docs(*): update docs v2.3.8
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harjeb
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@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
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# could be handy for archiving the generated documentation or if some version
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# control system is used.
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PROJECT_NUMBER = 2.3.5
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PROJECT_NUMBER = 2.3.8
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a
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@ -15,7 +15,7 @@ To set the range of accelerometer and gyroscope, set ``Option::ACCELEROMETER_RAN
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For mynteye s2100/s210a, the available settings are:
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* The effective range of accelerometer(unit:g): 6, 12, 24, 32.
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* The effective range of accelerometer(unit:g): 6, 12, 24, 48.
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* The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000.
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Reference Code:
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@ -50,7 +50,7 @@ s2100/s210a：
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if (!ok) return 1;
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api->ConfigStreamRequest(request);
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// ACCELEROMETER_RANGE values: 6, 12, 24, 32
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// ACCELEROMETER_RANGE values: 6, 12, 24, 48
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api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
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// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
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api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
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@ -8,7 +8,7 @@ SDK is built on CMake and can be used cross multiple platforms such as "Linux, W
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These are the platforms that can be used:
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* Windows 10
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* Ubuntu 18.04 / 16.04 / 14.04
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* Ubuntu 18.04.1 / 16.04.6 / 14.04.5
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* Jetson TX1/TX2 / Xavier
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* firefly RK3399
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@ -20,37 +20,40 @@ Install ROS Kinetic conveniently (if already installed, please ignore)
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wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
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chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
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Install Ceres
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--------------
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Install Docker
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---------------
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.. code-block:: bash
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cd ~
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git clone https://ceres-solver.googlesource.com/ceres-solver
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sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
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sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
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sudo apt-get update && sudo apt-get install libsuitesparse-dev
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mkdir ceres-bin
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cd ceres-bin
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cmake ../ceres-solver
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make -j3
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sudo make install
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sudo apt-get update
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sudo apt-get install \
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apt-transport-https \
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ca-certificates \
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curl \
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gnupg-agent \
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software-properties-common
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curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
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sudo add-apt-repository \
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"deb [arch=amd64] https://download.docker.com/linux/ubuntu \
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$(lsb_release -cs) \
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stable"
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sudo apt-get update
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sudo apt-get install docker-ce docker-ce-cli containerd.io
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Then add your account to ``docker`` group by ``sudo usermod -aG docker $YOUR_USER_NAME`` . Relaunch the terminal or logout and re-login if you get ``Permission denied`` error.
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To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and virtual memory space is greater than 16G.
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Install MYNT-EYE-VINS-Sample
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------------------------------
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.. code-block:: bash
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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git clone https://github.com/slightech/MYNT-EYE-VINS-Sample.git
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cd ..
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catkin_make
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source devel/setup.bash
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echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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git clone -b docker_feat https://github.com/slightech/MYNT-EYE-VINS-Sample.git
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cd MYNT-EYE-VINS-Sample/docker
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make build
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(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
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Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result. If you need modify the code, simply run ``./run.sh LAUNCH_FILE_NAME`` after your changes.
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Run VINS-Mono with MYNT® EYE
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-----------------------------
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@ -61,11 +64,12 @@ Run VINS-Mono with MYNT® EYE
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cd (local path of MYNT-EYE-S-SDK)
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source ./wrappers/ros/devel/setup.bash
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roslaunch mynt_eye_ros_wrapper mynteye.launch
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roslaunch mynt_eye_ros_wrapper vins_mono.launch
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2. Open another terminal and run vins
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.. code-block:: bash
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cd ~/catkin_ws
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roslaunch vins_estimator mynteye_s.launch
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cd path/to/VINS-Mono/docker
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./run.sh mynteye_s.launch
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# ./run.sh mynteye_s2100.launch # mono with s2100
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@ -20,35 +20,41 @@ Install ROS Kinetic conveniently (if already installed, please ignore)
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wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
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chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
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Install Ceres
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--------------
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Install Docker
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---------------
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.. code-block:: bash
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cd ~
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git clone https://ceres-solver.googlesource.com/ceres-solver
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sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
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sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
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sudo apt-get update && sudo apt-get install libsuitesparse-dev
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mkdir ceres-bin
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cd ceres-bin
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cmake ../ceres-solver
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make -j3
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sudo make install
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sudo apt-get update
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sudo apt-get install \
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apt-transport-https \
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ca-certificates \
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curl \
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gnupg-agent \
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software-properties-common
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curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
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sudo add-apt-repository \
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"deb [arch=amd64] https://download.docker.com/linux/ubuntu \
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$(lsb_release -cs) \
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stable"
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sudo apt-get update
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sudo apt-get install docker-ce docker-ce-cli containerd.io
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Then add your account to ``docker`` group by ``sudo usermod -aG docker $YOUR_USER_NAME`` . Relaunch the terminal or logout and re-login if you get ``Permission denied`` error.
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To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and virtual memory space is greater than 16G.
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Install MYNT-EYE-VINS-FUSION-Samples
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-------------------------------------
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.. code-block:: bash
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
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cd ..
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catkin_make
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source ~/catkin_ws/devel/setup.bash
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cd MYNT-EYE-VINS-FUSION-Samples/docker
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make build
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(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
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Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result. If you need modify the code, simply run ``./run.sh LAUNCH_FILE_NAME`` after your changes.
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Run VINS-FUSION with MYNT® EYE
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-------------------------------
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@ -65,9 +71,7 @@ Run VINS-FUSION with MYNT® EYE
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.. code-block:: bash
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cd ~/catkin_ws/src
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source ./devel/setup.bash
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roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion
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# roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion
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# roslaunch vins mynteye-s2100-mono-imu.launch # mono+imu fusion with mynteye-s2100
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# roslaunch vins mynteye-s2100-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-s2100
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cd path/to/this_repo/docker
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./run.sh mynteye-s/mynt_stereo_imu_config.yaml # Stereo fusion
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# ./run.sh mynteye-s2100/mynt_stereo_config.yaml # Stereo fusion with mynteye-s2100
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# ./run.sh mynteye-s2100/mynt_stereo_imu_config.yaml # Stereo+imu fusion with mynteye-s2100
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@ -51,9 +51,17 @@ The ROS file is structured like follows:
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<sdk>/wrappers/ros/
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├─src/
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│ └─mynt_eye_ros_wrapper/
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│ ├─config/
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│ │ ├─device/
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│ │ ├─standard.yaml # S1030
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│ │ └─standard2.yaml # S2100/S210A
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│ │ ├─laserscan/
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│ │ ├─process/
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│ │ └─...
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│ ├─launch/
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│ │ ├─display.launch
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│ │ └─mynteye.launch
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│ │ └─...
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│ ├─msg/
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│ ├─rviz/
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│ ├─src/
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@ -64,35 +72,41 @@ The ROS file is structured like follows:
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│ └─package.xml
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└─README.md
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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.
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In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, ``standard.yaml`` (standard2.yaml is S2100/S210A config file) can set parameters for device. Please set ``gravity`` to the local gravity acceleration.
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standard.yaml/standard2.yaml:
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.. code-block:: xml
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# s2100/s210a modify frame/resolution
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<arg name="request_index" default="$(arg index_s2_2)" />
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standard2/request_index: 2
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# s1030 modify frame/imu hz
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<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
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<arg name="standard/frame_rate" default="-1" />
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<!-- <arg name="standard/frame_rate" default="25" /> -->
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# standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
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standard/frame_rate: -1
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# standard/frame_rate: 25
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<!-- standard/imu_frequency range: {100,200,250,333,500} -->
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<arg name="standard/imu_frequency" default="-1" />
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<!-- <arg name="standard/imu_frequency" default="200" /> -->
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# standard/imu_frequency range: {100,200,250,333,500}
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standard/imu_frequency: -1
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# standard/imu_frequency: 200
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...
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# s2100 modify brightness
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<!-- standard2/brightness range: [0,240] -->
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<arg name="standard2/brightness" default="-1" />
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<!-- <arg name="standard2/brightness" default="120" /> -->
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# standard2/brightness range: [0,240]
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standard2/brightness: -1
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# standard2/brightness: 120
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...
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# s210a modify brightness
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<!-- standard210a/brightness range: [0,240] -->
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<arg name="standard210a/brightness" default="-1" />
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<!-- <arg name="standard210a/brightness" default="120" /> -->
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# standard210a/brightness range: [0,240]
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standard210a/brightness: -1
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# standard210a/brightness: 120
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...
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mynteye.launch:
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.. code-block:: xml
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<arg name="gravity" default="9.8" />
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@ -42,7 +42,7 @@ int main(int argc, char *argv[]) {
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// Set imu range for S2000/S2100/S210A
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if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
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// ACCELEROMETER_RANGE values: 6, 12, 24, 32
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// ACCELEROMETER_RANGE values: 6, 12, 24, 48
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api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
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// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
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api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
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