diff --git a/docs/conf.py b/docs/conf.py index ed459af..a5bbe4f 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -20,11 +20,11 @@ # -- Project information ----------------------------------------------------- project = 'MYNT® EYE S SDK' -copyright = '2018, MYNTAI' +copyright = '2019, MYNTAI' author = 'MYNTAI' # The short X.Y version -version = '2.3.9' +version = '2.4.0' # The full version, including alpha/beta/rc tags release = version diff --git a/docs/images/project/vs2017/10_path.png b/docs/images/project/vs2017/10_path.png new file mode 100644 index 0000000..7254149 Binary files /dev/null and b/docs/images/project/vs2017/10_path.png differ diff --git a/docs/images/project/vs2017/1_new_pro.png b/docs/images/project/vs2017/1_new_pro.png new file mode 100644 index 0000000..2c50214 Binary files /dev/null and b/docs/images/project/vs2017/1_new_pro.png differ diff --git a/docs/images/project/vs2017/2_new_pro.png b/docs/images/project/vs2017/2_new_pro.png new file mode 100644 index 0000000..f46d196 Binary files /dev/null and b/docs/images/project/vs2017/2_new_pro.png differ diff --git a/docs/images/project/vs2017/3_new_pro.png b/docs/images/project/vs2017/3_new_pro.png new file mode 100644 index 0000000..8e80228 Binary files /dev/null and b/docs/images/project/vs2017/3_new_pro.png differ diff --git a/docs/images/project/vs2017/4_config.png b/docs/images/project/vs2017/4_config.png new file mode 100644 index 0000000..29f4a9c Binary files /dev/null and b/docs/images/project/vs2017/4_config.png differ diff --git a/docs/images/project/vs2017/5_config_include.png b/docs/images/project/vs2017/5_config_include.png new file mode 100644 index 0000000..9a8aa35 Binary files /dev/null and b/docs/images/project/vs2017/5_config_include.png differ diff --git a/docs/images/project/vs2017/6_config_lib_dir.png b/docs/images/project/vs2017/6_config_lib_dir.png new file mode 100644 index 0000000..b9518ba Binary files /dev/null and b/docs/images/project/vs2017/6_config_lib_dir.png differ diff --git a/docs/images/project/vs2017/7_config_lib.png b/docs/images/project/vs2017/7_config_lib.png new file mode 100644 index 0000000..1336081 Binary files /dev/null and b/docs/images/project/vs2017/7_config_lib.png differ diff --git a/docs/images/project/vs2017/8_config_debug_lib.png b/docs/images/project/vs2017/8_config_debug_lib.png new file mode 100644 index 0000000..f4ec94f Binary files /dev/null and b/docs/images/project/vs2017/8_config_debug_lib.png differ diff --git a/docs/images/project/vs2017/9_run_x64.png b/docs/images/project/vs2017/9_run_x64.png new file mode 100644 index 0000000..9ff0e51 Binary files /dev/null and b/docs/images/project/vs2017/9_run_x64.png differ diff --git a/docs/src/firmware/applicable.rst b/docs/src/firmware/applicable.rst index 01367a4..7eb766c 100644 --- a/docs/src/firmware/applicable.rst +++ b/docs/src/firmware/applicable.rst @@ -15,14 +15,16 @@ MYNTEYE_S_2.0.0_alpha1.img 2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1) MYNTEYE_S_2.0.0_alpha0.img 2.0.0-alpha0 MYNTEYE_S_2.2.2.img 2.3.0 (2.2.2-rc1 ~ 2.3.0) MYNTEYE_S_2.3.0.img 2.3.0 (2.2.2-rc1 ~ 2.3.3) -MYNTEYE_S_2.4.0.img 2.3.4 (2.3.4 ~ latest) +MYNTEYE_S_2.4.0.img 2.3.4 (2.3.4 ~ 2.3.9) +MYNTEYE_S_2.5.0.img 2.4.0 (2.4.0 ~ latest) ============================ ======================== ============================ =========================== S2100 Firmwares SDK Version ============================ =========================== -MYNTEYE_S2100_1.1.img 2.3.4 -MYNTEYE_S2100_1.2.img 2.3.5 (2.3.5 ~ latest) +MYNTEYE_S2100_1.1.img 2.3.4 +MYNTEYE_S2100_1.2.img 2.3.5(2.3.5 ~ 2.3.9) +MYNTEYE_S2100_1.3.img 2.4.0(2.4.0 ~ latest) ============================ =========================== diff --git a/docs/src/firmware/contents.rst b/docs/src/firmware/contents.rst index 11fedcf..f77aee9 100644 --- a/docs/src/firmware/contents.rst +++ b/docs/src/firmware/contents.rst @@ -6,3 +6,4 @@ FIRMWARE fw_info fw_update + fw_changelog \ No newline at end of file diff --git a/docs/src/firmware/fw_changelog.rst b/docs/src/firmware/fw_changelog.rst index 416e671..645c698 100644 --- a/docs/src/firmware/fw_changelog.rst +++ b/docs/src/firmware/fw_changelog.rst @@ -3,3 +3,18 @@ Change Log .. toctree:: :maxdepth: 2 + +2019-08-09 +------------------- +S1030 (MYNTEYE_S_2.5.0)/S2100 (MYNTEYE_S2100_1.3) + +1. Optimize the synchronization of images and imu +2. Camera settings parameters are not saved by default +3. Add auto-restore function when update wrong firmware +4. Fix some known issues + + +S2100 (MYNTEYE-S210x-auxiliary-chip-v1.4) + +1. Modify default value of imu low-pass filtering，Modify default and minimum parameters in manual exposure and maximum exposure time limit to 66.5ms +2. Fix some known issues \ No newline at end of file diff --git a/docs/src/firmware/update_auxiliary_chip.rst b/docs/src/firmware/update_auxiliary_chip.rst index a92f1f5..ab7b261 100644 --- a/docs/src/firmware/update_auxiliary_chip.rst +++ b/docs/src/firmware/update_auxiliary_chip.rst @@ -16,7 +16,7 @@ Update auxiliary chip (Only Support S2100/S210A) .. image:: ../../images/firmware/stmupdate.png -* In the open file selection box, select the firmware ``MYNTEYE-S210x-auxiliary-chip-v1.0.bin`` and start upgrading. +* In the open file selection box, select the firmware ``MYNTEYE-S210x-auxiliary-chip-v1.4.bin`` and start upgrading. * Once the upgrade is complete, it will display update finished. diff --git a/docs/src/firmware/update_main_chip.rst b/docs/src/firmware/update_main_chip.rst index bb44696..733bdc8 100644 --- a/docs/src/firmware/update_main_chip.rst +++ b/docs/src/firmware/update_main_chip.rst @@ -11,8 +11,8 @@ You can download the firmware and MYNT EYE TOOL installation package in the ``Fi Firmwares/ ├─Checksum.txt # file checksum - ├─MYNTEYE_S_2.4.0.img # S1030 firmware - ├─MYNTEYE_S2100_1.2.img # S2100 firmware + ├─MYNTEYE_S_2.5.0.img # S1030 firmware + ├─MYNTEYE_S2100_1.4.img # S2100 firmware ├─... └─setup.zip # MYNTEYE TOOL zip @@ -22,13 +22,9 @@ Download preparation --------------------- * Download and unzip ``setup.zip`` -* Find firmware, such as ``MYNTEYE_S_2.4.0.img`` +* Find firmware, such as ``MYNTEYE_S_2.5.0.img`` * Please refer to :ref:`firmware_applicable` to select the firmware suitable for the SDK version - * Please refer to ``Checksum.txt`` to find the firmware check code as follows: - - * Run the command in CMD ``certutil -hashfile <*.img> MD5`` . - * If the check code is incorrect, it means that the download went wrong. Please download it again! Install MYNT EYE TOOL --------------------- diff --git a/docs/src/sdk/contents.rst b/docs/src/sdk/contents.rst index d13e762..ddf1d1b 100644 --- a/docs/src/sdk/contents.rst +++ b/docs/src/sdk/contents.rst @@ -9,4 +9,5 @@ SDK data/contents control/contents tools/contents + project/contents sdk_changelog diff --git a/docs/src/sdk/control/manual_exposure.rst b/docs/src/sdk/control/manual_exposure.rst index e13eb14..c95f9ee 100644 --- a/docs/src/sdk/control/manual_exposure.rst +++ b/docs/src/sdk/control/manual_exposure.rst @@ -79,7 +79,7 @@ s1030： I0513 14:09:17.552918 31908 manual_exposure.cc:37] Enable manual-exposure I0513 14:09:17.552953 31908 manual_exposure.cc:38] Set GAIN to 24 I0513 14:09:17.552958 31908 manual_exposure.cc:39] Set BRIGHTNESS to 120 - I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 127 + I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 116 s2100/s210a： diff --git a/docs/src/sdk/project/cmake.rst b/docs/src/sdk/project/cmake.rst new file mode 100644 index 0000000..a15c5de --- /dev/null +++ b/docs/src/sdk/project/cmake.rst @@ -0,0 +1,136 @@ +.. _cmake: + +How to use SDK with CMake +========================= + +This tutorial will create a project with CMake to start using SDK. + + You could find the project demo in ``/platforms/projects/cmake directory`` . + +Preparation +----------- + +- Windows: Install the win pack of SDK +- Linux: build from source and ``make install`` + +Create Project +-------------- + +Add ``CMakeLists.txt`` and ``mynteye_demo.cc`` files, + +.. code-block:: cmake + + cmake_minimum_required(VERSION 3.0) + + project(mynteyed_demo VERSION 1.0.0 LANGUAGES C CXX) + + # flags + + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3") + + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c++11 -march=native") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -march=native") + + ## mynteye_demo + + add_executable(mynteye_demo mynteye_demo.cc) + target_link_libraries(mynteye_demo mynteye ${OpenCV_LIBS}) + +Config Project +-------------- + +Add ``mynteye`` and ``OpenCV`` packages to ``CMakeLists.txt`` , + +.. code-block:: cmake + + # packages + + if(MSVC) + set(SDK_ROOT "$ENV{MYNTEYES_SDK_ROOT}") + if(SDK_ROOT) + message(STATUS "MYNTEYES_SDK_ROOT: ${SDK_ROOT}") + list(APPEND CMAKE_PREFIX_PATH + "${SDK_ROOT}/lib/cmake" + "${SDK_ROOT}/3rdparty/opencv/build" + ) + else() + message(FATAL_ERROR "MYNTEYES_SDK_ROOT not found, please install SDK firstly") + endif() + endif() + + ## mynteye + + find_package(mynteye REQUIRED) + message(STATUS "Found mynteye: ${mynteye_VERSION}") + + # When SDK build with OpenCV, we can add WITH_OPENCV macro to enable some + # features depending on OpenCV, such as ToMat(). + if(mynteye_WITH_OPENCV) + add_definitions(-DWITH_OPENCV) + endif() + + ## OpenCV + + # Set where to find OpenCV + #set(OpenCV_DIR "/usr/share/OpenCV") + + # When SDK build with OpenCV, we must find the same version here. + find_package(OpenCV REQUIRED) + message(STATUS "Found OpenCV: ${OpenCV_VERSION}") + +Add ``include_directories`` and ``target_link_libraries`` to +``mynteye_demo`` target, + +.. code-block:: cmake + + # targets + + include_directories( + ${OpenCV_INCLUDE_DIRS} + ) + + ## mynteye_demo + + add_executable(mynteye_demo mynteye_demo.cc) + target_link_libraries(mynteye_demo mynteye ${OpenCV_LIBS}) + +Start using SDK +--------------- + +Include the headers of SDK and start using its APIs, view the project demo. + +Windows +~~~~~~~ + +Reference to “Install Build Tools” in :ref:`install_windows_exe` . + +Then open ``x64 Native Tools Command Prompt for VS 2017`` +command shell to build and run. + +.. code-block:: bat + + mkdir _build + cd _build + + cmake -G "Visual Studio 15 2017 Win64" .. + + msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release + + .\Release\mynteye_demo.exe + +Linux +~~~~~ + +Open ``Terminal`` to build and run. + +.. code-block:: bash + + mkdir _build + cd _build/ + + cmake .. + + make + + ./mynteye_demo diff --git a/docs/src/sdk/project/contents.rst b/docs/src/sdk/project/contents.rst new file mode 100644 index 0000000..ac51028 --- /dev/null +++ b/docs/src/sdk/project/contents.rst @@ -0,0 +1,10 @@ +.. _data: + +SDK Project Demos +================== + +.. toctree:: + :maxdepth: 2 + + cmake + vs2017 \ No newline at end of file diff --git a/docs/src/sdk/project/vs2017.rst b/docs/src/sdk/project/vs2017.rst new file mode 100644 index 0000000..605a999 --- /dev/null +++ b/docs/src/sdk/project/vs2017.rst @@ -0,0 +1,83 @@ +.. _vs2017: + +How to use SDK with Visual Studio 2017 +====================================== + +This tutorial will create a project with Visual Studio 2017 to start using SDK. + + You could find the project demo in ``/platforms/projects/vs2017`` directory. + +Preparation +------------ + +- Windows: install the win pack of SDK + +Create Project +-------------- + +Open Visual Studio 2017, then ``File > New > Project`` , + +.. image:: ../../../images/project/vs2017/1_new_pro.png + +Select “Windows Console Application”, set the project’s name and location, click “OK”, + +.. image:: ../../../images/project/vs2017/2_new_pro.png + +Finally, you will see the new project like this, + +.. image:: ../../../images/project/vs2017/3_new_pro.png + +Config Properties +------------------ + +Right click the project, and open its ``Properties`` window, + +.. image:: ../../../images/project/vs2017/4_config.png + +Change ``Configuration`` to ``All Configurations`` , then add the following paths to ``Additional Include Directories`` , + +.. code:: bash + + $(MYNTEYES_SDK_ROOT)\include + $(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include + +.. image:: ../../../images/project/vs2017/5_config_include.png + +Add the following definitions to ``Preprocessor Definitions`` , + +.. code:: bash + + $(MYNTEYES_SDK_ROOT)\lib + $(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib + +.. image:: ../../../images/project/vs2017/6_config_lib_dir.png + +Add the following paths to ``Additional Dependencies`` ， + +.. code:: bash + + mynteye.lib + opencv_world343.lib + +.. image:: ../../../images/project/vs2017/7_config_lib.png + +If want to use debug mode, could change ``Configuration`` to ``Debug`` and add following debug libs: + +.. code:: bash + + mynteyed.lib + opencv_world343d.lib + +.. image:: ../../../images/project/vs2017/8_config_debug_lib.png + + +Start using SDK +--------------- + +Include the headers of SDK and start using its APIs, + +.. image:: ../../../images/project/vs2017/9_run_x64.png + +Select ``Release x64`` or ``Debug x64`` to run the project. + +.. image:: ../../../images/project/vs2017/10_path.png diff --git a/docs/src/sdk/sdk_changelog.rst b/docs/src/sdk/sdk_changelog.rst index bba292c..1783c98 100644 --- a/docs/src/sdk/sdk_changelog.rst +++ b/docs/src/sdk/sdk_changelog.rst @@ -3,6 +3,14 @@ Change Log ========== +2019-08-09(v2.4.0) +------------------- +1. Optimize the synchronization of images and imu +2. Add 4.16+ kernel support on Ubuntu +3. Fix missinf frame_id issue in image information +4. Fix S1030 device not work issue in mynteye_multiple.launch +5. Add save single picture sample save_single_image + 2019-07-03(v2.3.9) ------------------- 1. Fix ros timestamp issue diff --git a/docs/src/slam/okvis.rst b/docs/src/slam/okvis.rst index 2a3a1ef..5230c35 100644 --- a/docs/src/slam/okvis.rst +++ b/docs/src/slam/okvis.rst @@ -11,6 +11,11 @@ If you wanna run OKVIS with MYNT EYE camera, please follow the steps: 3. Update camera parameters to ``/config/config_mynteye.yaml``. 4. Run OKVIS using MYNT® EYE. +.. tip:: + + OKVIS doesn't support ARM right now + + Install MYNTEYE OKVIS ---------------------