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Fix the conflict

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This commit is contained in:
kalman
2018-11-24 16:43:38 +08:00
parent 210ddba1ba 0fc1196b52
commit 1811f20a14
264 changed files with 29737 additions and 970 deletions
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25
doc/build.sh
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@@ -40,8 +40,8 @@ OUTPUT="$BASE_DIR/_output"
_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
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
@@ -52,11 +52,30 @@ for lang in "${LANGS[@]}"; do
_mkdir "$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" "../mynteye-apidoc.pdf"
[ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
fi
_echo_d "doxygen completed"
else
_echo_e "$DOXYFILE not found"

2495
doc/en/api.doxyfile Normal file
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11
doc/en/mainpage.md Normal file
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@@ -0,0 +1,11 @@
# MYNT EYE S SDK {#mainpage}
* <a class="el" href="annotated.html">API Classes</a>
* <a class="el" href="modules.html">API Modules</a>
* \link enumerations Enumerations\endlink
* \link datatypes Datatypes\endlink
* \link utils Utiliities\endlink
* \link calibration Intrinsics & Extrinsics\endlink
* <span style="font-weight:bold">Device Specifications</span>
* @subpage specs_data
* @subpage specs_ctrl

26
doc/en/spec_control_api.md Normal file
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@@ -0,0 +1,26 @@
# 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 | |

53
doc/en/spec_control_channel.md Normal file
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@@ -0,0 +1,53 @@
# 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 |

14
doc/en/spec_hardware_info.md Normal file
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@@ -0,0 +1,14 @@
# 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 |

20
doc/en/spec_image_data.md Normal file
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@@ -0,0 +1,20 @@
# 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.

23
doc/en/spec_image_params.md Normal file
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@@ -0,0 +1,23 @@
# 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 |

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doc/en/spec_imu_data.md Normal file
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@@ -0,0 +1,42 @@
# 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℃**.

23
doc/en/spec_imu_params.md Normal file
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@@ -0,0 +1,23 @@
# 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 |

4
doc/en/specs_ctrl.md Normal file
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@@ -0,0 +1,4 @@
# Device Control Specification {#specs_ctrl}
* @subpage spec_control_api
* @subpage spec_control_channel

7
doc/en/specs_data.md Normal file
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@@ -0,0 +1,7 @@
# 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

90
doc/zh-Hans/api.doxyfile
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@@ -1,4 +1,4 @@
# Doxyfile 1.8.13
# Doxyfile 1.8.14
# This file describes the settings to be used by the documentation system
# doxygen (www.doxygen.org) for a project.
@@ -20,8 +20,8 @@
# This tag specifies the encoding used for all characters in the config file
# that follow. The default is UTF-8 which is also the encoding used for all text
# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
# for the list of possible encodings.
# built into libc) for the transcoding. See
# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
# The default value is: UTF-8.
DOXYFILE_ENCODING = UTF-8
@@ -32,19 +32,19 @@ DOXYFILE_ENCODING = UTF-8
# title of most generated pages and in a few other places.
# The default value is: My Project.
PROJECT_NAME = "MYNT EYE SDK"
PROJECT_NAME = "MYNT EYE S SDK"
# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
# could be handy for archiving the generated documentation or if some version
# control system is used.
PROJECT_NUMBER = 2.0.0-rc
PROJECT_NUMBER = 2.2.2-rc0
# 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/camera
PROJECT_BRIEF = http://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
@@ -236,7 +236,8 @@ TAB_SIZE = 2
# 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.
# 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 =
@@ -337,7 +338,7 @@ BUILTIN_STL_SUPPORT = NO
CPP_CLI_SUPPORT = NO
# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
# 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.
@@ -708,7 +709,7 @@ 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 http://en.wikipedia.org/wiki/BibTeX for more info.
# 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.
@@ -791,14 +792,6 @@ WARN_LOGFILE =
# Note: If this tag is empty the current directory is searched.
INPUT = mainpage.md \
guides.md \
guide_build_linux.md \
guide_build_win.md \
guide_samples.md \
guide_tools.md \
guide_log.md \
guide_opencv.md \
guide_ros.md \
specs_data.md \
spec_hardware_info.md \
spec_image_params.md \
@@ -808,12 +801,12 @@ INPUT = mainpage.md \
specs_ctrl.md \
spec_control_api.md \
spec_control_channel.md \
../../_install/include
/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: http://www.gnu.org/software/libiconv) for the list of
# documentation (see: https://www.gnu.org/software/libiconv/) for the list of
# possible encodings.
# The default value is: UTF-8.
@@ -891,7 +884,8 @@ RECURSIVE = YES
# Note that relative paths are relative to the directory from which doxygen is
# run.
EXCLUDE =
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
@@ -1061,7 +1055,7 @@ 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 http://www.gnu.org/software/global/global.html). You will need version
# (see https://www.gnu.org/software/global/global.html). You will need version
# 4.8.6 or higher.
#
# To use it do the following:
@@ -1206,7 +1200,7 @@ 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
# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
# 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.
@@ -1242,6 +1236,17 @@ HTML_COLORSTYLE_GAMMA = 80
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.
@@ -1265,12 +1270,12 @@ 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: http://developer.apple.com/tools/xcode/), introduced with
# 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 http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
# 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.
@@ -1305,7 +1310,7 @@ DOCSET_PUBLISHER_ID = com.slightech.mynteye.documentation
# The default value is: Publisher.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_PUBLISHER_NAME = MYNT EYE SDK
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
@@ -1386,7 +1391,7 @@ 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://qt-project.org/doc/qt-4.8/qthelpproject.html#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.
@@ -1394,8 +1399,7 @@ 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://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
# folders).
# 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.
@@ -1403,23 +1407,21 @@ 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://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
# filters).
# 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://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
# filters).
# 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://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
# 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 =
@@ -1512,7 +1514,7 @@ EXT_LINKS_IN_WINDOW = NO
FORMULA_FONTSIZE = 10
# Use the FORMULA_TRANPARENT tag to determine whether or not the images
# 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.
#
@@ -1524,7 +1526,7 @@ FORMULA_FONTSIZE = 10
FORMULA_TRANSPARENT = YES
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
# http://www.mathjax.org) which uses client side Javascript for the rendering
# 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
@@ -1551,11 +1553,11 @@ MATHJAX_FORMAT = HTML-CSS
# 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 http://www.mathjax.org before deployment.
# The default value is: http://cdn.mathjax.org/mathjax/latest.
# 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 = http://cdn.mathjax.org/mathjax/latest
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
@@ -1613,7 +1615,7 @@ SERVER_BASED_SEARCH = NO
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/).
# Xapian (see: https://xapian.org/).
#
# See the section "External Indexing and Searching" for details.
# The default value is: NO.
@@ -1626,7 +1628,7 @@ EXTERNAL_SEARCH = NO
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/). See the section "External Indexing and
# Xapian (see: https://xapian.org/). See the section "External Indexing and
# Searching" for details.
# This tag requires that the tag SEARCHENGINE is set to YES.
@@ -1815,7 +1817,7 @@ LATEX_SOURCE_CODE = NO
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
# bibliography, e.g. plainnat, or ieeetr. See
# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# The default value is: plain.
# This tag requires that the tag GENERATE_LATEX is set to YES.
@@ -1998,9 +2000,9 @@ DOCBOOK_PROGRAMLISTING = NO
#---------------------------------------------------------------------------
# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
# AutoGen Definitions (see http://autogen.sf.net) file that captures the
# structure of the code including all documentation. Note that this feature is
# still experimental and incomplete at the moment.
# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
# the structure of the code including all documentation. Note that this feature
# is still experimental and incomplete at the moment.
# The default value is: NO.
GENERATE_AUTOGEN_DEF = NO

4
doc/zh-Hans/guide_build_linux.md
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@@ -5,13 +5,13 @@
## 获取代码
```bash
git clone https://github.com/slightech/MYNT-EYE-SDK-2.git
git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
```
## 准备依赖
```bash
cd mynt-eye-sdk-2/
cd mynt-eye-s-sdk/
make init
```

4
doc/zh-Hans/guide_build_win.md
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@@ -72,13 +72,13 @@ GNU Make 4.2.1
## 获取代码
```cmd
>git clone https://github.com/slightech/MYNT-EYE-SDK-2.git
>git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
```
## 准备依赖
```cmd
>cd mynt-eye-sdk-2
>cd mynt-eye-s-sdk
>make init
Make init
Init deps

8
doc/zh-Hans/mainpage.md
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@@ -1,9 +1,11 @@
# MYNT EYE SDK {#mainpage}
# MYNT EYE S SDK {#mainpage}
* API 模块
* <a class="el" href="annotated.html">API 类</a>
* <a class="el" href="modules.html">API 模块</a>
* \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
* <span style="font-weight:bold">设备说明</span>
* @subpage specs_data
* @subpage specs_ctrl

3
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@@ -1,4 +1,4 @@
# 控制 API 说明 {#spec_contorl_api}
# 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。
@@ -24,3 +24,4 @@
| 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 | |

20
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@@ -1,4 +1,4 @@
# 拓展通道说明 {#spec_contorl_channel}
# 拓展通道说明 {#spec_control_channel}
| 名称 | 字段 | 地址 | 带宽 | 说明 |
| :----- | :----- | :----- | :----- | :----- |
@@ -14,7 +14,7 @@
## 半双工通道
半双工通道是那些仅需 Get 或 Set 的控制通道，如请求零漂矫正。
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
@@ -25,18 +25,18 @@
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 | Description |
| :--------- | :---------- |
| 0 | 0: Get; 1: Set |
| 1~4 | 未定义 |
| 5 | IMU 参数 |
| 6 | 图像参数 |
| 7 | 硬件信息 |
| 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

2
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@@ -5,7 +5,7 @@
| 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 | |
| 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 |

2
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@@ -13,7 +13,7 @@
| 畸变模型 | model | - | 1 | uint8_t; pinhole,... |
| 畸变参数 | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
> 图像内参不同分辨率会不同。如果多分辨率的话，就会有多个。
> 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

4
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@@ -1,4 +1,4 @@
# 设备控制说明 {#specs_ctrl}
* @subpage spec_contorl_api
* @subpage spec_contorl_channel
* @subpage spec_control_api
* @subpage spec_control_channel