docs(*): update doc

docs/src/product/contents.rst

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+PRODUCT
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   product_desc
+   product_surface
+   product_spec
+   imu_coord

docs/src/product/imu_coord.rst

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+.. _product_imu_coord:
+
+IMU Coordinate System
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   imu_coord_s1030
+   imu_coord_s2100

docs/src/product/imu_coord_s1030.rst

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+.. _product_imu_coord_s1030:
+
+S1030 Coordinate System
+====================================
+
+IMU coordinate system is right-handed,the axis directions are as follows:
+
+.. image:: ../../images/product/mynteye_imu_coord.jpg

docs/src/product/imu_coord_s2100.rst

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+.. _product_imu_coord_s2100:
+
+S2100 Coordinate System
+====================================
+
+IMU coordinate system is right-handed,the axis directions are as follows:
+
+.. image:: ../../images/product/mynteye_s2_imu_coord.jpg

docs/src/product/product_desc.rst

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+.. _product_desc:
+
+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 2560x800\@30fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation.
+
+As a hardware product for research and development of stereo vision computing applications, MYNT® EYE S Series can be widely used in a field of visual positioning navigation (vSLAM), including visual real-time positioning navigation system of driverless vehicle and robots, visual positioning system of UAV, obstacle avoidance navigation system for driverless Vehicle, Augmented Reality (AR), Virtual Reality (VR), etc. At the same time, it can be used in a field of visual recognition, including Stereoscopic face recognition, three-dimensional object recognition, space motion tracking, three-dimensional gestures, and somatosensory recognition. And of course, you can use it for measurement which includes assisted driving system (ADAS), binocular volume calculation, industrial visual screening, etc. At present, MYNTAI has carried out service and cooperation with more than 500 domestic and foreign enterprise clients.
+
+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.

docs/src/product/product_spec.rst

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+.. _product_spec:
+
+Product Specification
+==============================
+
+.. toctree::
+   :maxdepth: 2
+
+   spec_s1030
+   spec_s1030_ir
+   spec_s2100

docs/src/product/product_surface.rst

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+.. _product_surface:
+
+Product Surface
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   surface_s1030
+   surface_s2100

docs/src/product/spec_s1030.rst

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+.. _mynteye_spec_s1030:
+
+S1030-120/Mono Product Specification
+=========================================
+
+Product Specification
+-----------------------
+
+
+==========================  =======================================
+  Model                       S1030-120/Mono
+--------------------------  ---------------------------------------
+  Size                        165x31.5x31.23mm
+--------------------------  ---------------------------------------
+  Frame Rate                  10/15/20/25/30/35/40/45/50/55/60FPS
+--------------------------  ---------------------------------------
+  Resolution                  752*480; 376*240
+--------------------------  ---------------------------------------
+  Depth Resolution           Based on CPU/GPU Up to  752*480\@60FPS
+--------------------------  ---------------------------------------
+  Pixel Size                  6.0*6.0μm
+--------------------------  ---------------------------------------
+  Baseline                    120.0mm
+--------------------------  ---------------------------------------
+  Visual Angle                D:146° H:122° V:76°
+--------------------------  ---------------------------------------
+  Focal Length                2.1mm
+--------------------------  ---------------------------------------
+  Filter                     Dual Pass Filter
+--------------------------  ---------------------------------------
+  IR Support                  No
+--------------------------  ---------------------------------------
+  IR detectable range         \-
+--------------------------  ---------------------------------------
+  Color Mode                  Monochrome
+--------------------------  ---------------------------------------
+  Depth Working Distance     0.8-5m+
+--------------------------  ---------------------------------------
+  Scanning Mode               Global Shutter
+--------------------------  ---------------------------------------
+  Power                       1W\@5V DC from USB
+--------------------------  ---------------------------------------
+Synchronization Precision      <1ms (up to 0.05ms)
+--------------------------  ---------------------------------------
+  IMU Frequency                 100/200/250/333/500Hz
+--------------------------  ---------------------------------------
+  Output data format          Raw data
+--------------------------  ---------------------------------------
+  Data transfer Interface     USB3.0
+--------------------------  ---------------------------------------
+  Weight                      160g
+--------------------------  ---------------------------------------
+  UVC MODE                    Yes
+==========================  =======================================
+
+
+
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  ==================================================================================
+
+
+
+Work Environment
+-----------------
+
+
+===========================  ================================
+  Operating Temperature        10°C~50°C
+---------------------------  --------------------------------
+  Storage Temperature          -20°C~60°C
+---------------------------  --------------------------------
+  Humidity                     10% to 90% non-condensing
+===========================  ================================
+
+
+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%
+============================  ============================================
+
+

docs/src/product/spec_s1030_ir.rst

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+.. _mynteye_spec_s1030_ir:
+
+S1030-IR-120/Mono Product Specification
+=========================================
+
+Product Specification
+-----------------------
+
+
+==========================  =======================================
+  Model                       S1030-IR-120/Mono
+--------------------------  ---------------------------------------
+  Size                        165x31.5x31.23mm
+--------------------------  ---------------------------------------
+  Frame Rate                  10/15/20/25/30/35/40/45/50/55/60FPS
+--------------------------  ---------------------------------------
+  Resolution                  752*480; 376*240
+--------------------------  ---------------------------------------
+  Depth Resolution           Based on CPU/GPU Up to  752*480\@60FPS
+--------------------------  ---------------------------------------
+  Pixel Size                  6.0*6.0μm
+--------------------------  ---------------------------------------
+  Baseline                    120.0mm
+--------------------------  ---------------------------------------
+  Camera Lens                 Replacable Standard M12
+--------------------------  ---------------------------------------
+  Visual Angle                D:146° H:122° V:76°
+--------------------------  ---------------------------------------
+  Focal Length                2.1mm
+--------------------------  ---------------------------------------
+  Filter                     Dual Pass Filter
+--------------------------  ---------------------------------------
+  IR Support                  Yes
+--------------------------  ---------------------------------------
+  IR detectable range         Up to 3m
+--------------------------  ---------------------------------------
+  Color Mode                  Monochrome
+--------------------------  ---------------------------------------
+ Depth Working Distance       0.8-5m+
+--------------------------  ---------------------------------------
+  Scanning Mode               Global Shutter
+--------------------------  ---------------------------------------
+  Power                       1~2.7W\@5V DC from USB
+--------------------------  ---------------------------------------
+Synchronization Precision     <1ms (up to 0.05ms)
+--------------------------  ---------------------------------------
+  IMU Frequency                 100/200/250/333/500Hz
+--------------------------  ---------------------------------------
+  Output data format          Raw data
+--------------------------  ---------------------------------------
+  Data transfer Interface     USB3.0
+--------------------------  ---------------------------------------
+  Weight                      184g
+--------------------------  ---------------------------------------
+  UVC MODE                    Yes
+==========================  =======================================
+
+
+
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  ==================================================================================
+
+
+
+Work Environment
+-----------------
+
+
+===========================  ================================
+  Operating Temperature        10°C~50°C
+---------------------------  --------------------------------
+  Storage Temperature          -20°C~60°C
+---------------------------  --------------------------------
+  Humidity                     10% to 90% non-condensing
+===========================  ================================
+
+
+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%
+============================  ============================================
+
+

docs/src/product/spec_s2100.rst

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+.. _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
+--------------------------  -----------------------------------------------------
+  Depth Resolution             Based on CPU/GPU Up to  1280*400\@60FPS
+--------------------------  -----------------------------------------------------
+  Pixel Size                    3.0*3.0μm
+--------------------------  -----------------------------------------------------
+  Baseline                      80.0mm
+--------------------------  -----------------------------------------------------
+  Visual Angle                     D:141° H:124° V:87°
+--------------------------  -----------------------------------------------------
+  Focal Length                      0.95mm
+--------------------------  -----------------------------------------------------
+  IR Support                     No
+--------------------------  -----------------------------------------------------
+  Color Mode                     Color
+--------------------------  -----------------------------------------------------
+  Depth Working Distance         0.26-3m+
+--------------------------  -----------------------------------------------------
+  Scanning Mode                    Global Shutter
+--------------------------  -----------------------------------------------------
+  Power                        1.1W\@5V DC from USB
+--------------------------  -----------------------------------------------------
+Synchronization Precision       <1ms (up to 0.02ms)
+--------------------------  -----------------------------------------------------
+  IMU Frequency                 200Hz
+--------------------------  ---------------------------------------
+  Output data format             YUYV
+--------------------------  -----------------------------------------------------
+  Data transfer Interface       USB3.0
+--------------------------  -----------------------------------------------------
+   Time Sync interface          DF50A
+--------------------------  -----------------------------------------------------
+  Weight                       62g
+--------------------------  -----------------------------------------------------
+  UVC MODE                      Yes
+==========================  =====================================================
+
+
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  ==================================================================================
+
+
+
+Work Environment
+-----------------
+
+
+=========================  ==============================
+  Operating Temperature       -15°C~55°C
+-------------------------  ------------------------------
+  Storage Temperature         -20°C~75°C
+-------------------------  ------------------------------
+  Humidity                    0% to 95% non-condensing
+=========================  ==============================
+
+
+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%
+============================  ============================================
+
+

docs/src/product/surface_s1030.rst

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+.. _mynteye_surface_s1030:
+
+S1030 Size and Structure
+=================================
+
+============= ==============
+Shell(mm)     PCBA board(mm)
+============= ==============
+165x31.5x29.6 149x24
+============= ==============
+
+.. image:: ../../images/product/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.

docs/src/product/surface_s2100.rst

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+.. _mynteye_surface_s2100:
+
+S2100 Size and Structure
+================================
+
+============= ==============
+Shell(mm)     PCBA board(mm)
+============= ==============
+125x47x40     100x15
+============= ==============
+
+.. image:: ../../images/product/mynteye_s2_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.