Merge branch 'feature/docs' into hotfix/2.3.9
* feature/docs: docs(*): fix requirements docs(*): update doc 更新Datasheet和标定文档 新版文档更新 docs(*): update docs # Conflicts: # docs/src/sdk/exe_install_windows.rst
This commit is contained in:
John Zhao
commit
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.. _api:
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API
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||||
===
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@ -1,7 +1,5 @@
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.. _api:
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API DOC
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=========
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API DOCS
|
||||
==============
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||||
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.. toctree::
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@ -9,4 +7,4 @@ API DOC
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device
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enums
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types
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utils
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utils
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@ -1,3 +1,5 @@
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.. _device:
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Device
|
||||
======
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|
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@ -1,3 +1,5 @@
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.. _enums:
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Enums
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||||
=====
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|
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@ -1,3 +1,5 @@
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.. _types:
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Types
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||||
=====
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|
|
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@ -1,3 +1,5 @@
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.. _utils:
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Utils
|
||||
=====
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@ -7,19 +7,18 @@ MYNT® EYE S SDK
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===============
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.. toctree::
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:maxdepth: 2
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:titlesonly:
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||||
:maxdepth: 2
|
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|
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src/mynteye/contents
|
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src/sdk/contents
|
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src/firmware/contents
|
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src/data/contents
|
||||
src/control/contents
|
||||
src/log/contents
|
||||
src/wrapper/contents
|
||||
src/analytics/contents
|
||||
src/tools/contents
|
||||
src/slam/contents
|
||||
api/contents
|
||||
src/support/contents
|
||||
|
||||
..
|
||||
Indices and tables
|
||||
|
|
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@ -1,6 +1,6 @@
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.. _dataset:
|
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.. _analytics_dataset:
|
||||
|
||||
Recording data sets
|
||||
Recording Data Sets
|
||||
====================
|
||||
|
||||
The SDK provides the tool ``record`` for recording data sets. Tool details can be seen in `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
|
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|
|
@ -1,6 +1,6 @@
|
|||
.. _analytics_stamp:
|
||||
|
||||
Analyze time stamps
|
||||
Analyze Time Stamps
|
||||
====================
|
||||
|
||||
SDK provides a script for timestamp analysis ``stamp_analytics.py`` . Tool details are visible in `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
|
||||
|
|
|
|||
|
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@ -1,10 +1,9 @@
|
|||
.. _analytics:
|
||||
|
||||
Data Analytics
|
||||
===============
|
||||
SDK TOOLS
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
dataset
|
||||
analytics_dataset
|
||||
analytics_imu
|
||||
analytics_stamp
|
||||
analytics_stamp
|
||||
|
|
@ -1,6 +1,4 @@
|
|||
.. _data:
|
||||
|
||||
MYNT® EYE Data
|
||||
SDK SAMPLES
|
||||
==============
|
||||
|
||||
.. toctree::
|
||||
|
|
@ -16,7 +14,4 @@ MYNT® EYE Data
|
|||
get_imu
|
||||
get_imu_correspondence
|
||||
get_from_callbacks
|
||||
get_with_plugin
|
||||
save_params
|
||||
write_img_params
|
||||
write_imu_params
|
||||
get_with_plugin
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
.. _get_depth:
|
||||
.. _data_get_depth:
|
||||
|
||||
Get depth image
|
||||
Get Depth Image
|
||||
===============
|
||||
|
||||
Depth images belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. The depth image type is CV_16UC1. In addition, it should be check not be empty before use.
|
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|
|
|
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|
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@ -1,6 +1,6 @@
|
|||
.. _get_device_info:
|
||||
.. _data_get_device_info:
|
||||
|
||||
Get device information
|
||||
Get Device Information
|
||||
======================
|
||||
|
||||
Use ``GetInfo()`` function to get various current information values.
|
||||
|
|
|
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|
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@ -1,6 +1,6 @@
|
|||
.. _get_disparity:
|
||||
.. _data_get_disparity:
|
||||
|
||||
Get disparity image
|
||||
Get Disparity Image
|
||||
===================
|
||||
|
||||
Disparity image belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. In addition, it should be check not be empty before use.
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|
|
|
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|
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@ -1,6 +1,6 @@
|
|||
.. _get_from_callbacks:
|
||||
.. _data_get_from_callbacks:
|
||||
|
||||
Get data from callbacks
|
||||
Get Data From Callbacks
|
||||
========================
|
||||
|
||||
API offers function ``SetStreamCallback()`` and ``SetMotionCallback()`` to set callbacks for various data.
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||||
|
|
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|
|
@ -1,6 +1,6 @@
|
|||
.. _get_img_params:
|
||||
.. _data_get_img_params:
|
||||
|
||||
Get image calibration parameters
|
||||
Get Image Calibration Parameters
|
||||
================================
|
||||
|
||||
Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameters.
|
||||
|
|
|
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|
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@ -1,6 +1,6 @@
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|||
.. _get_imu_data:
|
||||
.. _data_get_imu_data:
|
||||
|
||||
Get IMU data
|
||||
Get IMU Data
|
||||
=============
|
||||
|
||||
The API offers ``Start()`` / ``Stop()`` function to start/stop capturing data. You can set the argument to``Source::MOTION_TRACKING`` to capture IMU data only, or set it to ``Source::ALL`` to capture both image and IMU data.
|
||||
|
|
|
|||
|
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@ -1,6 +1,6 @@
|
|||
.. _get_imu_correspondence:
|
||||
.. _data_get_imu_correspondence:
|
||||
|
||||
Get IMU data with timestamp correspondence
|
||||
Get IMU Data With Timestamp Correspondence
|
||||
===========================================
|
||||
|
||||
If wanna get image with timestamp in the middle of IMU datas, you could call `EnableTimestampCorrespondence()`` to enable this feature.
|
||||
|
|
|
|||
|
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@ -1,6 +1,6 @@
|
|||
.. _get_imu_params:
|
||||
.. _data_get_imu_params:
|
||||
|
||||
Get IMU calibration parameters
|
||||
Get IMU Calibration Parameters
|
||||
==============================
|
||||
|
||||
Use ``GetMotionIntrinsics()`` & ``GetMotionExtrinsics()`` to get current IMU calibration parameters.
|
||||
|
|
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|||
|
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@ -1,6 +1,6 @@
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|||
.. _get_points:
|
||||
.. _data_get_points:
|
||||
|
||||
Get point image
|
||||
Get Point Image
|
||||
================
|
||||
|
||||
Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use.
|
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|
|
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|
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@ -1,6 +1,6 @@
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.. _get_stereo:
|
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.. _data_get_stereo:
|
||||
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||||
Get original binocular image
|
||||
Get Original Binocular Image
|
||||
=============================
|
||||
|
||||
Use ``Start()`` or ``Stop()`` , to start or stop data capturing. If you only need the image data, use ``Source::VIDEO_STREAMING`` .
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _get_stereo_rectified:
|
||||
.. _data_get_stereo_rectified:
|
||||
|
||||
Get stereo camera correction image
|
||||
Get Stereo Camera Correction Image
|
||||
==================================
|
||||
|
||||
The ``GetStreamData()`` API provided can only get the raw data of the hardware, for example, the stereo camera raw image.
|
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|
|
|
|||
|
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@ -1,6 +1,6 @@
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|||
.. _get_with_plugin:
|
||||
.. _data_get_with_plugin:
|
||||
|
||||
Using the plugin to get data
|
||||
Using The Plugin To Get Data
|
||||
============================
|
||||
|
||||
API provides a ``EnablePlugin()`` function to enable plugins under a path.
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _save_params:
|
||||
.. _data_save_params:
|
||||
|
||||
Save device infomation and parameters
|
||||
Save Device Infomation And Parameters
|
||||
=====================================
|
||||
|
||||
The SDK provides a tool ``save_all_infos`` for save information and parameters. For more information, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _write_img_params:
|
||||
.. _data_write_img_params:
|
||||
|
||||
Write image parameters
|
||||
Write Image Parameters
|
||||
=======================
|
||||
|
||||
The SDK provides a tool ``img_params_writer`` for writing image parameters. For details, read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _write_imu_params:
|
||||
.. _data_write_imu_params:
|
||||
|
||||
Write IMU parameters
|
||||
Write IMU Parameters
|
||||
=====================
|
||||
|
||||
SDK provides the tool ``imu_params_writer`` to write IMU parameters. For deltail, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
|
||||
|
|
|
|||
9
docs/src/firmware/FirmwareContents.rst
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9
docs/src/firmware/FirmwareContents.rst
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|
|
@ -0,0 +1,9 @@
|
|||
.. _firmware:
|
||||
|
||||
Firmware Description
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
applicable
|
||||
11
docs/src/firmware/FirmwareUpdate.rst
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11
docs/src/firmware/FirmwareUpdate.rst
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|
|
@ -0,0 +1,11 @@
|
|||
.. _firmware:
|
||||
|
||||
Upgrade Firmware
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
upgrade
|
||||
stm_update
|
||||
from_v1
|
||||
5
docs/src/firmware/UpdateLog.rst
Normal file
5
docs/src/firmware/UpdateLog.rst
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
Update Log
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
|
@ -1,11 +1,9 @@
|
|||
.. _firmware:
|
||||
|
||||
MYNT® EYE Firmware
|
||||
FIRMWARE
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
applicable
|
||||
upgrade
|
||||
stm_update
|
||||
from_v1.rst
|
||||
FirmwareContents
|
||||
FirmwareUpdate
|
||||
UpdateLogToDos
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
.. _sdk_from_v1:
|
||||
.. _firmware_from_v1:
|
||||
|
||||
Change from SDK 1.x to 2.x
|
||||
===========================
|
||||
|
|
|
|||
|
|
@ -1,14 +1,11 @@
|
|||
.. _mynteye:
|
||||
|
||||
MYNT® EYE product introduction
|
||||
==============================
|
||||
PRODUCT
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
intro
|
||||
surface_s1030
|
||||
imu_coord_s1030
|
||||
spec_s1030
|
||||
surface_s2100
|
||||
imu_coord_s2100
|
||||
spec_s2100
|
||||
product_description
|
||||
product_surface
|
||||
pro_intro
|
||||
support_resolutions
|
||||
imu_coord
|
||||
11
docs/src/mynteye/imu_coord.rst
Normal file
11
docs/src/mynteye/imu_coord.rst
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
.. _mynteye:
|
||||
|
||||
IMU Coordinata System
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
imu_coord_s1030
|
||||
imu_coord_s2100
|
||||
|
||||
11
docs/src/mynteye/pro_intro.rst
Normal file
11
docs/src/mynteye/pro_intro.rst
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
.. _mynteye:
|
||||
|
||||
Product Introduction
|
||||
==============================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
spec_s1030
|
||||
spec_s1030_ir
|
||||
spec_s2100
|
||||
|
|
@ -1,11 +1,11 @@
|
|||
.. _mynteye_intro:
|
||||
.. _mynteye:
|
||||
|
||||
Product description
|
||||
Product Description
|
||||
====================
|
||||
|
||||
MYNT® EYE S Series includes MYNT EYE S, MYNT EYE SE and MYNT EYE SC. The “Binocular + IMU” inertial navigation solution for MYNT® EYE S Series provides accurate six-axis complementary data for vSLAM applications and is more accurate and robust than other single solutions.
|
||||
|
||||
Combined with self-developed camera synchronization, auto exposure, and white balance control camera technology, MYNT® EYE S Series provides a CUDA-based GPU real-time acceleration solution that outputs high-precision, synchronized image sources to help reduce the difficulty of algorithm development and speed up the efficiency of algorithm research and development. At the same time, MYNT EYE S is equipped with a six-axis sensor (IMU) and an infrared active light (IR). Among them, six-axis sensor (IMU) can provide data complementation and correction for the research of visual positioning algorithm, suitable for algorithm research of visual inertial odometer (VIO), help improve positioning accuracy; infrared active light (IR) can help solve the problem of identifying indoor white walls and non-textured objects, and improve the recognition accuracy of image sources. The difference between MYNT EYE SE and MYNT EYE S is that MYNT EYE SE does not include IR and offers customers with lower cost hardware. MYNT EYE SC provides 8cm/12cm optional baseline solution, super wide angle 146°FOV, providing a wider depth recognition range and accuracy level, with color image sensor, upgraded brand new BMI088 six-axis IMU, IR active light, I2C time synchronization Chip, global shutter, etc., with resolutions up to 1280x800/60fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation.
|
||||
Combined with self-developed camera synchronization, auto exposure, and white balance control camera technology, MYNT® EYE S Series provides a CUDA-based GPU real-time acceleration solution that outputs high-precision, synchronized image sources to help reduce the difficulty of algorithm development and speed up the efficiency of algorithm research and development. At the same time, MYNT EYE S is equipped with a six-axis sensor (IMU) and an infrared active light (IR). Among them, six-axis sensor (IMU) can provide data complementation and correction for the research of visual positioning algorithm, suitable for algorithm research of visual inertial odometer (VIO), help improve positioning accuracy; infrared active light (IR) can help solve the problem of identifying indoor white walls and non-textured objects, and improve the recognition accuracy of image sources. The difference between MYNT EYE SE and MYNT EYE S is that MYNT EYE SE does not include IR and offers customers with lower cost hardware. MYNT EYE SC provides 8cm/12cm optional baseline solution, super wide angle 146°FOV, providing a wider depth recognition range and accuracy level, with color image sensor, upgraded brand new BMI088 six-axis IMU, IR active light, I2C time synchronization Chip, global shutter, etc., with resolutions up to 2560x800\@30fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation.
|
||||
|
||||
As a hardware product for research and development of stereo vision computing applications, MYNT® EYE S Series can be widely used in a field of visual positioning navigation (vSLAM), including visual real-time positioning navigation system of driverless vehicle and robots, visual positioning system of UAV, obstacle avoidance navigation system for driverless Vehicle, Augmented Reality (AR), Virtual Reality (VR), etc. At the same time, it can be used in a field of visual recognition, including Stereoscopic face recognition, three-dimensional object recognition, space motion tracking, three-dimensional gestures, and somatosensory recognition. And of course, you can use it for measurement which includes assisted driving system (ADAS), binocular volume calculation, industrial visual screening, etc. At present, MYNTAI has carried out service and cooperation with more than 500 domestic and foreign enterprise clients.
|
||||
|
||||
11
docs/src/mynteye/product_surface.rst
Normal file
11
docs/src/mynteye/product_surface.rst
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
.. _mynteye:
|
||||
|
||||
Surface
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
surface_s1030
|
||||
surface_s2100
|
||||
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
.. _mynteye_spec_s1030:
|
||||
|
||||
S1030-IR-120/Mono Product Specification
|
||||
S1030-120/Mono Product Specification
|
||||
=========================================
|
||||
|
||||
Product Specification:
|
||||
|
|
@ -8,59 +8,78 @@ Product Specification:
|
|||
|
||||
|
||||
========================== =======================================
|
||||
Model S1030-IR-120/Mono
|
||||
Model S1030-120/Mono
|
||||
-------------------------- ---------------------------------------
|
||||
Size PCB dimension:149x24mm,
|
||||
Total dimension:165x31.5x29.6mm
|
||||
Size 165x31.5x31.23mm
|
||||
-------------------------- ---------------------------------------
|
||||
Frame Rate 10/15/20/25/30/35/40/45/50/55/60FPS
|
||||
Frame Rate 10/15/20/25/30/35/40/45/50/55/60FPS
|
||||
-------------------------- ---------------------------------------
|
||||
Resolution 752*480,376*240
|
||||
Resolution 752*480; 376*240
|
||||
-------------------------- ---------------------------------------
|
||||
Depth Resolution Base on CPU/GPU Up to 752*480@60FPS
|
||||
Depth Resolution Based on CPU/GPU Up to 752*480\@60FPS
|
||||
-------------------------- ---------------------------------------
|
||||
Pixel Size 6.0*6.0μm
|
||||
Pixel Size 6.0*6.0μm
|
||||
-------------------------- ---------------------------------------
|
||||
Baseline 120.0mm
|
||||
Baseline 120.0mm
|
||||
-------------------------- ---------------------------------------
|
||||
Camera Lens Replacable Standard M12
|
||||
Visual Angle D:146° H:122° V:76°
|
||||
-------------------------- ---------------------------------------
|
||||
Visual Angle D:146° H:122° V:76°
|
||||
Focal Length 2.1mm
|
||||
-------------------------- ---------------------------------------
|
||||
Focal Length 2.1mm
|
||||
Filter Dual Pass Filter
|
||||
-------------------------- ---------------------------------------
|
||||
IR Support Yes
|
||||
IR Support No
|
||||
-------------------------- ---------------------------------------
|
||||
IR detectable range 3m
|
||||
IR detectable range \-
|
||||
-------------------------- ---------------------------------------
|
||||
Color Mode Monochrome
|
||||
Color Mode Monochrome
|
||||
-------------------------- ---------------------------------------
|
||||
Working Distance 0.7-2m
|
||||
Depth Working Distance 0.8-5m+
|
||||
-------------------------- ---------------------------------------
|
||||
Scanning Mode Global Shutter
|
||||
Scanning Mode Global Shutter
|
||||
-------------------------- ---------------------------------------
|
||||
Power 1~2.7W@5V DC from USB
|
||||
Power 1W\@5V DC from USB
|
||||
-------------------------- ---------------------------------------
|
||||
Output data format Raw data
|
||||
Synchronization Precision <1ms (up to 0.05ms)
|
||||
-------------------------- ---------------------------------------
|
||||
Data transfer Interface USB3.0
|
||||
IMU Frequency 100/200/250/333/500Hz
|
||||
-------------------------- ---------------------------------------
|
||||
Weight 184g
|
||||
Output data format Raw data
|
||||
-------------------------- ---------------------------------------
|
||||
UVC MODE Yes
|
||||
Data transfer Interface USB3.0
|
||||
-------------------------- ---------------------------------------
|
||||
Weight 160g
|
||||
-------------------------- ---------------------------------------
|
||||
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 50°C
|
||||
------------------------- ----------------
|
||||
Storage Temperature -20°C
|
||||
========================= ================
|
||||
=========================== ================================
|
||||
Operating Temperature 10°C~50°C
|
||||
--------------------------- --------------------------------
|
||||
Storage Temperature -20°C~60°C
|
||||
--------------------------- --------------------------------
|
||||
Humidity 10% to 90% non-condensing
|
||||
=========================== ================================
|
||||
|
||||
|
||||
Package:
|
||||
|
|
|
|||
108
docs/src/mynteye/spec_s1030_ir.rst
Normal file
108
docs/src/mynteye/spec_s1030_ir.rst
Normal file
|
|
@ -0,0 +1,108 @@
|
|||
.. _mynteye_spec_s1030_ir:
|
||||
|
||||
S1030-IR-120/Mono Product Specification
|
||||
=========================================
|
||||
|
||||
Product Specification:
|
||||
-----------------------
|
||||
|
||||
|
||||
========================== =======================================
|
||||
Model S1030-IR-120/Mono
|
||||
-------------------------- ---------------------------------------
|
||||
Size 165x31.5x31.23mm
|
||||
-------------------------- ---------------------------------------
|
||||
Frame Rate 10/15/20/25/30/35/40/45/50/55/60FPS
|
||||
-------------------------- ---------------------------------------
|
||||
Resolution 752*480; 376*240
|
||||
-------------------------- ---------------------------------------
|
||||
Depth Resolution Based on CPU/GPU Up to 752*480\@60FPS
|
||||
-------------------------- ---------------------------------------
|
||||
Pixel Size 6.0*6.0μm
|
||||
-------------------------- ---------------------------------------
|
||||
Baseline 120.0mm
|
||||
-------------------------- ---------------------------------------
|
||||
Camera Lens Replacable Standard M12
|
||||
-------------------------- ---------------------------------------
|
||||
Visual Angle D:146° H:122° V:76°
|
||||
-------------------------- ---------------------------------------
|
||||
Focal Length 2.1mm
|
||||
-------------------------- ---------------------------------------
|
||||
Filter Dual Pass Filter
|
||||
-------------------------- ---------------------------------------
|
||||
IR Support Yes
|
||||
-------------------------- ---------------------------------------
|
||||
IR detectable range Up to 3m
|
||||
-------------------------- ---------------------------------------
|
||||
Color Mode Monochrome
|
||||
-------------------------- ---------------------------------------
|
||||
Depth Working Distance 0.8-5m+
|
||||
-------------------------- ---------------------------------------
|
||||
Scanning Mode Global Shutter
|
||||
-------------------------- ---------------------------------------
|
||||
Power 1~2.7W\@5V DC from USB
|
||||
-------------------------- ---------------------------------------
|
||||
Synchronization Precision <1ms (up to 0.05ms)
|
||||
-------------------------- ---------------------------------------
|
||||
IMU Frequency 100/200/250/333/500Hz
|
||||
-------------------------- ---------------------------------------
|
||||
Output data format Raw data
|
||||
-------------------------- ---------------------------------------
|
||||
Data transfer Interface USB3.0
|
||||
-------------------------- ---------------------------------------
|
||||
Weight 184g
|
||||
-------------------------- ---------------------------------------
|
||||
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 10°C~50°C
|
||||
--------------------------- --------------------------------
|
||||
Storage Temperature -20°C~60°C
|
||||
--------------------------- --------------------------------
|
||||
Humidity 10% to 90% 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%
|
||||
============================ ============================================
|
||||
|
||||
|
||||
|
|
@ -14,31 +14,39 @@ Product Specification:
|
|||
Size PCB dimension:15x100mm
|
||||
Total dimension:125x47x26.6mm
|
||||
-------------------------- -----------------------------------------------------
|
||||
Frame Rate 1280x400@10/20/30/60fps 2560x800@10/20/30fps
|
||||
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
|
||||
-------------------------- -----------------------------------------------------
|
||||
Camera Lens Replacable Standard M7
|
||||
-------------------------- -----------------------------------------------------
|
||||
Visual Angle D:141° H:124° V:87°
|
||||
-------------------------- -----------------------------------------------------
|
||||
Focal Length 0.95mm
|
||||
-------------------------- -----------------------------------------------------
|
||||
IR Support No
|
||||
-------------------------- -----------------------------------------------------
|
||||
Color Mode Color
|
||||
-------------------------- -----------------------------------------------------
|
||||
Working Distance 0.26-1m
|
||||
Depth Working Distance 0.26-3m+
|
||||
-------------------------- -----------------------------------------------------
|
||||
Scanning Mode Global Shutter
|
||||
-------------------------- -----------------------------------------------------
|
||||
Power 1.1W@5V DC from USB
|
||||
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
|
||||
-------------------------- -----------------------------------------------------
|
||||
|
|
@ -46,16 +54,31 @@ Product Specification:
|
|||
========================== =====================================================
|
||||
|
||||
|
||||
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~60°C
|
||||
------------------------- ----------------
|
||||
Storage Temperature -20°C~80°C
|
||||
========================= ================
|
||||
========================= ==============================
|
||||
Operating Temperature -15°C~55°C
|
||||
------------------------- ------------------------------
|
||||
Storage Temperature -20°C~75°C
|
||||
------------------------- ------------------------------
|
||||
Humidity 0% to 95% non-condensing
|
||||
========================= ==============================
|
||||
|
||||
|
||||
Package:
|
||||
|
|
|
|||
14
docs/src/sdk/InstallContents.rst
Normal file
14
docs/src/sdk/InstallContents.rst
Normal file
|
|
@ -0,0 +1,14 @@
|
|||
.. _sdk:
|
||||
|
||||
Installation and Use
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
ppa_install_ubuntu
|
||||
source_install_ubuntu
|
||||
exe_install_windows
|
||||
source_install_windows
|
||||
install_ros
|
||||
without_opencv
|
||||
9
docs/src/sdk/LogContents.rst
Normal file
9
docs/src/sdk/LogContents.rst
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
.. _sdk:
|
||||
|
||||
Change Log
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
changelog
|
||||
12
docs/src/sdk/ProjectContents.rst
Normal file
12
docs/src/sdk/ProjectContents.rst
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
.. _sdk:
|
||||
|
||||
Project Reference
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
// 缺少:
|
||||
cmake
|
||||
vs2017
|
||||
qtcreator
|
||||
9
docs/src/sdk/SDKContents.rst
Normal file
9
docs/src/sdk/SDKContents.rst
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
.. _sdk:
|
||||
|
||||
SDK Description
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
platform
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
.. _sdk_changelog:
|
||||
|
||||
Changelog
|
||||
Change Log
|
||||
=========
|
||||
|
||||
2019-07-01(v2.3.9)
|
||||
|
|
|
|||
|
|
@ -1,16 +1,10 @@
|
|||
.. _sdk:
|
||||
|
||||
MYNT® EYE SDK
|
||||
=============
|
||||
SDK
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 5
|
||||
|
||||
changelog
|
||||
platform
|
||||
ppa_install_ubuntu
|
||||
exe_install_windows
|
||||
source_install_ubuntu
|
||||
source_install_windows
|
||||
install_macos
|
||||
install_ros
|
||||
without_opencv
|
||||
InstallContents
|
||||
ProjectContentsToDos
|
||||
changelog
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
.. _sdk_platform:
|
||||
|
||||
Supported platforms
|
||||
Supported Platforms
|
||||
====================
|
||||
|
||||
SDK is built on CMake and can be used cross multiple platforms such as "Linux, Windows, etc. We provides two installation: Download and install, and Compile and install from source code.
|
||||
|
|
|
|||
|
|
@ -1,7 +1,5 @@
|
|||
.. _slam:
|
||||
|
||||
Open Source project Support
|
||||
============================
|
||||
OPEN SOURCE SUPPORT
|
||||
==============
|
||||
|
||||
.. toctree::
|
||||
|
||||
|
|
@ -10,4 +8,4 @@ Open Source project Support
|
|||
orb_slam2
|
||||
okvis
|
||||
viorb
|
||||
maplab
|
||||
maplab
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
.. _slam_maplab:
|
||||
.. _maplab:
|
||||
|
||||
How to use in `Maplab <https://github.com/ethz-asl/maplab>`_ x
|
||||
How To Use In `Maplab <https://github.com/ethz-asl/maplab>`_ x
|
||||
===============================================================
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _slam_okvis:
|
||||
.. _okvis:
|
||||
|
||||
How to use in `OKVIS <https://github.com/ethz-asl/okvis>`_
|
||||
How To Use In `OKVIS <https://github.com/ethz-asl/okvis>`_
|
||||
=============================================================
|
||||
|
||||
If you wanna run OKVIS with MYNT EYE camera, please follow the steps:
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _slam_orb_slam2:
|
||||
.. _orb_slam2:
|
||||
|
||||
How to use in `ORB_SLAM2 <https://github.com/raulmur/ORB_SLAM2>`_
|
||||
How To Use In `ORB_SLAM2 <https://github.com/raulmur/ORB_SLAM2>`_
|
||||
==================================================================
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _slam_vins:
|
||||
.. _vins:
|
||||
|
||||
How to use in `VINS-Mono <https://github.com/HKUST-Aerial-Robotics/VINS-Mono>`_
|
||||
How To Use In `VINS-Mono <https://github.com/HKUST-Aerial-Robotics/VINS-Mono>`_
|
||||
================================================================================
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _slam_vins_fusion:
|
||||
.. _vins_fusion:
|
||||
|
||||
How to use in `VINS-Fusion <https://github.com/HKUST-Aerial-Robotics/Vins-Fusion>`_
|
||||
How To Use In `VINS-Fusion <https://github.com/HKUST-Aerial-Robotics/Vins-Fusion>`_
|
||||
====================================================================================
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
.. _slam_viorb:
|
||||
.. _viorb:
|
||||
|
||||
How to use in `VIORB <https://github.com/jingpang/LearnVIORB>`_
|
||||
How To Use In `VIORB <https://github.com/jingpang/LearnVIORB>`_
|
||||
================================================================
|
||||
|
||||
|
||||
|
|
|
|||
6
docs/src/support/contact.rst
Normal file
6
docs/src/support/contact.rst
Normal file
|
|
@ -0,0 +1,6 @@
|
|||
Contact Us
|
||||
==================
|
||||
|
||||
If you continue to encounter problems, please contact customer service.
|
||||
|
||||
http://support.myntai.com/hc/request/new/
|
||||
10
docs/src/support/contents.rst
Normal file
10
docs/src/support/contents.rst
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
TECHNICAL SUPPORT
|
||||
==================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
.. toctree::
|
||||
|
||||
problem
|
||||
contact
|
||||
6
docs/src/support/problem.rst
Normal file
6
docs/src/support/problem.rst
Normal file
|
|
@ -0,0 +1,6 @@
|
|||
FAQ
|
||||
==================
|
||||
|
||||
If you have problems using MYNT EYE, please first check the following docs：
|
||||
|
||||
http://support.myntai.com/hc/
|
||||
270
docs/src/tools/calibration_tool.rst
Normal file
270
docs/src/tools/calibration_tool.rst
Normal file
|
|
@ -0,0 +1,270 @@
|
|||
.. _calibration_tool:
|
||||
|
||||
MYNT EYE S Manual Calibration Tool
|
||||
==========
|
||||
|
||||
|
||||
Introduction
|
||||
--------
|
||||
|
||||
1.1 Support Platform
|
||||
--------
|
||||
|
||||
Currently the calibration tool only supports Ubuntu 16.04 LTS, but support the official, ROS multiple version of OpenCV dependencies.
|
||||
|
||||
==================== ==================== ======================
|
||||
Platform Architecture Different dependence
|
||||
==================== ==================== ======================
|
||||
Ubuntu 16.04 LTS x64(amd64) libopencv-dev
|
||||
Ubuntu 16.04 LTS x64(amd64) ros-kinetic-opencv3
|
||||
==================== ==================== ======================
|
||||
|
||||
|
||||
|
||||
1.2 Tools description
|
||||
--------
|
||||
|
||||
Deb/ppa installation package is available on Ubuntu. The architecture, dependencies, and versions will be distinguished from the name:
|
||||
|
||||
* mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb
|
||||
* mynteye-s-calibrator-opencv-ros-kinetic-1.0.0_amd64.deb
|
||||
|
||||
======================= ==================== ============================================================
|
||||
Dependency identifier Dependency package Detailed description
|
||||
======================= ==================== ============================================================
|
||||
opencv-official libopencv-dev https://packages.ubuntu.com/xenial/libopencv-dev
|
||||
opencv-ros-kinetic ros-kinetic-opencv3 http://wiki.ros.org/opencv3
|
||||
======================= ==================== ============================================================
|
||||
|
||||
|
||||
1.3 Deb Toolkit Get
|
||||
--------
|
||||
|
||||
==================== ========================================================================
|
||||
Method of Obtaining Get address
|
||||
==================== ========================================================================
|
||||
Baidu Cloud https://pan.baidu.com/s/19rW0fPKUlQj6eldZpZFoAA Extraction code: a6ps
|
||||
Google Drive https://drive.google.com/open?id=1RsV2WEKAsfxbn-Z5nGjk5g3ml1UDEsDc
|
||||
==================== ========================================================================
|
||||
|
||||
|
||||
Installation
|
||||
--------
|
||||
|
||||
2.1 Installation Preparation
|
||||
--------
|
||||
* Ubuntu 16.04 LTS environment, x64 architecture
|
||||
* Deb package for the calibration tool, select OpenCV dependencies as needed
|
||||
(this step is not required for PPA installation)
|
||||
|
||||
2.2 Install ppa Package
|
||||
--------
|
||||
.. code-block:: bash
|
||||
|
||||
$ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk
|
||||
$ sudo apt-get update
|
||||
$ sudo apt-get install mynteye-s-calibrator
|
||||
$ sudo ln -sf /opt/myntai/mynteye-s-calibrator/mynteye-s-calibrator /usr/local/bin/ mynteye-s-calibrator
|
||||
|
||||
|
||||
2.3 Install deb Package
|
||||
--------
|
||||
Install the deb package with udo dpkg -i:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
$ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb
|
||||
...
|
||||
(Reading database ... 359020 files and directories currently installed.)
|
||||
Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ...
|
||||
Unpacking mynteye-s-calibrator (1.0.0) over (1.0.0) ...
|
||||
Setting up mynteye-s-calibrator (1.0.0) ...
|
||||
|
||||
If you encounter an error that the dependency package is not installed, for example:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
$ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb
|
||||
Selecting previously unselected package mynteye-s-calibrator.
|
||||
(Reading database ... 358987 files and directories currently installed.)
|
||||
Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ...
|
||||
Unpacking mynteye-s-calibrator (1.0.0) ...
|
||||
dpkg: dependency problems prevent configuration of mynteye-s-calibrator:
|
||||
mynteye-s-calibrator depends on libatlas-base-dev; however:
|
||||
Package libatlas-base-dev is not installed.
|
||||
dpkg: error processing package mynteye-s-calibrator (--install):
|
||||
dependency problems - leaving unconfigured
|
||||
Errors were encountered while processing:
|
||||
mynteye-s-calibrator
|
||||
|
||||
You can continue use sudo apt-get -f install to finished install
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
$ sudo apt-get -f install
|
||||
Reading package lists... Done
|
||||
Building dependency tree
|
||||
Reading state information... Done
|
||||
Correcting dependencies... Done
|
||||
The following additional packages will be installed:
|
||||
libatlas-base-dev
|
||||
Suggested packages:
|
||||
libblas-doc liblapack-doc
|
||||
The following NEW packages will be installed:
|
||||
libatlas-base-dev
|
||||
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
|
||||
1 not fully installed or removed.
|
||||
Need to get 3,596 kB of archives.
|
||||
After this operation, 30.8 MB of additional disk space will be used.
|
||||
Do you want to continue? [Y/n]
|
||||
Get:1 http://cn.archive.ubuntu.com/ubuntu xenial/universe amd64 libatlas-base-dev amd64 3.10.2-9 [3,596 kB]
|
||||
Fetched 3,596 kB in 3s (1,013 kB/s)
|
||||
Selecting previously unselected package libatlas-base-dev.
|
||||
(Reading database ... 358993 files and directories currently installed.)
|
||||
Preparing to unpack .../libatlas-base-dev_3.10.2-9_amd64.deb ...
|
||||
Unpacking libatlas-base-dev (3.10.2-9) ...
|
||||
Setting up libatlas-base-dev (3.10.2-9) ...
|
||||
update-alternatives: using /usr/lib/atlas-base/atlas/libblas.so to provide /usr/lib/libblas.so (libblas.so) in auto mode
|
||||
update-alternatives: using /usr/lib/atlas-base/atlas/liblapack.so to provide /usr/lib/liblapack.so (liblapack.so) in auto mode
|
||||
Setting up mynteye-s-calibrator (1.0.0) ...
|
||||
|
||||
|
||||
How To Use
|
||||
--------
|
||||
|
||||
3.1 Preparation For Use
|
||||
--------
|
||||
* MYNT EYE S Camera
|
||||
* Checkerboard
|
||||
* Evenly illuminated scene
|
||||
|
||||
3.2 Use Command
|
||||
--------
|
||||
|
||||
* After installing the calibration tool, you can run the `mynteye-s-calibrator` command directly on the terminal to calibrate. -h can see its options:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
$ mynteye-s-calibrator -h
|
||||
Usage: mynteye-s-calibrator [options]
|
||||
help: mynteye-s-calibrator -h
|
||||
calibrate: mynteye-s-calibrator -x 11 -y 7 -s 0.036
|
||||
Calibrate MYNT EYE S device.
|
||||
|
||||
Options:
|
||||
|
||||
-h, --help show this help message and exit
|
||||
-x WIDTH, --width=WIDTH The chessboard width, default: 11
|
||||
-y HEIGHT, --height=HEIGHT The chessboard height, default: 7
|
||||
-s METERS, --square=METERS The chessboard square size in meters, default: 0.036
|
||||
-n NUMBER, --number=NUMBER The number of images to use for calibration, default: 11
|
||||
-p PATH, --path=PATH The path to save the result, default: folder name using device's SN
|
||||
|
||||
* -x -y -s Used to set the width, height, and grid size of the calibration plate. Width and height refer to the number of black and white intersections in the horizontal and vertical directions of the checkerboard. Square size in meters.
|
||||
|
||||
|
||||
3.3 Steps For Usage
|
||||
--------
|
||||
|
||||
* First, connect the MYNT EYE S camera.
|
||||
|
||||
* Then, run the mynteye-s-calibrator <calibration board parameter> command in the terminal.
|
||||
|
||||
.. image:: ../../images/calibration001.png
|
||||
:width: 60%
|
||||
|
||||
* Follow the prompts to select an index for the camera's resolution, perform image calibration at this resolution
|
||||
|
||||
* The S1030 camera only need calibrate 752*480 resolution. The S2100 camera need calibrate 2560*800 and 1280*400 resolutions.
|
||||
|
||||
* As far as possible, let the calibration plate cover the left and right eye images of the camera,
|
||||
and take care of the surroundings (maximum distortion). The calibration tool will automatically
|
||||
evaluate the qualified image for the calibration calculation and will indicate on the terminal how many have been selected.
|
||||
|
||||
Reference acquisition image, as follows:
|
||||
|
||||
.. image:: ../../images/calibration002.png
|
||||
:width: 60%
|
||||
|
||||
.. image:: ../../images/calibration003.png
|
||||
:width: 60%
|
||||
|
||||
.. image:: ../../images/calibration004.png
|
||||
:width: 60%
|
||||
|
||||
.. image:: ../../images/calibration005.png
|
||||
:width: 60%
|
||||
|
||||
.. image:: ../../images/calibration006.png
|
||||
:width: 60%
|
||||
|
||||
|
||||
* Note: p_x, p_y, size, skew respectively indicate the scale of the calibration plate on the x-axis, y-axis,
|
||||
zoom, and tilt when the image is acquired. Make a point for reference.
|
||||
|
||||
* Once the number of images acquired by the calibration needs is reached,
|
||||
the calibration calculation will be performed. The output is as follows:
|
||||
|
||||
|
||||
.. image:: ../../images/calibration007.png
|
||||
:width: 60%
|
||||
|
||||
|
||||
* 1. The terminal will print out the left and right purpose calibration results.
|
||||
|
||||
* 2. The calibration results will be written into the files in <SN number> directory.
|
||||
|
||||
a) camera_left.yaml: Left eye parameter
|
||||
b) camera_right.yaml: Right eye parameter
|
||||
c) extrinsics.yaml: Binocular external parameter
|
||||
d) img.params.equidistant: Camera parameters, which can be used for S SDK writing
|
||||
e) stereo_reprojection_error.yaml: Reprojection error
|
||||
|
||||
* Finally, you will also be asked if you want to write to the camera device. Enter or `y` to confirm
|
||||
|
||||
.. image:: ../../images/calibration008.png
|
||||
:width: 60%
|
||||
|
||||
* After writing to the device, you will be prompted with "Write to device done".
|
||||
|
||||
|
||||
|
||||
3.4 Calibration result
|
||||
--------
|
||||
Calibration result, It is desirable to have a reprojection error of 0.2 or less. If exceeds 1, it needs to be recalibrated.
|
||||
|
||||
Reprojection error, visible output after calibration completion "Final reprojection error: 0.201
|
||||
|
||||
Pixels", or see the calibration result file "stereo_reprojection_error.yaml".
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
8
docs/src/tools/contents.rst
Normal file
8
docs/src/tools/contents.rst
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
.. _tools:
|
||||
|
||||
TOOLS SUPPORT
|
||||
========
|
||||
|
||||
.. toctree::
|
||||
|
||||
calibration_tool
|
||||
Loading…
Reference in New Issue
Block a user