docs(*): update doc

This commit is contained in:
John Zhao 2019-07-03 13:55:25 +08:00
parent 8b0016fa07
commit 07297dd2f1
99 changed files with 152 additions and 171 deletions

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@ -10,11 +10,9 @@ MYNT® EYE S SDK
:titlesonly: :titlesonly:
:maxdepth: 2 :maxdepth: 2
src/mynteye/contents src/product/contents
src/sdk/contents src/sdk/contents
src/firmware/contents src/firmware/contents
src/data/contents
src/analytics/contents
src/tools/contents src/tools/contents
src/slam/contents src/slam/contents
api/contents api/contents

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@ -1,11 +0,0 @@
.. _firmware:
Upgrade Firmware
==================
.. toctree::
:maxdepth: 2
upgrade
stm_update
from_v1

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@ -4,6 +4,5 @@ FIRMWARE
.. toctree:: .. toctree::
:maxdepth: 2 :maxdepth: 2
FirmwareContents fw_info
FirmwareUpdate fw_update
UpdateLogToDos

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@ -1,4 +1,4 @@
Update Log Change Log
================== ==================
.. toctree:: .. toctree::

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@ -1,4 +1,4 @@
.. _firmware: .. _fw_info:
Firmware Description Firmware Description
================== ==================

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@ -0,0 +1,10 @@
.. _fw_update:
Firmware Update
==================
.. toctree::
:maxdepth: 2
update_main_chip
update_auxiliary_chip

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@ -1,26 +1,26 @@
.. _firmware_stm_update: .. _fw_update_auxiliary_chip:
How to update the Auxiliary Chip Update Auxiliary Chip Firmware
================================== ==================================
Update auxiliary chip (Only Support S2100/S210A) Update auxiliary chip (Only Support S2100/S210A)
----------------------------------------------- ------------------------------------------------
* Plug in the MYNT® EYE camera into a USB3.0 port * Plug in the MYNT® EYE camera into a USB3.0 port
* Open MYNT EYE TOOL and select ``Options/BoardUpdate`` . * Open MYNT EYE TOOL and select ``Options/BoardUpdate`` .
.. image:: ../../images/boardupdate.png .. image:: ../../images/firmware/boardupdate.png
* Click ``StmUpdate`` . * Click ``StmUpdate`` .
.. image:: ../../images/stmupdate.png .. image:: ../../images/firmware/stmupdate.png
* In the open file selection box, select the firmware ``MYNTEYE-S210x-auxiliary-chip-v1.0.bin`` 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. * Once the upgrade is complete, it will display update finished.
.. image:: ../../images/stmsuccess.png .. image:: ../../images/firmware/stmsuccess.png

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@ -1,6 +1,6 @@
.. _firmware_upgrade: .. _fw_update_main_chip:
How to update Main Processing Chip Update Main Chip Firmware
==================================== ====================================
Please use the MYNT EYE TOOL to update main processing chip. Please use the MYNT EYE TOOL to update main processing chip.
@ -42,11 +42,11 @@ Update Firmware
* Open MYNT EYE TOOL and select ``Options/FirmwareUpdate`` . * Open MYNT EYE TOOL and select ``Options/FirmwareUpdate`` .
.. image:: ../../images/firmware_update_option.png .. image:: ../../images/firmware/firmware_update_option.png
* Click ``Update`` . * Click ``Update`` .
.. image:: ../../images/firmware_update.png .. image:: ../../images/firmware/firmware_update.png
:width: 60% :width: 60%
* A warning dialog box will pop up, click ``yes`` . * A warning dialog box will pop up, click ``yes`` .
@ -56,19 +56,19 @@ Update Firmware
* Usually, the MYNT EYE TOOL automatically installs the driver during the upgrade process. * Usually, the MYNT EYE TOOL automatically installs the driver during the upgrade process.
* If the upgrade fails, refer to README. * If the upgrade fails, refer to README.
.. image:: ../../images/firmware_update_warning.png .. image:: ../../images/firmware/firmware_update_warning.png
:width: 60% :width: 60%
.. image:: ../../images/firmware_update_dir.png .. image:: ../../images/firmware/firmware_update_dir.png
:width: 60% :width: 60%
* 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 you want to upgrade and start upgrading.
.. image:: ../../images/firmware_update_select.png .. image:: ../../images/firmware/firmware_update_select.png
* Once the upgrade is complete, the status will changes to ``Succeeded``. * Once the upgrade is complete, the status will changes to ``Succeeded``.
.. image:: ../../images/firmware_update_success.png .. image:: ../../images/firmware/firmware_update_success.png
:width: 60% :width: 60%
* Close the MYNT EYE TOOLfinish. * Close the MYNT EYE TOOLfinish.
@ -85,13 +85,13 @@ Manually update drivers
* 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]`` . * 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 .. image:: ../../images/firmware/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 TOOL 2.0\WestBridge_driver\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. * After the installation driver is successful, you can find the ``Cypress USB BootLoader`` device in the device manager.
.. image:: ../../images/firmware_update_cypressUSB.png .. image:: ../../images/firmware/firmware_update_cypressUSB.png
* Then plug in the camera and open the application again to update. * Then plug in the camera and open the application again to update.
@ -101,5 +101,5 @@ Manually update drivers
.. :: .. ::
.. image:: ../../images/firmware_update_driver.png .. image:: ../../images/firmware/firmware_update_driver.png
.. image:: ../../images/firmware_update_driver_install.png .. image:: ../../images/firmware/firmware_update_driver_install.png

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@ -1,8 +0,0 @@
.. _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

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@ -4,8 +4,7 @@ PRODUCT
.. toctree:: .. toctree::
:maxdepth: 2 :maxdepth: 2
product_description product_desc
product_surface product_surface
pro_intro product_spec
support_resolutions
imu_coord imu_coord

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@ -1,6 +1,6 @@
.. _mynteye: .. _product_imu_coord:
IMU Coordinata System IMU Coordinate System
================== ==================
.. toctree:: .. toctree::
@ -8,4 +8,3 @@ IMU Coordinata System
imu_coord_s1030 imu_coord_s1030
imu_coord_s2100 imu_coord_s2100

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@ -1,8 +1,8 @@
.. _mynteye_imu_coord_s1030: .. _product_imu_coord_s1030:
MYNTEYE-S1030 IMU coordinata system S1030 Coordinate System
==================================== ====================================
IMU coordinate system is right-handed,the axis directions are as follows: IMU coordinate system is right-handed,the axis directions are as follows:
.. image:: ../../images/mynteye_imu_coord.jpg .. image:: ../../images/product/mynteye_imu_coord.jpg

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@ -0,0 +1,8 @@
.. _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

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@ -1,4 +1,4 @@
.. _mynteye: .. _product_desc:
Product Description Product Description
==================== ====================

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@ -1,6 +1,6 @@
.. _mynteye: .. _product_spec:
Product Introduction Product Specification
============================== ==============================
.. toctree:: .. toctree::

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@ -1,6 +1,6 @@
.. _mynteye: .. _product_surface:
Surface Product Surface
================== ==================
.. toctree:: .. toctree::
@ -8,4 +8,3 @@ Surface
surface_s1030 surface_s1030
surface_s2100 surface_s2100

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@ -3,7 +3,7 @@
S1030-120/Mono Product Specification S1030-120/Mono Product Specification
========================================= =========================================
Product Specification: Product Specification
----------------------- -----------------------
@ -82,14 +82,14 @@ Work Environment
=========================== ================================ =========================== ================================
Package: Package
--------- ---------
=================== ======================================= =================== =======================================
Package Contents MYNT EYE x1 USB Micro-B Cable x1 Package Contents MYNT EYE x1 USB Micro-B Cable x1
=================== ======================================= =================== =======================================
Warranty Warranty
---------- ----------
==================== ============================================ ==================== ============================================

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@ -3,7 +3,7 @@
S1030-IR-120/Mono Product Specification S1030-IR-120/Mono Product Specification
========================================= =========================================
Product Specification: Product Specification
----------------------- -----------------------
@ -84,14 +84,14 @@ Work Environment
=========================== ================================ =========================== ================================
Package: Package
--------- ---------
=================== ======================================= =================== =======================================
Package Contents MYNT EYE x1 USB Micro-B Cable x1 Package Contents MYNT EYE x1 USB Micro-B Cable x1
=================== ======================================= =================== =======================================
Warranty Warranty
---------- ----------
==================== ============================================ ==================== ============================================

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@ -4,7 +4,7 @@
S2100-146/Color Product Specification S2100-146/Color Product Specification
======================================== ========================================
Product Specification: Product Specification
----------------------- -----------------------
@ -81,14 +81,14 @@ Work Environment
========================= ============================== ========================= ==============================
Package: Package
--------- ---------
=================== ======================================= =================== =======================================
Package Contents MYNT EYE x1 USB Micro-B Cable x1 Package Contents MYNT EYE x1 USB Micro-B Cable x1
=================== ======================================= =================== =======================================
Warranty Warranty
---------- ----------
==================== ============================================ ==================== ============================================

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@ -1,6 +1,6 @@
.. _mynteye_surface_s1030: .. _mynteye_surface_s1030:
MYNTEYE-S1030 Size and structure S1030 Size and Structure
================================= =================================
============= ============== ============= ==============
@ -9,7 +9,7 @@ Shell(mm) PCBA board(mm)
165x31.5x29.6 149x24 165x31.5x29.6 149x24
============= ============== ============= ==============
.. image:: ../../images/mynteye_surface_zh-Hans.jpg .. image:: ../../images/product/mynteye_surface_zh-Hans.jpg
A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation. 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). 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).

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@ -1,6 +1,6 @@
.. _mynteye_surface_s2100: .. _mynteye_surface_s2100:
MYNTEYE-S2100 Size and structure S2100 Size and Structure
================================ ================================
============= ============== ============= ==============
@ -9,7 +9,7 @@ Shell(mm) PCBA board(mm)
125x47x40 100x15 125x47x40 100x15
============= ============== ============= ==============
.. image:: ../../images/mynteye_avatar_surface_zh-Hans.jpg .. 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. 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. 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.

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@ -1,14 +0,0 @@
.. _sdk:
Installation and Use
==================
.. toctree::
:maxdepth: 2
ppa_install_ubuntu
source_install_ubuntu
exe_install_windows
source_install_windows
install_ros
without_opencv

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@ -1,12 +0,0 @@
.. _sdk:
Project Reference
==================
.. toctree::
:maxdepth: 2
// 缺少:
cmake
vs2017
qtcreator

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@ -4,7 +4,9 @@ SDK
.. toctree:: .. toctree::
:maxdepth: 5 :maxdepth: 5
platform sdk_info
InstallContents sdk_install
ProjectContentsToDos data/contents
changelog control/contents
tools/contents
sdk_changelog

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@ -1,6 +1,6 @@
.. _ctrl: .. _ctrl:
MYNT® EYE Control SDK Control Samples
================= =================
.. toctree:: .. toctree::

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@ -44,7 +44,7 @@ Reference running results on Linux:
At this point, if the image is displayed, you can see IR speckle on the image, as below: At this point, if the image is displayed, you can see IR speckle on the image, as below:
.. image:: ../../images/ir.png .. image:: ../../../images/sdk/ir.png
.. attention:: .. attention::

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@ -1,5 +1,7 @@
SDK SAMPLES .. _data:
==============
SDK Data Samples
================
.. toctree:: .. toctree::

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@ -1,4 +1,4 @@
.. _firmware_from_v1: .. _sdk_from_v1:
Change from SDK 1.x to 2.x Change from SDK 1.x to 2.x
=========================== ===========================

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@ -1,7 +1,7 @@
.. _sdk_install_ros: .. _sdk_install_ros_wrapper:
ROS Installation ROS Wrapper Installation
================ ========================
.. only:: html .. only:: html

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@ -1,6 +1,6 @@
.. _sdk_ppa_install_ubuntu: .. _sdk_install_ubuntu_ppa:
Ubuntu SDK PPA Installation Ubuntu PPA Installation
============================ ============================
.. only:: html .. only:: html

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@ -1,6 +1,6 @@
.. _sdk_source_install_ubuntu: .. _sdk_install_ubuntu_src:
Ubuntu SDK Source Installation Ubuntu Source Installation
============================== ==============================
.. only:: html .. only:: html

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@ -1,6 +1,6 @@
.. _sdk_exe_install_windows: .. _sdk_install_windows_exe:
Windows SDK exe Installation Windows EXE Installation
============================= =============================
.. only:: html .. only:: html

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@ -1,6 +1,6 @@
.. _sdk_source_install_windows: .. _sdk_install_windows_src:
Windows SDK Source Installation Windows Source Installation
================================ ================================
.. only:: html .. only:: html
@ -76,12 +76,12 @@ After installing Visual Studio, confirm that the following command can run in th
Visual Studio Command Prompt can be opened from the Start menu, Visual Studio Command Prompt can be opened from the Start menu,
.. image:: ../../images/vs_cmd_menu.png .. image:: ../../images/sdk/vs_cmd_menu.png
:width: 30% :width: 30%
You can also open it from the Visual Studio Tools menu. You can also open it from the Visual Studio Tools menu.
.. image:: ../../images/vs_cmd.png .. image:: ../../images/sdk/vs_cmd.png
:width: 40% :width: 40%
However, if you do not have the Visual Studio 2015 Tools menu, you can add one yourself. However, if you do not have the Visual Studio 2015 Tools menu, you can add one yourself.
@ -99,7 +99,7 @@ After installing Visual Studio, confirm that the following command can run in th
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) 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 .. image:: ../../images/sdk/vs_cmd_test.png
MSYS2 (provide Linux command) MSYS2 (provide Linux command)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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@ -1,13 +1,12 @@
.. _sdk_changelog: .. _sdk_changelog:
Change Log Change Log
========= ==========
2019-07-01(v2.3.9) 2019-07-01(v2.3.9)
------------------- -------------------
1. Fix ros timestamp issue 1. Fix ros timestamp issue
2019-05-20(v2.3.8) 2019-05-20(v2.3.8)
------------------- -------------------
1. Improve VINS-Fusion supporting 1. Improve VINS-Fusion supporting

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@ -1,4 +1,4 @@
.. _sdk: .. _sdk_info:
SDK Description SDK Description
================== ==================
@ -6,4 +6,5 @@ SDK Description
.. toctree:: .. toctree::
:maxdepth: 2 :maxdepth: 2
platform support_platforms
without_opencv

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@ -0,0 +1,13 @@
.. _sdk_install:
SDK Installation
==================
.. toctree::
:maxdepth: 2
install_ubuntu_ppa
install_ubuntu_src
install_windows_exe
install_windows_src
install_ros_wrapper

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@ -1,9 +1,7 @@
.. _sdk: .. _sdk_projects:
Change Log Project Samples
================== ==================
.. toctree:: .. toctree::
:maxdepth: 2 :maxdepth: 2
changelog

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@ -1,4 +1,4 @@
.. _sdk_platform: .. _sdk_support_platforms:
Supported Platforms Supported Platforms
==================== ====================

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@ -29,7 +29,7 @@ Refer to run commands and results on Linux:
The analysis result graph will be saved in the data set directory, as follows: The analysis result graph will be saved in the data set directory, as follows:
.. image:: ../../images/imu_analytics.png .. image:: ../../../images/sdk/tools/imu_analytics.png
In addition, the script specific options can be executed ``-h``: In addition, the script specific options can be executed ``-h``:

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@ -42,7 +42,7 @@ Reference run commands and results on Linux:
The analysis result graph will be saved in the dataset directory, as follows: The analysis result graph will be saved in the dataset directory, as follows:
.. image:: ../../images/stamp_analytics.png .. image:: ../../../images/sdk/tools/stamp_analytics.png
In addition, the script specific options can be executed ``-h`` to understand: In addition, the script specific options can be executed ``-h`` to understand:

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@ -1,4 +1,4 @@
SDK TOOLS SDK Tools
================== ==================
.. toctree:: .. toctree::

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@ -1,6 +1,6 @@
.. _sdk_without_opencv: .. _sdk_without_opencv:
OpenCV independency OpenCV Description
=================== ===================
SDK provides a three-tier interface with OpenCV dependencies: SDK provides a three-tier interface with OpenCV dependencies:

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@ -1,8 +1,7 @@
.. _calibration_tool: .. _calibration_tool:
MYNT EYE S Manual Calibration Tool Calibration Tool Manual
========== =======================
Introduction Introduction
-------- --------
@ -157,7 +156,7 @@ Options:
-x WIDTH, --width=WIDTH The chessboard width, default: 11 -x WIDTH, --width=WIDTH The chessboard width, default: 11
-y HEIGHT, --height=HEIGHT The chessboard height, default: 7 -y HEIGHT, --height=HEIGHT The chessboard height, default: 7
-s METERS, --square=METERS The chessboard square size in meters, default: 0.036 -s METERS, --square=METERS The chessboard square size in meters, default: 0.036
-n NUMBER, --number=NUMBER The number of images to use for calibration, default: 11 -n NUMBER, --number=NUMBER The number of imagestools to use for calibration, default: 11
-p PATH, --path=PATH The path to save the result, default: folder name using device's SN -p PATH, --path=PATH The path to save the result, default: folder name using device's SN
* -x -y -s Used to set the width, height, and grid size of the calibration plate. Width and height refer to the number of black and white intersections in the horizontal and vertical directions of the checkerboard. Square size in meters. * -x -y -s Used to set the width, height, and grid size of the calibration plate. Width and height refer to the number of black and white intersections in the horizontal and vertical directions of the checkerboard. Square size in meters.
@ -170,7 +169,7 @@ Options:
* Then, run the mynteye-s-calibrator <calibration board parameter> command in the terminal. * Then, run the mynteye-s-calibrator <calibration board parameter> command in the terminal.
.. image:: ../../images/calibration001.png .. image:: ../../images/tools/calibration001.png
:width: 60% :width: 60%
* Follow the prompts to select an index for the camera's resolution, perform image calibration at this resolution * Follow the prompts to select an index for the camera's resolution, perform image calibration at this resolution
@ -183,19 +182,19 @@ evaluate the qualified image for the calibration calculation and will indicate o
Reference acquisition image, as follows: Reference acquisition image, as follows:
.. image:: ../../images/calibration002.png .. image:: ../../images/tools/calibration002.png
:width: 60% :width: 60%
.. image:: ../../images/calibration003.png .. image:: ../../images/tools/calibration003.png
:width: 60% :width: 60%
.. image:: ../../images/calibration004.png .. image:: ../../images/tools/calibration004.png
:width: 60% :width: 60%
.. image:: ../../images/calibration005.png .. image:: ../../images/tools/calibration005.png
:width: 60% :width: 60%
.. image:: ../../images/calibration006.png .. image:: ../../images/tools/calibration006.png
:width: 60% :width: 60%
@ -206,7 +205,7 @@ Reference acquisition image, as follows:
the calibration calculation will be performed. The output is as follows: the calibration calculation will be performed. The output is as follows:
.. image:: ../../images/calibration007.png .. image:: ../../images/tools/calibration007.png
:width: 60% :width: 60%
@ -222,7 +221,7 @@ Reference acquisition image, as follows:
* Finally, you will also be asked if you want to write to the camera device. Enter or `y` to confirm * Finally, you will also be asked if you want to write to the camera device. Enter or `y` to confirm
.. image:: ../../images/calibration008.png .. image:: ../../images/tools/calibration008.png
:width: 60% :width: 60%
* After writing to the device, you will be prompted with "Write to device done". * After writing to the device, you will be prompted with "Write to device done".

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@ -1,7 +1,7 @@
.. _tools: .. _tools:
TOOLS SUPPORT TOOLS SUPPORT
======== ==============
.. toctree:: .. toctree::

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@ -3,7 +3,7 @@
How to use ROS How to use ROS
============== ==============
Compile and run the node according to :ref:`sdk_install_ros` . Compile and run the node according to :ref:`sdk_install_ros_wrapper` .
.. tip:: .. tip::