/wrappers/ros/
+ ├─src/
+ │ └─mynt_eye_ros_wrapper/
+ │ ├─launch/
+ │ │ ├─display.launch
+ │ │ └─mynteye.launch
+ │ ├─msg/
+ │ ├─rviz/
+ │ ├─src/
+ │ │ ├─wrapper_node.cc
+ │ │ └─wrapper_nodelet.cc
+ │ ├─CMakeLists.txt
+ │ ├─nodelet_plugins.xml
+ │ └─package.xml
+ └─README.md
+
+In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, and set the control options. Please set ``gravity`` to the local gravity acceleration.
+
+.. code-block:: xml
+
+ # s2100/s210a modify frame/resolution
+
+
+ # s1030 modify frame/imu hz
+
+
+
+
+
+
+
+ ...
+
+ # s2100 modify brightness
+
+
+
+ ...
+
+ # s210a modify brightness
+
+
+
+ ...
+
+.. code-block:: xml
+
+
+
+For printing debug info, replace ``Info`` in ``wrapper_node.cc`` to ``Debug`` :
+
+.. code-block:: c++
+
+ ros::console::set_logger_level(
+ ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info);
diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 348d37d..26ea5dd 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -137,109 +137,125 @@ enum class Info : std::uint8_t {
enum class Option : std::uint8_t {
/**
* Image gain, valid if manual-exposure
- *
+ *
* range: [0,48], default: 24
+ *
*/
GAIN,
/**
* Image brightness, valid if manual-exposure
- *
+ *
* range: [0,240], default: 120
+ *
*/
BRIGHTNESS,
/**
* Image contrast, valid if manual-exposure
- *
+ *
* range: [0,255], default: 127
+ *
*/
CONTRAST,
/**
* Image frame rate, must set IMU_FREQUENCY together
- *
+ *
* values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
+ *
*/
FRAME_RATE,
/**
* IMU frequency, must set FRAME_RATE together
- *
+ *
* values: {100,200,250,333,500}, default: 200
+ *
*/
IMU_FREQUENCY,
/**
* Exposure mode
- *
- * 0: enable auto-exposure
+ *
+ * 0: enable auto-exposure
* 1: disable auto-exposure (manual-exposure)
+ *
*/
EXPOSURE_MODE,
/**
* Max gain, valid if auto-exposure
- *
- * range of standard 1: [0,48], default: 48
+ *
+ * range of standard 1: [0,48], default: 48
* range of standard 2: [0,255], default: 8
+ *
*/
MAX_GAIN,
/**
* Max exposure time, valid if auto-exposure
- *
- * range of standard 1: [0,240], default: 240
+ *
+ * range of standard 1: [0,240], default: 240
* range of standard 2: [0,1000], default: 333
+ *
*/
MAX_EXPOSURE_TIME,
/**
* min exposure time, valid if auto-exposure
- *
- * range: [0,1000], default: 0
+ *
+ * range: [0,1000], default: 0
+ *
*/
MIN_EXPOSURE_TIME,
/**
* Desired brightness, valid if auto-exposure
- *
- * range of standard 1: [0,255], default: 192
+ *
+ * range of standard 1: [0,255], default: 192
* range of standard 2: [1,255], default: 122
+ *
*/
DESIRED_BRIGHTNESS,
/**
* IR control
- *
- * range: [0,160], default: 0
+ *
+ * range: [0,160], default: 0
+ *
*/
IR_CONTROL,
/**
* HDR mode
- *
- * 0: 10-bit
+ *
+ * 0: 10-bit
* 1: 12-bit
+ *
*/
HDR_MODE,
/**
* The range of accelerometer
- *
- * value of standard 1: {4,8,16,32}, default: 8
+ *
+ * value of standard 1: {4,8,16,32}, default: 8
* value of standard 2: {6,12,24,48}, default: 12
+ *
*/
ACCELEROMETER_RANGE,
/**
* The range of gyroscope
- *
- * value of standard 1: {500,1000,2000,4000}, default: 1000
+ *
+ * value of standard 1: {500,1000,2000,4000}, default: 1000
* value of standard 2: {250,500,1000,2000,4000}, default: 1000
+ *
*/
GYROSCOPE_RANGE,
/**
* The parameter of accelerometer low pass filter
- *
+ *
* values: {0,1,2}, default: 2
+ *
*/
ACCELEROMETER_LOW_PASS_FILTER,
/**
* The parameter of gyroscope low pass filter
- *
+ *
* values: {23,64}, default: 64
+ *
*/
GYROSCOPE_LOW_PASS_FILTER,
@@ -664,10 +680,11 @@ struct MYNTEYE_API ImuData {
std::uint32_t frame_id;
/**
* IMU accel or gyro flag
- *
- * 0: accel and gyro are both valid
- * 1: accel is valid
+ *
+ * 0: accel and gyro are both valid
+ * 1: accel is valid
* 2: gyro is valid
+ *
*/
std::uint8_t flag;
/** IMU timestamp in 1us */