feat(src): added S200B device support

include/mynteye/types.h

@@ -44,6 +44,8 @@ enum class Model : std::uint8_t {
   STANDARD2,
   /** Standard 210a */
   STANDARD210A,
+  /** Standard 200b */
+  STANDARD200B,
   /** Last guard */
   LAST
 };
@@ -273,6 +275,9 @@ enum class Option : std::uint8_t {
   /** Erase chip */
   ERASE_CHIP,
 
+  /** Sync timestamp */
+  SYNC_TIMESTAMP,
+
   /** Last guard */
   LAST
 };

samples/tutorials/control/auto_exposure.cc

@@ -58,8 +58,9 @@ int main(int argc, char *argv[]) {
               << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
   }
 
-  // Set auto exposure options fo S2000/S2100/S210A
+  // Set auto exposure options fo S2000/S2100/S210A/S200B
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     // auto-exposure: 0
     api->SetOptionValue(Option::EXPOSURE_MODE, 0);
 

samples/tutorials/control/framerate.cc

@@ -45,8 +45,9 @@ int main(int argc, char *argv[]) {
               << api->GetOptionValue(Option::IMU_FREQUENCY);
   }
 
-  // You should set frame rate for S2000/S2100/S210A by 'SelectStreamRequest()'
+  // You should set frame rate for S2000/S2100/S210A/S200B by 'SelectStreamRequest()'
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     LOG(INFO) << "Please set frame rate by 'SelectStreamRequest()'";
   }
 

samples/tutorials/control/imu_low_pass_filter.cc

@@ -38,8 +38,9 @@ int main(int argc, char *argv[]) {
     return 0;
   }
 
-  // Set imu low pass filter for S2000/S2100/S210A
+  // Set imu low pass filter for S2000/S2100/S210A/S200B
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     // ACCELEROMETER_RANGE values: 0, 1, 2
     api->SetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER, 2);
     // GYROSCOPE_RANGE values: 23, 64

samples/tutorials/control/imu_range.cc

@@ -40,8 +40,9 @@ int main(int argc, char *argv[]) {
     api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
   }
 
-  // Set imu range for S2000/S2100/S210A
+  // Set imu range for S2000/S2100/S210A/S200B
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     // ACCELEROMETER_RANGE values: 6, 12, 24, 48
     api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
     // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000

samples/tutorials/control/infrared.cc

@@ -29,7 +29,7 @@ int main(int argc, char *argv[]) {
 
   Model model = api->GetModel();
 
-  if (model == Model::STANDARD || model == Model::STANDARD2) {
+  if (model == Model::STANDARD) {
     // ir control: range [0,160], default 0
     api->SetOptionValue(Option::IR_CONTROL, 80);
 
@@ -37,9 +37,10 @@ int main(int argc, char *argv[]) {
               << api->GetOptionValue(Option::IR_CONTROL);
   }
 
-  // MYNTEYE-S210A don't support this option
+  // MYNTEYE-S210A S2000 S200B don't support this option
-  if (model == Model::STANDARD210A) {
+  if (model == Model::STANDARD210A ||
-    LOG(INFO) << "Sorry,MYNTEYE-S210A don't support ir control";
+   model == Model::STANDARD2 || model == Model::STANDARD200B) {
+    LOG(INFO) << "Sorry, MYNTEYE-S210A S2000 S200B don't support ir control";
     return 0;
   }
 

samples/tutorials/control/manual_exposure.cc

@@ -54,8 +54,9 @@ int main(int argc, char *argv[]) {
     LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);
   }
 
-  // Set manual exposure options fo S2000/S2100/S210A
+  // Set manual exposure options fo S2000/S2100/S210A/S200B
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     // manual-exposure: 1
     api->SetOptionValue(Option::EXPOSURE_MODE, 1);
 

src/mynteye/api/api.cc

@@ -592,16 +592,6 @@ bool API::ConfigDisparityFromFile(const std::string& config_file) {
 bool API::IsDefaultIntrinsics() {
   if (device_ != nullptr) {
     return device_->CheckImageParams();
-    if (device_->CheckImageParams()) {
-      LOG(WARNING) << "Default intrinsics are currently being used.";
-      LOG(FATAL) << "Image params not found, but we need it to process the "
-                    "images. Please `make tools` and use `img_params_writer` "
-                    "to write the image params. If you update the SDK from "
-                    "1.x, the `SN*.conf` is the file contains them. Besides, "
-                    "you could also calibrate them by yourself. Read the guide "
-                    "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
-                    "to learn more.";
-    }
   }
 
   return false;

src/mynteye/device/channel/channels.cc

@@ -96,6 +96,9 @@ int XuHalfDuplexId(Option option) {
     case Option::ERASE_CHIP:
       return 1;
       break;
+    case Option::SYNC_TIMESTAMP:
+      return 2;
+      break;
     default:
       LOG(FATAL) << "No half duplex id for " << option;
   }
@@ -206,6 +209,9 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
     case Option::ERASE_CHIP:
       LOG(WARNING) << option << " get value useless";
       return -1;
+    case Option::SYNC_TIMESTAMP:
+      LOG(WARNING) << option << " get value useless";
+      return -1;
     default:
       LOG(ERROR) << "Unsupported option " << option;
   }
@@ -292,11 +298,49 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
     case Option::ERASE_CHIP:
       LOG(WARNING) << option << " set value useless";
       break;
+    case Option::SYNC_TIMESTAMP:
+      XuCamCtrlSet(option, value);
+      break;
     default:
       LOG(ERROR) << "Unsupported option " << option;
   }
 }
 
+bool Channels::SetControlValue(const Option &option, std::uint64_t value) {
+  switch (option) {
+    case Option::GAIN:
+    case Option::BRIGHTNESS:
+    case Option::CONTRAST:
+    case Option::FRAME_RATE:
+    case Option::IMU_FREQUENCY:
+    case Option::ACCELEROMETER_RANGE:
+    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
+    case Option::EXPOSURE_MODE:
+    case Option::MAX_GAIN:
+    case Option::MAX_EXPOSURE_TIME:
+    case Option::DESIRED_BRIGHTNESS:
+    case Option::IR_CONTROL:
+    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
+    case Option::IIC_ADDRESS_SETTING:
+    case Option::ZERO_DRIFT_CALIBRATION:
+      LOG(WARNING) << option << " refer to function SetControlValue(const Option &option, std::int32_t value)";
+      break;
+    case Option::ERASE_CHIP:
+      LOG(WARNING) << option << " set value useless";
+      break;
+    case Option::SYNC_TIMESTAMP:
+      return XuHalfDuplexSet(option, XU_SYNC_TIMESTAMP);
+      break;
+    default:
+      LOG(ERROR) << "Unsupported option " << option;
+  }
+
+  return false;
+}
+
 bool Channels::RunControlAction(const Option &option) const {
   switch (option) {
     case Option::ZERO_DRIFT_CALIBRATION:

src/mynteye/device/channel/channels.h

@@ -50,6 +50,7 @@ class MYNTEYE_API Channels {
   typedef enum XuCmd {
     XU_CMD_ZDC = 0xE6,    // zero drift calibration
     XU_CMD_ERASE = 0xDE,  // erase chip
+    XU_SYNC_TIMESTAMP = 0x200,  // sync timestamp
     XU_CMD_LAST
   } xu_cmd_t;
 
@@ -72,6 +73,7 @@ class MYNTEYE_API Channels {
 
   std::int32_t GetControlValue(const Option &option) const;
   void SetControlValue(const Option &option, std::int32_t value);
+  bool SetControlValue(const Option &option, std::uint64_t value);
 
   bool RunControlAction(const Option &option) const;
 

src/mynteye/device/config.cc

@@ -18,13 +18,15 @@ MYNTEYE_BEGIN_NAMESPACE
 const std::map<Model, StreamSupports> stream_supports_map = {
   {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}},
   {Model::STANDARD2, {Stream::LEFT, Stream::RIGHT}},
-  {Model::STANDARD210A, {Stream::LEFT, Stream::RIGHT}}
+  {Model::STANDARD210A, {Stream::LEFT, Stream::RIGHT}},
+  {Model::STANDARD200B, {Stream::LEFT, Stream::RIGHT}},
 };
 
 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
   {Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}},
   {Model::STANDARD2, {Capabilities::STEREO_COLOR, Capabilities::IMU}},
-  {Model::STANDARD210A, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
+  {Model::STANDARD210A, {Capabilities::STEREO_COLOR, Capabilities::IMU}},
+  {Model::STANDARD200B, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
 };
 
 const std::map<Model, OptionSupports> option_supports_map = {
@@ -54,7 +56,14 @@ const std::map<Model, OptionSupports> option_supports_map = {
     Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
     Option::ACCELEROMETER_LOW_PASS_FILTER, Option::GYROSCOPE_LOW_PASS_FILTER,
     Option::IIC_ADDRESS_SETTING, Option::ERASE_CHIP}
-  }
+  },
+  {Model::STANDARD200B, {
+    Option::BRIGHTNESS,
+    Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
+      Option::MIN_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::ACCELEROMETER_RANGE,
+    Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+    Option::GYROSCOPE_LOW_PASS_FILTER, Option::ERASE_CHIP, Option::SYNC_TIMESTAMP}
+  },
 };
 
 const std::map<Model, std::map<Capabilities, StreamRequests>>
@@ -86,7 +95,18 @@ stream_requests_map = {
       {2560, 800, Format::BGR888, 20},
       {2560, 800, Format::BGR888, 30}}
     }}
-  }
+  },
+  {Model::STANDARD200B,
+    {{Capabilities::STEREO_COLOR, {
+      {1280, 400, Format::YUYV, 10},
+      {1280, 400, Format::YUYV, 20},
+      {1280, 400, Format::YUYV, 30},
+      {1280, 400, Format::YUYV, 60},
+      {2560, 800, Format::YUYV, 10},
+      {2560, 800, Format::YUYV, 20},
+      {2560, 800, Format::YUYV, 30}}
+    }}
+  },
 };
 
 /**

src/mynteye/device/device.cc

@@ -111,13 +111,24 @@ std::shared_ptr<Device> Device::Create(
       if (model.generation == '1') {
         return std::make_shared<StandardDevice>(device);
       } else if (model.generation == '2') {
+        if (model.baseline_code == '1') {
           if (model.custom_code == '0') {
             return std::make_shared<Standard2Device>(Model::STANDARD2, device);
           } else if (model.custom_code == 'A') {
-          return std::make_shared<Standard2Device>(Model::STANDARD210A, device);
+            return std::make_shared<Standard2Device>(
+                Model::STANDARD210A, device);
           } else {
             LOG(FATAL) << "No such custom code now";
           }
+        } else if (model.baseline_code == '0') {
+          if (model.custom_code == 'B') {
+            return std::make_shared<Standard2Device>(Model::STANDARD200B, device);
+          } else {
+            LOG(FATAL) << "No such custom code now";
+          }
+        } else {
+          LOG(FATAL) << "No such baseline now";
+        }
       } else {
         LOG(FATAL) << "No such generation now";
       }

src/mynteye/device/standard2/device_s2.cc

@@ -26,7 +26,8 @@ Standard2Device::Standard2Device(const Model &model,
            std::make_shared<Standard2StreamsAdapter>(model),
            std::make_shared<Standard2ChannelsAdapter>(model)) {
   VLOG(2) << __func__;
-  CHECK(model == Model::STANDARD2 || model == Model::STANDARD210A);
+  CHECK(model == Model::STANDARD2 || model == Model::STANDARD210A ||
+        model == Model::STANDARD200B);
 }
 
 Standard2Device::~Standard2Device() {

src/mynteye/device/standard2/streams_adapter_s2.cc

@@ -227,6 +227,7 @@ Standard2StreamsAdapter::GetUnpackImgPixelsMap() {
         {Stream::RIGHT, s210a::unpack_right_img_pixels}
       };
     case Model::STANDARD2:
+    case Model::STANDARD200B:
     default:
       return {
         {Stream::LEFT, unpack_left_img_pixels},

src/mynteye/types.cc

@@ -31,6 +31,7 @@ const char *to_string(const Model &value) {
     CASE(STANDARD)
     CASE(STANDARD2)
     CASE(STANDARD210A)
+    CASE(STANDARD200B)
     default:
       CHECK(is_valid(value));
       return "Model::UNKNOWN";
@@ -125,6 +126,7 @@ const char *to_string(const Option &value) {
     CASE(IIC_ADDRESS_SETTING)
     CASE(ZERO_DRIFT_CALIBRATION)
     CASE(ERASE_CHIP)
+    CASE(SYNC_TIMESTAMP)
     default:
       CHECK(is_valid(value));
       return "Option::UNKNOWN";

test/types_test.cc

@@ -75,6 +75,7 @@ TEST(Option, VerifyToString) {
       "Option::ZERO_DRIFT_CALIBRATION",
       to_string(Option::ZERO_DRIFT_CALIBRATION));
   EXPECT_STREQ("Option::ERASE_CHIP", to_string(Option::ERASE_CHIP));
+  EXPECT_STREQ("Option::SYNC_TIMESTAMP", to_string(Option::SYNC_TIMESTAMP));
 }
 
 TEST(Source, VerifyToString) {

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/model.hpp

@@ -14,6 +14,8 @@ enum class Model : int {
     STANDARD2,
     /** Standard 210a */
     STANDARD210A,
+    /** Standard 200b */
+    STANDARD200B,
 };
 
 }  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option.hpp

@@ -104,6 +104,8 @@ enum class Option : int {
     ZERO_DRIFT_CALIBRATION,
     /** Erase chip */
     ERASE_CHIP,
+    /** Sync timestamp */
+    SYNC_TIMESTAMP,
 };
 
 }  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/type_conversion.hpp

@@ -64,6 +64,7 @@ RawModel from_jni(const JniModel& model) {
     case JniModel::STANDARD: return RawModel::STANDARD;
     case JniModel::STANDARD2: return RawModel::STANDARD2;
     case JniModel::STANDARD210A: return RawModel::STANDARD210A;
+    case JniModel::STANDARD200B: return RawModel::STANDARD200B;
     default:
       LOG(FATAL) << "Model is unknown";
   }
@@ -75,6 +76,7 @@ JniModel to_jni(const RawModel& model) {
     case RawModel::STANDARD: return JniModel::STANDARD;
     case RawModel::STANDARD2: return JniModel::STANDARD2;
     case RawModel::STANDARD210A: return JniModel::STANDARD210A;
+    case RawModel::STANDARD200B: return JniModel::STANDARD200B;
     default:
       LOG(FATAL) << "Model is unknown";
   }

wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Model.java

@@ -14,5 +14,7 @@ public enum Model {
     STANDARD2,
     /** Standard 210a */
     STANDARD210A,
+    /** Standard 200b */
+    STANDARD200B,
     ;
 }

wrappers/android/mynteye/scripts/mynteye_types.djinni

@@ -27,6 +27,8 @@ model = enum {
   standard2;
   # Standard 210a
   standard210a;
+  # Standard 200b
+  standard200B;
 }
 
 # Formats define how each stream can be encoded

wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml

@@ -19,7 +19,7 @@
 
 standard2/request_index: 2
 
-# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
+# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
 # 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
 standard2/imu_process_mode: 2
 
@@ -110,3 +110,45 @@ standard210a/gyro_low_filter: -1
 # standard210a/iic_address_setting range: [0,127]
 standard210a/iic_address_setting: -1
 # standard210a/iic_address_setting: 0x01
+
+# device options of standard200b, -1 will not set the value
+
+# standard200b/brightness range: [1,255]
+standard200b/brightness: -1
+# standard200b/brightness: 70
+
+# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard200b/exposure_mode: -1
+# standard200b/exposure_mode: 0
+
+# standard200b/max_gain range: [0,255]
+standard200b/max_gain: -1
+# standard200b/max_gain: 8
+
+# standard200b/max_exposure_time range: [0,1000]
+standard200b/max_exposure_time: -1
+# standard200b/max_exposure_time: 333
+
+# standard200b/desired_brightness range: [1,255]
+standard200b/desired_brightness: -1
+# standard200b/desired_brightness: 122
+
+# standard200b/min_exposure_time range: [0,1000]
+standard200b/min_exposure_time: -1
+# standard200b/min_exposure_time: 0
+
+# standard200b/accel_range range: [6,48]
+standard200b/accel_range: -1
+# standard200b/accel_range: 6
+
+# standard200b/gyro_range range: [250,4000]
+standard200b/gyro_range: -1
+# standard200b/gyro_range: 1000
+
+# standard200b/accel_low_filter range: [0,2]
+standard200b/accel_low_filter: -1
+# standard200b/accel_low_filter: 2
+
+# standard200b/gyro_low_filter range: [23,64]
+standard200b/gyro_low_filter: -1
+# standard200b/gyro_low_filter: 64

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_1/standard2.yaml

@@ -19,15 +19,15 @@
 
 standard2/request_index: 2
 
-# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
+# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
 # 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
-standard2/imu_process_mode: 0
+standard2/imu_process_mode: 2
 
 # device options of standard2, -1 will not set the value
 
-# standard2/brightness range: [0,240]
+# standard2/brightness range: [1,255]
 standard2/brightness: -1
-# standard2/brightness: 120
+# standard2/brightness: 70
 
 # standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard2/exposure_mode: -1
@@ -67,9 +67,9 @@ standard2/gyro_low_filter: -1
 
 # device options of standard210a, -1 will not set the value
 
-# standard210a/brightness range: [0,240]
+# standard210a/brightness range: [1,255]
 standard210a/brightness: -1
-# standard210a/brightness: 120
+# standard210a/brightness: 70
 
 # standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard210a/exposure_mode: -1
@@ -110,3 +110,45 @@ standard210a/gyro_low_filter: -1
 # standard210a/iic_address_setting range: [0,127]
 standard210a/iic_address_setting: -1
 # standard210a/iic_address_setting: 0x01
+
+# device options of standard200b, -1 will not set the value
+
+# standard200b/brightness range: [1,255]
+standard200b/brightness: -1
+# standard200b/brightness: 70
+
+# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard200b/exposure_mode: -1
+# standard200b/exposure_mode: 0
+
+# standard200b/max_gain range: [0,255]
+standard200b/max_gain: -1
+# standard200b/max_gain: 8
+
+# standard200b/max_exposure_time range: [0,1000]
+standard200b/max_exposure_time: -1
+# standard200b/max_exposure_time: 333
+
+# standard200b/desired_brightness range: [1,255]
+standard200b/desired_brightness: -1
+# standard200b/desired_brightness: 122
+
+# standard200b/min_exposure_time range: [0,1000]
+standard200b/min_exposure_time: -1
+# standard200b/min_exposure_time: 0
+
+# standard200b/accel_range range: [6,48]
+standard200b/accel_range: -1
+# standard200b/accel_range: 6
+
+# standard200b/gyro_range range: [250,4000]
+standard200b/gyro_range: -1
+# standard200b/gyro_range: 1000
+
+# standard200b/accel_low_filter range: [0,2]
+standard200b/accel_low_filter: -1
+# standard200b/accel_low_filter: 2
+
+# standard200b/gyro_low_filter range: [23,64]
+standard200b/gyro_low_filter: -1
+# standard200b/gyro_low_filter: 64

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_2/standard2.yaml

@@ -19,15 +19,15 @@
 
 standard2/request_index: 2
 
-# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
+# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
 # 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
-standard2/imu_process_mode: 0
+standard2/imu_process_mode: 2
 
 # device options of standard2, -1 will not set the value
 
-# standard2/brightness range: [0,240]
+# standard2/brightness range: [1,255]
 standard2/brightness: -1
-# standard2/brightness: 120
+# standard2/brightness: 70
 
 # standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard2/exposure_mode: -1
@@ -67,9 +67,9 @@ standard2/gyro_low_filter: -1
 
 # device options of standard210a, -1 will not set the value
 
-# standard210a/brightness range: [0,240]
+# standard210a/brightness range: [1,255]
 standard210a/brightness: -1
-# standard210a/brightness: 120
+# standard210a/brightness: 70
 
 # standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard210a/exposure_mode: -1
@@ -110,3 +110,45 @@ standard210a/gyro_low_filter: -1
 # standard210a/iic_address_setting range: [0,127]
 standard210a/iic_address_setting: -1
 # standard210a/iic_address_setting: 0x01
+
+# device options of standard200b, -1 will not set the value
+
+# standard200b/brightness range: [1,255]
+standard200b/brightness: -1
+# standard200b/brightness: 70
+
+# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard200b/exposure_mode: -1
+# standard200b/exposure_mode: 0
+
+# standard200b/max_gain range: [0,255]
+standard200b/max_gain: -1
+# standard200b/max_gain: 8
+
+# standard200b/max_exposure_time range: [0,1000]
+standard200b/max_exposure_time: -1
+# standard200b/max_exposure_time: 333
+
+# standard200b/desired_brightness range: [1,255]
+standard200b/desired_brightness: -1
+# standard200b/desired_brightness: 122
+
+# standard200b/min_exposure_time range: [0,1000]
+standard200b/min_exposure_time: -1
+# standard200b/min_exposure_time: 0
+
+# standard200b/accel_range range: [6,48]
+standard200b/accel_range: -1
+# standard200b/accel_range: 6
+
+# standard200b/gyro_range range: [250,4000]
+standard200b/gyro_range: -1
+# standard200b/gyro_range: 1000
+
+# standard200b/accel_low_filter range: [0,2]
+standard200b/accel_low_filter: -1
+# standard200b/accel_low_filter: 2
+
+# standard200b/gyro_low_filter range: [23,64]
+standard200b/gyro_low_filter: -1
+# standard200b/gyro_low_filter: 64

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

@@ -305,6 +305,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           {Option::ACCELEROMETER_LOW_PASS_FILTER, "standard2/accel_low_filter"},
           {Option::GYROSCOPE_LOW_PASS_FILTER, "standard2/gyro_low_filter"}};
     }
+
     // device options of standard
     if (model_ == Model::STANDARD) {
       option_names_ = {
@@ -323,6 +324,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           {Option::GYROSCOPE_RANGE, "standard/gyro_range"}};
     }
 
+    // device options of standard200b
+    if (model_ == Model::STANDARD200B) {
+      option_names_ = {
+          {Option::BRIGHTNESS, "standard200b/brightness"},
+          {Option::EXPOSURE_MODE, "standard200b/exposure_mode"},
+          {Option::MAX_GAIN, "standard200b/max_gain"},
+          {Option::MAX_EXPOSURE_TIME, "standard200b/max_exposure_time"},
+          {Option::DESIRED_BRIGHTNESS, "standard200b/desired_brightness"},
+          {Option::MIN_EXPOSURE_TIME, "standard200b/min_exposure_time"},
+          {Option::ACCELEROMETER_RANGE, "standard200b/accel_range"},
+          {Option::GYROSCOPE_RANGE, "standard200b/gyro_range"},
+          {Option::ACCELEROMETER_LOW_PASS_FILTER, "standard200b/accel_low_filter"},
+          {Option::GYROSCOPE_LOW_PASS_FILTER, "standard200b/gyro_low_filter"}};
+    }
     for (auto &&it = option_names_.begin(); it != option_names_.end(); ++it) {
       if (!api_->Supports(it->first))
         continue;
@@ -349,8 +364,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
 
-    // Only STANDARD2/STANDARD210A need publish mono_topics
+    // Only STANDARD2/STANDARD210A/STANDARD200B need publish mono_topics
-    if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
+    if (model_ == Model::STANDARD2 ||
+     model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
       for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
         auto &&topic = mono_topics[it->first];
         if (it->first == Stream::LEFT ||
@@ -365,7 +381,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
     int depth_type = 0;
     private_nh_.getParamCached("depth_type", depth_type);
-    if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
+    if (model_ == Model::STANDARD2 ||
+     model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
       camera_encodings_ = {{Stream::LEFT, enc::BGR8},
                           {Stream::RIGHT, enc::BGR8},
                           {Stream::LEFT_RECTIFIED, enc::BGR8},
@@ -1095,7 +1112,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     int request_index = 0;
 
     model_ = api_->GetModel();
-    if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
+    if (model_ == Model::STANDARD2 ||
+     model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
       private_nh_.getParamCached("standard2/request_index", request_index);
       switch (request_index) {
         case 0:
@@ -1122,7 +1140,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
     std::int32_t process_mode = 0;
     if (model_ == Model::STANDARD2 ||
-        model_ == Model::STANDARD210A) {
+        model_ == Model::STANDARD210A || model_ == Model::STANDARD200B) {
       private_nh_.getParamCached("standard2/imu_process_mode", process_mode);
       api_->EnableProcessMode(process_mode);
     }