From 96e4fdc8fc32ae4ce04d30a87481dcddbef827da Mon Sep 17 00:00:00 2001 From: harjeb Date: Fri, 9 Aug 2019 17:45:51 +0800 Subject: [PATCH] docs(*): update v2.4.0 doc --- docs/conf.py | 4 +- docs/images/project/vs2017/10_path.png | Bin 0 -> 43239 bytes docs/images/project/vs2017/1_new_pro.png | Bin 0 -> 27307 bytes docs/images/project/vs2017/2_new_pro.png | Bin 0 -> 25142 bytes docs/images/project/vs2017/3_new_pro.png | Bin 0 -> 31000 bytes docs/images/project/vs2017/4_config.png | Bin 0 -> 22099 bytes .../project/vs2017/5_config_include.png | Bin 0 -> 39543 bytes .../project/vs2017/6_config_lib_dir.png | Bin 0 -> 42728 bytes docs/images/project/vs2017/7_config_lib.png | Bin 0 -> 33239 bytes .../project/vs2017/8_config_debug_lib.png | Bin 0 -> 33616 bytes docs/images/project/vs2017/9_run_x64.png | Bin 0 -> 61793 bytes docs/src/firmware/applicable.rst | 8 +- docs/src/firmware/contents.rst | 1 + docs/src/firmware/fw_changelog.rst | 15 ++ docs/src/firmware/update_auxiliary_chip.rst | 2 +- docs/src/firmware/update_main_chip.rst | 10 +- docs/src/sdk/contents.rst | 1 + docs/src/sdk/control/manual_exposure.rst | 2 +- docs/src/sdk/project/cmake.rst | 136 ++++++++++++++++++ docs/src/sdk/project/contents.rst | 10 ++ docs/src/sdk/project/vs2017.rst | 83 +++++++++++ docs/src/sdk/sdk_changelog.rst | 8 ++ docs/src/slam/okvis.rst | 5 + 23 files changed, 271 insertions(+), 14 deletions(-) create mode 100644 docs/images/project/vs2017/10_path.png create mode 100644 docs/images/project/vs2017/1_new_pro.png create mode 100644 docs/images/project/vs2017/2_new_pro.png create mode 100644 docs/images/project/vs2017/3_new_pro.png create mode 100644 docs/images/project/vs2017/4_config.png create mode 100644 docs/images/project/vs2017/5_config_include.png create mode 100644 docs/images/project/vs2017/6_config_lib_dir.png create mode 100644 docs/images/project/vs2017/7_config_lib.png create mode 100644 docs/images/project/vs2017/8_config_debug_lib.png create mode 100644 docs/images/project/vs2017/9_run_x64.png create mode 100644 docs/src/sdk/project/cmake.rst create mode 100644 docs/src/sdk/project/contents.rst create mode 100644 docs/src/sdk/project/vs2017.rst 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 0000000000000000000000000000000000000000..7254149177360eced5980bf6b20896ed92ef6f3a GIT binary patch literal 43239 zcmZs@1z1$kw>ON5ihu%ww2FvG3lc*~iNG)@h#=kF3^kMmC@mcWsK|_ffOHNiopR_D 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Please download it again! Install MYNT EYE TOOL --------------------- diff --git a/docs/src/sdk/contents.rst b/docs/src/sdk/contents.rst index d13e762..ddf1d1b 100644 --- a/docs/src/sdk/contents.rst +++ b/docs/src/sdk/contents.rst @@ -9,4 +9,5 @@ SDK data/contents control/contents tools/contents + project/contents sdk_changelog diff --git a/docs/src/sdk/control/manual_exposure.rst b/docs/src/sdk/control/manual_exposure.rst index e13eb14..c95f9ee 100644 --- a/docs/src/sdk/control/manual_exposure.rst +++ b/docs/src/sdk/control/manual_exposure.rst @@ -79,7 +79,7 @@ s1030: I0513 14:09:17.552918 31908 manual_exposure.cc:37] Enable manual-exposure I0513 14:09:17.552953 31908 manual_exposure.cc:38] Set GAIN to 24 I0513 14:09:17.552958 31908 manual_exposure.cc:39] Set BRIGHTNESS to 120 - I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 127 + I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 116 s2100/s210a: diff --git a/docs/src/sdk/project/cmake.rst b/docs/src/sdk/project/cmake.rst new file mode 100644 index 0000000..a15c5de --- /dev/null +++ b/docs/src/sdk/project/cmake.rst @@ -0,0 +1,136 @@ +.. _cmake: + +How to use SDK with CMake +========================= + +This tutorial will create a project with CMake to start using SDK. + + You could find the project demo in ``/platforms/projects/cmake directory`` . + +Preparation +----------- + +- Windows: Install the win pack of SDK +- Linux: build from source and ``make install`` + +Create Project +-------------- + +Add ``CMakeLists.txt`` and ``mynteye_demo.cc`` files, + +.. code-block:: cmake + + cmake_minimum_required(VERSION 3.0) + + project(mynteyed_demo VERSION 1.0.0 LANGUAGES C CXX) + + # flags + + set(CMAKE_C_FLAGS "${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 ---------------------