docs(*): update v2.4.0 doc

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
 

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)
 ============================ ===========================
 
 

docs/src/firmware/contents.rst

@@ -6,3 +6,4 @@ FIRMWARE
 
    fw_info
    fw_update
+   fw_changelog

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

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.
 

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
 ---------------------

docs/src/sdk/contents.rst

@@ -9,4 +9,5 @@ SDK
    data/contents
    control/contents
    tools/contents
+   project/contents
    sdk_changelog

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：
 

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 ``<sdk>/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

docs/src/sdk/project/contents.rst

@@ -0,0 +1,10 @@
+.. _data:
+
+SDK Project Demos
+==================
+
+.. toctree::
+  :maxdepth: 2
+
+  cmake
+  vs2017

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 ``<sdk>/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

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

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 ``<OKVIS>/config/config_mynteye.yaml``.
 4. Run OKVIS using MYNT® EYE.
 
+.. tip::
+
+  OKVIS doesn't support ARM right now
+
+
 Install MYNTEYE OKVIS
 ---------------------