Merge branch 'release/v2.4.2' into develop

This commit is contained in:
TinyO 2019-08-30 16:53:04 +08:00
commit 2a613dcbe0
8 changed files with 135 additions and 0 deletions

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@ -8,3 +8,4 @@ IMU Coordinate System
imu_coord_s1030
imu_coord_s2100
imu_coord_s2110

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@ -0,0 +1,8 @@
.. _product_imu_coord_s2110:
S2110 Coordinate System
====================================
IMU coordinate system is right-handed,the axis directions are as follows:
.. image:: ../../images/product/mynteye_s2110_imu_coord.jpg

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@ -9,3 +9,4 @@ Product Specification
spec_s1030
spec_s1030_ir
spec_s2100
spec_s2110

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@ -8,3 +8,4 @@ Product Surface
surface_s1030
surface_s2100
surface_s2110

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@ -0,0 +1,105 @@
.. _mynteye_spec_s2110:
S2110-146/Color Product Specification
========================================
Product Specification
-----------------------
========================== =====================================================
Model S2110-146/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%
============================ ============================================

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@ -0,0 +1,15 @@
.. _mynteye_surface_s2110:
S2110 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.

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@ -10,6 +10,10 @@ Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameter
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``
Note
Camera Intrinsics/Extrinsics, please ref to: ros `CameraInfo <http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html>`_.
Reference code snippet:
.. code-block:: c++