Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

README.md

@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.1-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
@@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations
 
 * [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893965/mynt-eye-s-sdk-apidoc-2.3.1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893979/mynt-eye-s-sdk-apidoc-2.3.1-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913110/mynt-eye-s-sdk-apidoc-2.3.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913111/mynt-eye-s-sdk-apidoc-2.3.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893985/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893986/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913112/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913113/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans/index.html)
 * [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893975/mynt-eye-s-sdk-guide-2.3.1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893996/mynt-eye-s-sdk-guide-2.3.1-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913052/mynt-eye-s-sdk-guide-2.3.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913053/mynt-eye-s-sdk-guide-2.3.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893997/mynt-eye-s-sdk-guide-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893997/mynt-eye-s-sdk-guide-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.3.1-zh-Hans/mynt-eye-s-sdk-guide-2.3.1-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913054/mynt-eye-s-sdk-guide-2.3.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913056/mynt-eye-s-sdk-guide-2.3.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.3.2-zh-Hans/mynt-eye-s-sdk-guide-2.3.2-zh-Hans/index.html)
 
 > Supported languages: `en`, `zh-Hans`.
 

doc/en/spec_hardware_info.md

@@ -12,3 +12,5 @@
 | 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 |

doc/zh-Hans/spec_hardware_info.md

@@ -12,6 +12,8 @@
 | 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。

include/mynteye/device/types.h

@@ -162,6 +162,8 @@ struct MYNTEYE_API DeviceInfo {
   Type lens_type;
   Type imu_type;
   std::uint16_t nominal_baseline;
+  Version auxiliary_chip_version;
+  Version isp_version;
 };
 
 #undef MYNTEYE_PROPERTY

include/mynteye/types.h

@@ -122,6 +122,10 @@ enum class Info : std::uint8_t {
   IMU_TYPE,
   /** Nominal baseline */
   NOMINAL_BASELINE,
+  /** Auxiliary chip version */
+  AUXILIARY_CHIP_VERSION,
+  /** Isp version */
+  ISP_VERSION,
   /** SDK version*/
   SDK_VERSION,
   /** Last guard */

samples/tutorials/data/get_device_info.cc

@@ -28,6 +28,9 @@ int main(int argc, char *argv[]) {
   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);
+  LOG(INFO) << "Auxiliary chip version: "
+            << api->GetInfo(Info::AUXILIARY_CHIP_VERSION);
+  LOG(INFO) << "Nominal baseline: " << api->GetInfo(Info::ISP_VERSION);
 
   return 0;
 }

src/mynteye/device/channel/channels.cc

@@ -460,6 +460,7 @@ bool Channels::GetFiles(
     while (i < end) {
       std::uint8_t file_id = *(data + i);
       std::uint16_t file_size = bytes::_from_data<std::uint16_t>(data + i + 1);
+      LOG(INFO) << "GetFiles:data_size : " << file_size;
       VLOG(2) << "GetFiles id: " << static_cast<int>(file_id)
               << ", size: " << file_size;
       i += 3;

src/mynteye/device/channel/file_channel.cc

@@ -32,6 +32,7 @@ std::size_t FileChannel::GetDeviceInfoFromData(
     const std::uint8_t *data, const std::uint16_t &data_size,
     device_info_t *info) {
   auto n = dev_info_parser_->GetFromData(data, data_size, info);
+  LOG(INFO) << "GetDeviceInfoFromData:data_size : " << data_size;
   auto spec_version = info->spec_version;
   img_params_parser_->SetSpecVersion(spec_version);
   imu_params_parser_->SetSpecVersion(spec_version);
@@ -113,6 +114,22 @@ std::size_t DeviceInfoParser::GetFromData(
   info->nominal_baseline = bytes::_from_data<std::uint16_t>(data + i);
   i += 2;
 
+  if (info->spec_version >= Version(1, 2)) {
+    // auxiliary_chip_version, 2
+    info->auxiliary_chip_version.set_major(data[i]);
+    info->auxiliary_chip_version.set_minor(data[i + 1]);
+    i += 2;
+    // isp_version, 2
+    info->isp_version.set_major(data[i]);
+    info->isp_version.set_minor(data[i + 1]);
+    i += 2;
+  } else {
+    info->auxiliary_chip_version.set_major(0);
+    info->auxiliary_chip_version.set_minor(0);
+    info->isp_version.set_major(0);
+    info->isp_version.set_minor(0);
+  }
+
   // get other infos according to spec_version
 
   MYNTEYE_UNUSED(data_size)
@@ -155,6 +172,17 @@ std::size_t DeviceInfoParser::SetToData(
   bytes::_to_data(info->nominal_baseline, data + i);
   i += 2;
 
+  if (info->spec_version >= Version(1, 2)) {
+    // auxiliary_chip_version, 2
+    data[i] = info->auxiliary_chip_version.major();
+    data[i + 1] = info->auxiliary_chip_version.minor();
+    i += 2;
+    // isp_version, 2
+    data[i] = info->isp_version.major();
+    data[i + 1] = info->isp_version.minor();
+    i += 2;
+  }
+
   // set other infos according to spec_version
 
   // others
@@ -181,7 +209,7 @@ std::size_t ImgParamsParser::GetFromData(
     return GetFromData_v1_0(data, data_size, img_params);
   }
   // s210a old params
-  if (spec_version_ == Version(1, 1) && data_size == 404) {
+  if (spec_version_ >= Version(1, 1) && data_size == 404) {
     return GetFromData_v1_1(data, data_size, img_params);
   }
   // get img params with new version format
@@ -406,7 +434,7 @@ std::size_t ImuParamsParser::GetFromData(
     return GetFromData_old(data, data_size, imu_params);
   }
   // s210a old params
-  if (spec_version_ == Version(1, 1) && data_size == 384) {
+  if (spec_version_ >= Version(1, 1) && data_size == 384) {
     return GetFromData_old(data, data_size, imu_params);
   }
   // get imu params with new version format

src/mynteye/device/device.cc

@@ -234,6 +234,10 @@ std::string Device::GetInfo(const Info &info) const {
       return device_info_->imu_type.to_string();
     case Info::NOMINAL_BASELINE:
       return std::to_string(device_info_->nominal_baseline);
+    case Info::AUXILIARY_CHIP_VERSION:
+      return device_info_->auxiliary_chip_version.to_string();
+    case Info::ISP_VERSION:
+      return device_info_->isp_version.to_string();
     default:
       LOG(WARNING) << "Unknown device info";
       return "";

src/mynteye/types.cc

@@ -92,6 +92,8 @@ const char *to_string(const Info &value) {
     CASE(LENS_TYPE)
     CASE(IMU_TYPE)
     CASE(NOMINAL_BASELINE)
+    CASE(AUXILIARY_CHIP_VERSION)
+    CASE(ISP_VERSION)
     default:
       CHECK(is_valid(value));
       return "Info::UNKNOWN";

test/types_test.cc

@@ -53,6 +53,8 @@ TEST(Info, VerifyToString) {
   EXPECT_STREQ("Info::LENS_TYPE", to_string(Info::LENS_TYPE));
   EXPECT_STREQ("Info::IMU_TYPE", to_string(Info::IMU_TYPE));
   EXPECT_STREQ("Info::NOMINAL_BASELINE", to_string(Info::NOMINAL_BASELINE));
+  EXPECT_STREQ("Info::AUXILIARY_CHIP_VERSION", to_string(Info::AUXILIARY_CHIP_VERSION));
+  EXPECT_STREQ("Info::ISP_VERSION", to_string(Info::ISP_VERSION));
 }
 
 TEST(Option, VerifyToString) {

tools/writer/config/S210A/device.info

@@ -2,9 +2,11 @@
 ---
 device_name: MYNT-EYE-S210A
 serial_number: "07C40D1C0009071F"
-firmware_version: "0.1"
+firmware_version: "1.1"
 hardware_version: "1.0"
-spec_version: "1.1"
+spec_version: "1.2"
-lens_type: "0000"
+lens_type: "0001"
-imu_type: "0000"
+imu_type: "0001"
 nominal_baseline: 0
+auxiliary_chip_version: "1.0"
+isp_version: "1.0"

tools/writer/device_writer.cc

@@ -52,7 +52,11 @@ bool DeviceWriter::WriteDeviceInfo(const dev_info_t &info) {
               << ", spec_version: " << dev_info->spec_version.to_string()
               << ", lens_type: " << dev_info->lens_type.to_string()
               << ", imu_type: " << dev_info->imu_type.to_string()
-              << ", nominal_baseline: " << dev_info->nominal_baseline << "}";
+              << ", nominal_baseline: " << dev_info->nominal_baseline
+              << ", auxiliary_chip_version: "
+              << dev_info->auxiliary_chip_version.to_string()
+              << ", isp_version: "
+              << dev_info->isp_version.to_string()<< "}";
     return true;
   } else {
     LOG(ERROR) << "Write device info failed";
@@ -215,6 +219,8 @@ bool DeviceWriter::SaveDeviceInfo(
   fs << "lens_type" << info.lens_type.to_string();
   fs << "imu_type" << info.imu_type.to_string();
   fs << "nominal_baseline" << info.nominal_baseline;
+  fs << "auxiliary_chip_version" << info.auxiliary_chip_version.to_string();
+  fs << "isp_version" << info.isp_version.to_string();
   // save other infos according to spec_version
   fs.release();
   return true;

wrappers/python/src/mynteye_py.cc

@@ -104,7 +104,7 @@ struct MYNTEYE_API MotionData {
   ImuData imu;
 
   bool operator==(const MotionData &other) const {
-    return imu.timestamp == other.imu.timestamp;           
+    return imu.timestamp == other.imu.timestamp;
   }
 };
 
@@ -247,6 +247,8 @@ BOOST_PYTHON_MODULE(mynteye_py) {
       .value("LENS_TYPE", Info::LENS_TYPE)
       .value("IMU_TYPE", Info::IMU_TYPE)
       .value("NOMINAL_BASELINE", Info::NOMINAL_BASELINE)
+      .value("AUXILIARY_CHIP_VERSION", Info::AUXILIARY_CHIP_VERSION)
+      .value("ISP_VERSION", Info::ISP_VERSION)
 #ifdef ENUM_EXPORT_VALUES
       .export_values()
 #endif

wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch

@@ -153,7 +153,7 @@
   <!-- <arg name="standard2/ir_control" default="0" /> -->
 
   <!-- standard2/accel_range range: [6,48] -->
-  <arg name="standard2/accel_range" default="-1" />
+  <arg name="standard2/accel_range" default="24" />
   <!-- <arg name="standard2/accel_range" default="6" /> -->
 
   <!-- standard2/gyro_range range: [250,4000] -->

wrappers/ros/src/mynt_eye_ros_wrapper/scripts/get_device_info.py

@@ -54,6 +54,8 @@ def main():
       'LENS_TYPE': GetInfoRequest.LENS_TYPE,
       'IMU_TYPE': GetInfoRequest.IMU_TYPE,
       'NOMINAL_BASELINE': GetInfoRequest.NOMINAL_BASELINE,
+      'AUXILIARY_CHIP_VERSION': GetInfoRequest.AUXILIARY_CHIP_VERSION,
+      'ISP_VERSION': GetInfoRequest.ISP_VERSION,
   }
   for k, v in get_device_info(**keys).items():
     print('{}: {}'.format(k, v))

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -407,6 +407,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       case Request::NOMINAL_BASELINE:
         res.value = api_->GetInfo(Info::NOMINAL_BASELINE);
         break;
+      case Request::AUXILIARY_CHIP_VERSION:
+        res.value = api_->GetInfo(Info::AUXILIARY_CHIP_VERSION);
+        break;
+      case Request::ISP_VERSION:
+        res.value = api_->GetInfo(Info::ISP_VERSION);
+        break;
       case Request::IMG_INTRINSICS:
       {
         auto intri_left = api_->GetIntrinsicsBase(Stream::LEFT);

wrappers/ros/src/mynt_eye_ros_wrapper/srv/GetInfo.srv

@@ -6,10 +6,12 @@ uint32 SPEC_VERSION=4
 uint32 LENS_TYPE=5
 uint32 IMU_TYPE=6
 uint32 NOMINAL_BASELINE=7
-uint32 IMG_INTRINSICS=8
+uint32 AUXILIARY_CHIP_VERSION=8
-uint32 IMG_EXTRINSICS_RTOL=9
+uint32 ISP_VERSION=9
-uint32 IMU_INTRINSICS=10
+uint32 IMG_INTRINSICS=10
-uint32 IMU_EXTRINSICS=11
+uint32 IMG_EXTRINSICS_RTOL=11
+uint32 IMU_INTRINSICS=12
+uint32 IMU_EXTRINSICS=13
 uint32 key
 ---
 string value