Merge branch 'release/v2.4.2' into develop

docs/src/product/imu_coord.rst

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

docs/src/product/imu_coord_s2110.rst

@@ -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

docs/src/product/product_spec.rst

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

docs/src/product/product_surface.rst

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

docs/src/product/spec_s2110.rst

@@ -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%
+============================  ============================================
+
+

docs/src/product/surface_s2110.rst

@@ -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.

docs/src/sdk/data/get_img_params.rst

@@ -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++