLAM +==== + +.. toctree:: + + how_to_use_kalibr + vins + orb_slam2 + okvis + viorb + maplab diff --git a/docs/src/slam/how_to_use_kalibr.rst b/docs/src/slam/how_to_use_kalibr.rst new file mode 100644 index 0000000..fde25af --- /dev/null +++ b/docs/src/slam/how_to_use_kalibr.rst @@ -0,0 +1,300 @@ +.. _how_to_use_kalibr: + +How to calibrate MYNTEYE by kalibr +=================================== + +Target +------------ + +* Calibrate the pose relationship between left and right camera + +* Calibrate the pose relationship left camera between and IMU + + +Preparation +------------ + +* **Install kalibr**:Refer to `kalibr wiki `_ and follow the steps to install + +* **Calibration board**: kalibr supports ``chessbord`` , ``circlegrid`` , ``aprilgrid`` ,choose ``aprilgrid`` here Calibration board file can be directly `download `_ , Or you can also generate calibration board by Kalibr tool. + +.. code-block:: bash + + $ kalibr_create_target_pdf --type 'apriltag' --nx 6 --ny 6 --tsize 0.08 --tspace 0.3 + +View parameters' meanings by kalibr_create)target_pdf command: + +.. code-block:: bash + + $ kalibr_create_target_pdf --h + usage: + Example Aprilgrid: + kalibr_create_target_pdf --type apriltag --nx 6 --ny 6 --tsize 0.08 --tspace 0.3 + Example Checkerboard: + kalibr_create_target_pdf --type checkerboard --nx 6 --ny 6 -csx 0.05 --csy 0.1 + + + Generate PDFs of calibration patterns. + + optional arguments: + -h, --help show this help message and exit + + Output options: + output Output filename + --eps Also output an EPS file + + Generic grid options: + --type GRIDTYPE The grid pattern type. ('apriltag' or 'checkerboard') + --nx N_COLS The number of tags in x direction (default: 6) + --ny N_ROWS The number of tags in y direction (default: 7) + + Apriltag arguments: + --tsize TSIZE The size of one tag [m] (default: 0.08) + --tspace TAGSPACING The space between the tags in fraction of the edge size + [0..1] (default: 0.3) + --tfam TAGFAMILIY Familiy of April tags ['t16h5', 't25h9', 't25h7', + 't36h11'] (default: t36h11) + + Checkerboard arguments: + --csx CHESSSZX The size of one chessboard square in x direction [m] + (default: 0.05) + --csy CHESSSZY The size of one chessboard square in y direction [m] + (default: 0.05) + +* **Calibrate the intrinsic IMU parameters** :kalibr requires imu data to be calibrated by intrinsic parameters by default.The intrinsic parameters calibration tool uses `imu-tk `_ . + +* **Count imu data parameter**: + * noise density + * bias random walk + +Using Allan analyzing tool `imu_utils `_, We can get the characteristics of above imu data,and to format the output as ``imu.yaml`` + +.. code-block:: bash + + #Accelerometers + accelerometer_noise_density: 0.02680146180736048 #Noise density (continuous-time) + accelerometer_random_walk: 0.0026296086159332804 #Bias random walk + + #Gyroscopes + gyroscope_noise_density: 0.008882328296710996 #Noise density (continuous-time) + gyroscope_random_walk: 0.00037956578292701033 #Bias random walk + + rostopic: /mynteye/imu/data_raw #the IMU ROS topic + update_rate: 200.0 #Hz (for discretization of the values above) + +Calibrate the pose relationship between left and right camera +-------------------------------------------------------------- + +* Collect calibration images: kalibr supports the collection of the required calibration images through two ways:by ``rosbag`` or collect offline images . Using ``rosbag`` here for convenience,Reference `link `_ for collecting images. +* Method of collecting images by ``rosbag`` :fix mynteye camera,move ``aprilgrid`` calibration board in the camera field of view. +* To increase the calibration time,try to use image acquisition data with lower frame rate,kalibr recommends using ``4Hz`` frame rate,here uses ``10hz`` . +* MYNTEYE S series camera offers images at least 10Hz,You can use `topic_tools `_ to modify frequency,because using 10Hz requires more calibration time. +* Record ``static.bag`` : After fix the mynteye camera,start `wrapper `_, record the topic of the left and right images to ``static.bag`` . + +.. code-block:: bash + + $ source wrappers/ros/devel/setup.bash + $ roslaunch mynt_eye_ros_wrapper display.launch + $ cd ~ + $ mkdir -p bag + $ cd bag + $ rosbag record -O static_10hz /mynteye/left/image_raw /mynteye/right/image_raw #recommand use 10hz,you can also use topic_tools to publish 4hz. + +* kalibr calibration: + +.. code-block:: bash + + $ kalibr_calibrate_cameras --target aprilgrid.yaml --bag ~/bag/static_10hz.bag --models pinhole-radtan pinhole-radtan --topics /mynteye/left/image_raw /mynteye/right/image_raw + +View parameters' meanings by kalibr_calibrate_cameras command: + +.. code-block:: bash + + $ kalibr_calibrate_cameras --h + + Calibrate the intrinsics and extrinsics of a camera system with non-shared + overlapping field of view. + + usage: + Example usage to calibrate a camera system with two cameras using an aprilgrid. + + cam0: omnidirection model with radial-tangential distortion + cam1: pinhole model with equidistant distortion + + kalibr_calibrate_cameras --models omni-radtan pinhole-equi --target aprilgrid.yaml \ + --bag MYROSBAG.bag --topics /cam0/image_raw /cam1/image_raw + + example aprilgrid.yaml: + target_type: 'aprilgrid' + tagCols: 6 + tagRows: 6 + tagSize: 0.088 #m + tagSpacing: 0.3 #percent of tagSize + + optional arguments: + -h, --help show this help message and exit + --models MODELS [MODELS ...] + The camera model ['pinhole-radtan', 'pinhole-equi', + 'omni-radtan', 'pinhole-fov'] to estimate + + Data source: + --bag BAGFILE The bag file with the data + --topics TOPICS [TOPICS ...] + The list of image topics + --bag-from-to bag_from_to bag_from_to + Use the bag data starting from up to this time [s] + + Calibration target configuration: + --target TARGETYAML Calibration target configuration as yaml file + + Image synchronization: + --approx-sync MAX_DELTA_APPROXSYNC + Time tolerance for approximate image synchronization + [s] (default: 0.02) + + Calibrator settings: + --qr-tol QRTOL The tolerance on the factors of the QR decomposition + (default: 0.02) + --mi-tol MITOL The tolerance on the mutual information for adding an + image. Higher means fewer images will be added. Use -1 + to force all images. (default: 0.2) + --no-shuffle Do not shuffle the dataset processing order + + Outlier filtering options: + --no-outliers-removal + Disable corner outlier filtering + --no-final-filtering Disable filtering after all views have been processed. + --min-views-outlier MINVIEWOUTLIER + Number of raw views to initialize statistics (default: + 20) + --use-blakezisserman Enable the Blake-Zisserman m-estimator + --plot-outliers Plot the detect outliers during extraction (this could + be slow) + + Output options: + --verbose Enable (really) verbose output (disables plots) + --show-extraction Show the calibration target extraction. (disables + plots) + --plot Plot during calibration (this could be slow). + --dont-show-report Do not show the report on screen after calibration. + +Output the following three files after finish calibration: + + * ``camchain-homezhangsbagstatic_10hz.yaml`` + * ``report-cam-homezhangsbagstatic_10hz.pdf`` + * ``results-cam-homezhangsbagstatic_10hz.txt`` + +.. tip:: + + If you use camera parameters in Vins,it would be better to choose the pinhole-equi model or the omni-radtan model.If you use camera parameters in Maplab,please choose pinhole-equi model + +Calibrate the pose relationship between camera and IMU coordinate system +------------------------------------------------------------------------- + +* **Collect calibration data**:as calibrate the pose relationship of camera,Kalibr supports two ways to collect data,we still use ``rosbag`` here. + * Method of collecting image: fix ``apilgrid`` calibration board, move camera + * Make sure that the data collected is good:the brightness of the calibration board should be appropriate,too bright or too dark can't guarantee the quality of data,meanwhile do not shake too fast to avoid blurring of the image. + * Set the imu publishing frequency to 200Hz,image to 20Hz(recommended by kalibr) + * Fully motivate each axis of the imu,for example ,3 actions on each axis,then in the \"8-shaped\" motion + +* Record camera and imu as ``dynamic.bag``. + +.. code-block:: bash + + $ roslaunch mynt_eye_ros_wrapper display.launch + $ cd bag + $ rosbag record -O dynamic /mynteye/left/image_raw /mynteye/right/image_raw /mynteye/imu/data_raw #remember set image hz to 20hz, imu hz to 200hz + +* kalibr calibration: + +.. code-block:: bash + + $ kalibr_calibrate_imu_camera --cam camchain-homezhangsbagstatic_10hz.yaml --target aprilgrid.yaml --imu imu.yaml --time-calibration --bag ~/bag/dynamic.bag + +View the parameters' meanings by kalibr_calibrate_imu_camera command + +.. code-block:: bash + + $ kalibr_calibrate_imu_camera --h + + Calibrate the spatial and temporal parameters of an IMU to a camera chain. + + usage: + Example usage to calibrate a camera system against an IMU using an aprilgrid + with temporal calibration enabled. + + kalibr_calibrate_imu_camera --bag MYROSBAG.bag --cam camchain.yaml --imu imu.yaml \ + --target aprilgrid.yaml --time-calibration + + camchain.yaml: is the camera-system calibration output of the multiple-camera + calibratin tool (kalibr_calibrate_cameras) + + example aprilgrid.yaml: | example imu.yaml: (ADIS16448) + target_type: 'aprilgrid' | accelerometer_noise_density: 0.006 + tagCols: 6 | accelerometer_random_walk: 0.0002 + tagRows: 6 | gyroscope_noise_density: 0.0004 + tagSize: 0.088 | gyroscope_random_walk: 4.0e-06 + tagSpacing: 0.3 | update_rate: 200.0 + + optional arguments: + -h, --help show this help message and exit + + Dataset source: + --bag BAGFILE Ros bag file containing image and imu data (rostopics + specified in the yamls) + --bag-from-to bag_from_to bag_from_to + Use the bag data starting from up to this time [s] + --perform-synchronization + Perform a clock synchronization according to 'Clock + synchronization algorithms for network measurements' + by Zhang et al. (2002). + + Camera system configuration: + --cams CHAIN_YAML Camera system configuration as yaml file + --recompute-camera-chain-extrinsics + Recompute the camera chain extrinsics. This option is + exclusively recommended for debugging purposes in + order to identify problems with the camera chain + extrinsics. + --reprojection-sigma REPROJECTION_SIGMA + Standard deviation of the distribution of reprojected + corner points [px]. (default: 1.0) + + IMU configuration: + --imu IMU_YAMLS [IMU_YAMLS ...] + Yaml files holding the IMU noise parameters. The first + IMU will be the reference IMU. + --imu-delay-by-correlation + Estimate the delay between multiple IMUs by + correlation. By default, no temporal calibration + between IMUs will be performed. + --imu-models IMU_MODELS [IMU_MODELS ...] + The IMU models to estimate. Currently supported are + 'calibrated', 'scale-misalignment' and 'scale- + misalignment-size-effect'. + + Calibration target: + --target TARGET_YAML Calibration target configuration as yaml file + + Optimization options: + --time-calibration Enable the temporal calibration + --max-iter MAX_ITER Max. iterations (default: 30) + --recover-covariance Recover the covariance of the design variables. + --timeoffset-padding TIMEOFFSET_PADDING + Maximum range in which the timeoffset may change + during estimation [s] (default: 0.01) + + Output options: + --show-extraction Show the calibration target extraction. (disables + plots) + --extraction-stepping + Show each image during calibration target extraction + (disables plots) + --verbose Verbose output (disables plots) + --dont-show-report Do not show the report on screen after calibration. + +Output the follwing 4 files after finish calibration: + * ``camchain-imucam-homezhangsbagdynamic.yaml`` + * ``imu-homezhangsbagdynamatic.yaml`` + * ``report-imucam-homezhangsbagdynamic.pdf`` + * ``results-imucam-homezhangsbagdynamic.yaml`` \ No newline at end of file diff --git a/docs/src/slam/maplab.rst b/docs/src/slam/maplab.rst new file mode 100644 index 0000000..bdc8a62 --- /dev/null +++ b/docs/src/slam/maplab.rst @@ -0,0 +1,4 @@ +.. _slam_maplab: + +How to use in `Maplab `_ x +=============================================================== diff --git a/docs/src/slam/okvis.rst b/docs/src/slam/okvis.rst new file mode 100644 index 0000000..f31b8a3 --- /dev/null +++ b/docs/src/slam/okvis.rst @@ -0,0 +1,46 @@ +.. _slam_okvis: + +How to use in `OKVIS `_ +============================================================= + +If you wanna run OKVIS with MYNT EYE camera, please follow the steps: +---------------------------------------------------------------------- + +1. Download `MYNT-EYE-S-SDK `_ and install it. +2. Install dependencies and build MYNT-EYE-OKVIS-Sample follow the procedure of the original OKVIS. +3. Update camera parameters to ``/config/config_mynteye.yaml``. +4. Run OKVIS using MYNT® EYE. + +Install MYNTEYE OKVIS +--------------------- + +First install dependencies based on the original OKVIS, and the follow: + +.. code-block:: bash + + git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git + mkdir build && cd build + cmake -DCMAKE_BUILD_TYPE=Release .. + make -j4 + +Get camera calibration parameters +---------------------------------- + +Through the ``GetIntrinsics()`` and ``GetExtrinsics()`` function of the `MYNT-EYE-S-SDK `_ API, you can get the camera calibration parameters of the currently open device, follow the steps: + +.. code-block:: bat + + cd MYNT-EYE-S-SDK + ./samples/_output/bin/tutorials/get_img_params + +After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, then update to `here `_ . + +Run MYNTEYE OKVIS +--------------------- + +Go to ``MYNT-EYE-OKVIS-Sample/build`` folder and Run the application ``okvis_app_mynteye_s`` : + +.. code-block:: bash + + cd MYNT-EYE-OKVIS-Sample/build + ./okvis_app_mynteye_s ../config/config_mynteye.yaml diff --git a/docs/src/slam/orb_slam2.rst b/docs/src/slam/orb_slam2.rst new file mode 100644 index 0000000..9bba404 --- /dev/null +++ b/docs/src/slam/orb_slam2.rst @@ -0,0 +1,78 @@ +.. _slam_orb_slam2: + +How to use in `ORB_SLAM2 `_ +================================================================== + + +If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps: +------------------------------------------------------------------------- + +1. Download `MYNT-EYE-S-SDK `_ and follow steps to install. +2. Follow the normal procedure to install ORB_SLAM2. +3. Update ``distortion_parameters`` and ``projection_parameters`` to ``/config/mynteye_*.yaml``. +4. Run examples by MYNT® EYE. + +Binocular camera sample +------------------------ + +* Calibrate a stereo camera with `ROS-StereoCalibration `_ or OpenCV, and then update parameters to ``/config/mynteye_stereo.yaml``. + +* Execute ``build.sh``: + +.. code-block:: bash + + chmod +x build.sh + ./build.sh + +* Run stereo sample using the follow type: + +.. code-block:: bash + + ./Examples/Stereo/stereo_mynt ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw + + +Building the nodes for mono and stereo (ROS) +-------------------------------------------- + +* Add the path including ``Examples/ROS/ORB_SLAM2`` to the ``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line. Replace ``PATH`` by the folder where you cloned ORB_SLAM2: + +.. code-block:: bash + + export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS + +* Execute `build_ros.sh`: + +.. code-block:: bash + + chmod +x build_ros.sh + ./build_ros.sh + +Mono_ROS Example +~~~~~~~~~~~~~~~~~ + + * Update ``distortion_parameters`` and ``projection_parameters`` in ``/config/mynteye_mono.yaml`` + +.. code-block:: bash + + cd MYNT-EYE-S-SDK + + ./samples/_output/bin/tutorials/get_img_params + +After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, and then update to ``/config/mynteye_mono.yaml``. + + * Launch ORB_SLAM2 ``Mono_ROS`` + +.. code-block:: bash + + rosrun ORB_SLAM2 mynteye_mono ./Vocabulary/ORBvoc.txt ./config/mynteye_mono.yaml /mynteye/left/image_raw + +Stereo_ROS Example +~~~~~~~~~~~~~~~~~~~ + + * Calibrate a stereo camera with `ROS-StereoCalibration `_ or OpenCV, and then update parameters to ``/config/mynteye_stereo.yaml``. + + * Launch ORB_SLAM2 ``Stereo_ROS`` + +.. code-block:: bash + + rosrun ORB_SLAM2 ros_mynteye_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw diff --git a/docs/src/slam/vins.rst b/docs/src/slam/vins.rst new file mode 100644 index 0000000..2b9dfcf --- /dev/null +++ b/docs/src/slam/vins.rst @@ -0,0 +1,61 @@ +.. _slam_vins: + +How to use in `VINS-Mono `_ +================================================================================ + + +If you wanna run VINS-Mono with MYNT EYE camera, please follow the steps: +-------------------------------------------------------------------------- + +1. Download `MYNT-EYE-S-SDK `_ and install mynt_eye_ros_wrapper. +2. Follow the normal procedure to install VINS-Mono. +3. Update ``distortion_parameters`` and ``projection_parameters`` to `here `_ . +4. Run mynt_eye_ros_wrapper and VINS-Mono. + +Install ROS Kinetic conveniently (if already installed, please ignore) +---------------------------------------------------------------------- + +.. code-block:: bash + + cd ~ + wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \ + chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic + +Install MYNT-EYE-VINS-Sample +------------------------------ + +.. code-block:: bash + + mkdir -p ~/catkin_ws/src + cd ~/catkin_ws/src + git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-VINS-Sample.git + cd .. + catkin_make + source devel/setup.bash + echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc + source ~/.bashrc + +Get image calibration parameters +--------------------------------- + +Use MYNT® EYE's left eye camera and IMU. By `MYNT-EYE-S-SDK `_ API ``GetIntrinsics()`` function and ``GetExtrinsics()`` function, you can "get the image calibration parameters of the current working device: + +.. code-block:: bash + + cd MYNT-EYE-S-SDK + ./samples/_output/bin/tutorials/get_img_params + +After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained , and then update to `here `_ . + +Run VINS-Mono with MYNT® EYE +----------------------------- + +.. code-block:: bash + + cd ~/catkin_ws + roslaunch mynt_eye_ros_wrapper mynteye.launch + roslaunch vins_estimator mynteye.launch + +.. note:: + + If you want to use a fish-eye camera model, please click `here `_ . diff --git a/docs/src/slam/viorb.rst b/docs/src/slam/viorb.rst new file mode 100644 index 0000000..f94dc4b --- /dev/null +++ b/docs/src/slam/viorb.rst @@ -0,0 +1,57 @@ +.. _slam_viorb: + +How to use in `VIORB `_ +=============================================================--- + + +If you wanna run VIORB with MYNT® EYE,please follow the steps: +--------------------------------------------------------------- + +1. Download `MYNT-EYE-S-SDK `_ and install mynt_eye_ros_wrapper. +2. Follow the normal procedure to install VIORB. +3. Update camera parameters to ``/config/config_mynteye.yaml``. +4. Run mynt_eye_ros_wrapper and VIORB. + +Install MYNT-EYE-VIORB-Sample. +------------------------------ + +.. code-block:: bash + + git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-VIORB-Sample.git + cd MYNT-EYE-VIORB-Sample + +``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line. Replace ``PATH`` by the folder where you cloned ``MYNT-EYE-VIORB-Sample``: + +.. code-block:: bash + + export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/Examples/ROS/ORB_VIO + +Execute: + +.. code-block:: bash + + cd MYNT-EYE-VIORB-Sample + ./build.sh + +Get image calibration parameters +---------------------------------- + +Assume that the left eye of the mynteye camera is used with IMU. Through the ``GetIntrinsics()`` and ``GetExtrinsics()`` function of the `MYNT-EYE-S-SDK `_ API, you can get the image calibration parameters of the currently open device: + +.. code-block:: bash + + cd MYNT-EYE-S-SDK + ./samples/_output/bin/tutorials/get_img_params + +After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, and then update to ``/config/mynteye.yaml``. + +Run VIORB and mynt_eye_ros_wrapper +-------------------------------------- + +.. code-block:: bash + + roslaunch mynt_eye_ros_wrapper mynteye.launch + roslaunch ORB_VIO testmynteye.launch + +Finally, ``pyplotscripts`` can be used to visualize some results. + diff --git a/docs/src/wrapper/contents.rst b/docs/src/wrapper/contents.rst new file mode 100644 index 0000000..8abc94a --- /dev/null +++ b/docs/src/wrapper/contents.rst @@ -0,0 +1,8 @@ +.. _wrapper: + +Wrapper interface +================== + +.. toctree:: + + ros diff --git a/docs/src/wrapper/ros.rst b/docs/src/wrapper/ros.rst new file mode 100644 index 0000000..bd7aa3a --- /dev/null +++ b/docs/src/wrapper/ros.rst @@ -0,0 +1,74 @@ +.. _wrapper_ros: + +How to use ROS +============== + +Compile and run the node according to :ref:`sdk_install_ros` . + +``rostopic list`` lists all released nodes: + +.. code-block:: bash + + $ rostopic list + /mynteye/depth/image_raw + /mynteye/disparity/image_norm + /mynteye/disparity/image_raw + /mynteye/imu/data_raw + /mynteye/left/camera_info + /mynteye/left/image_raw + /mynteye/left/image_rect + /mynteye/points/data_raw + /mynteye/right/camera_info + /mynteye/right/image_raw + /mynteye/right/image_rect + /mynteye/temp/data_raw + ... + +``rostopic hz `` checks the data: + +.. code-block:: bash + + $ rostopic hz /mynteye/imu/data_raw + subscribed to [/mynteye/imu/data_raw] + average rate: 505.953 + min: 0.000s max: 0.018s std dev: 0.00324s window: 478 + average rate: 500.901 + min: 0.000s max: 0.018s std dev: 0.00327s window: 975 + average rate: 500.375 + min: 0.000s max: 0.019s std dev: 0.00329s window: 1468 + ... + +``rostopic echo `` can print and release data. Please read `rostopic `_ for more information. + +The ROS file is structured like follows: + +.. code-block:: none + + /wrappers/ros/ + ├─src/ + │ └─mynt_eye_ros_wrapper/ + │ ├─launch/ + │ │ ├─display.launch + │ │ └─mynteye.launch + │ ├─msg/ + │ ├─rviz/ + │ ├─src/ + │ │ ├─wrapper_node.cc + │ │ └─wrapper_nodelet.cc + │ ├─CMakeLists.txt + │ ├─nodelet_plugins.xml + │ └─package.xml + └─README.md + +In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, and set the control options. Please set ``gravity`` to the local gravity acceleration. + +.. code-block:: xml + + + +For printing debug info, replace ``Info`` in ``wrapper_node.cc`` to ``Debug`` : + +.. code-block:: c++ + + ros::console::set_logger_level( + ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); From f1720ba090da998c3ac8e388cd4495f22d2b0ded Mon Sep 17 00:00:00 2001 From: harjeb Date: Mon, 18 Mar 2019 15:36:40 +0800 Subject: [PATCH 04/10] update doc --- docs/images/ir.png | Bin 0 -> 412230 bytes docs/src/analytics/dataset.rst | 4 +- docs/src/control/framerate.rst | 2 +- docs/src/control/infrared.rst | 5 ++- docs/src/data/get_depth.rst | 2 +- docs/src/data/get_disparity.rst | 2 +- docs/src/data/get_img_params.rst | 5 +++ docs/src/data/write_img_params.rst | 14 ++++-- docs/src/firmware/upgrade.rst | 2 +- docs/src/mynteye/contents.rst | 6 +-- docs/src/sdk/changelog.rst | 22 ++++++++++ docs/src/sdk/contents.rst | 1 + docs/src/sdk/exe_install_windows.rst | 6 ++- docs/src/sdk/install_ros.rst | 14 +++++- docs/src/sdk/platform.rst | 7 +-- docs/src/sdk/ppa_install_ubuntu.rst | 13 +++++- docs/src/sdk/source_install_ubuntu.rst | 4 +- docs/src/sdk/source_install_windows.rst | 2 +- docs/src/slam/contents.rst | 1 + docs/src/slam/okvis.rst | 24 ++++++++--- docs/src/slam/orb_slam2.rst | 37 +++++++--------- docs/src/slam/vins.rst | 21 +++++++-- docs/src/slam/vins_fusion.rst | 55 ++++++++++++++++++++++++ docs/src/slam/viorb.rst | 17 ++++++-- docs/src/wrapper/ros.rst | 31 +++++++++++++ 25 files changed, 239 insertions(+), 58 deletions(-) create mode 100644 docs/images/ir.png create mode 100644 docs/src/sdk/changelog.rst create mode 100644 docs/src/slam/vins_fusion.rst diff --git a/docs/images/ir.png b/docs/images/ir.png new file mode 100644 index 0000000000000000000000000000000000000000..8bae860e988bb30cb0d19e5d9ed8a0c6f7a7bc91 GIT binary patch literal 412230 zcmdqI_cvVM8#b(mL5$u8!yrZ%ZGvbKGdiP%MDHb0B0==g+aTKL5@U3trRX&#YD6b` zi-_I{-n`FR?+@S4^B=tH`sJ*%&c4qs*S`1NcC5ZGoEpFeARr*1)TSGEH)$ 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