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docs(*): update docs v2.3.8

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harjeb 2019-05-22 11:18:25 +08:00
parent 36c5491c93
commit 9b346ff33a
7 changed files with 89 additions and 67 deletions
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2
docs/Doxyfile
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@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
# could be handy for archiving the generated documentation or if some version # could be handy for archiving the generated documentation or if some version
# control system is used. # control system is used.
PROJECT_NUMBER = 2.3.5 PROJECT_NUMBER = 2.3.8
# Using the PROJECT_BRIEF tag one can provide an optional one line description # Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a # for a project that appears at the top of each page and should give viewer a

4
docs/src/control/imu_range.rst
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@ -15,7 +15,7 @@ To set the range of accelerometer and gyroscope, set ``Option::ACCELEROMETER_RAN
For mynteye s2100/s210a, the available settings are: For mynteye s2100/s210a, the available settings are:
* The effective range of accelerometer(unit:g): 6, 12, 24, 32. * The effective range of accelerometer(unit:g): 6, 12, 24, 48.
* The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000. * The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000.
Reference Code: Reference Code:
@ -50,7 +50,7 @@ s2100/s210a：
if (!ok) return 1; if (!ok) return 1;
api->ConfigStreamRequest(request); api->ConfigStreamRequest(request);
// ACCELEROMETER_RANGE values: 6, 12, 24, 32 // ACCELEROMETER_RANGE values: 6, 12, 24, 48
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6); api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000 // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000); api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);

2
docs/src/sdk/platform.rst
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@ -8,7 +8,7 @@ SDK is built on CMake and can be used cross multiple platforms such as "Linux, W
These are the platforms that can be used: These are the platforms that can be used:
* Windows 10 * Windows 10
* Ubuntu 18.04 / 16.04 / 14.04 * Ubuntu 18.04.1 / 16.04.6 / 14.04.5
* Jetson TX1/TX2 / Xavier * Jetson TX1/TX2 / Xavier
* firefly RK3399 * firefly RK3399

52
docs/src/slam/vins.rst
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@ -20,37 +20,40 @@ Install ROS Kinetic conveniently (if already installed, please ignore)
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \ wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
Install Ceres Install Docker
-------------- ---------------
.. code-block:: bash .. code-block:: bash
cd ~ sudo apt-get update
git clone https://ceres-solver.googlesource.com/ceres-solver sudo apt-get install \
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev apt-transport-https \
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687 ca-certificates \
sudo apt-get update && sudo apt-get install libsuitesparse-dev curl \
mkdir ceres-bin gnupg-agent \
cd ceres-bin software-properties-common
cmake ../ceres-solver curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
make -j3 sudo add-apt-repository \
sudo make install "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
$(lsb_release -cs) \
stable"
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io
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.
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.
Install MYNT-EYE-VINS-Sample Install MYNT-EYE-VINS-Sample
------------------------------ ------------------------------
.. code-block:: bash .. code-block:: bash
mkdir -p ~/catkin_ws/src git clone -b docker_feat https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd ~/catkin_ws/src cd MYNT-EYE-VINS-Sample/docker
git clone https://github.com/slightech/MYNT-EYE-VINS-Sample.git make build
cd ..
catkin_make
source devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS) 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.
Run VINS-Mono with MYNT® EYE Run VINS-Mono with MYNT® EYE
----------------------------- -----------------------------
@ -61,11 +64,12 @@ Run VINS-Mono with MYNT® EYE
cd (local path of MYNT-EYE-S-SDK) cd (local path of MYNT-EYE-S-SDK)
source ./wrappers/ros/devel/setup.bash source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch roslaunch mynt_eye_ros_wrapper vins_mono.launch
2. Open another terminal and run vins 2. Open another terminal and run vins
.. code-block:: bash .. code-block:: bash
cd ~/catkin_ws cd path/to/VINS-Mono/docker
roslaunch vins_estimator mynteye_s.launch ./run.sh mynteye_s.launch
# ./run.sh mynteye_s2100.launch # mono with s2100

52
docs/src/slam/vins_fusion.rst
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@ -20,35 +20,41 @@ Install ROS Kinetic conveniently (if already installed, please ignore)
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \ wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
Install Ceres Install Docker
-------------- ---------------
.. code-block:: bash .. code-block:: bash
cd ~ sudo apt-get update
git clone https://ceres-solver.googlesource.com/ceres-solver sudo apt-get install \
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev apt-transport-https \
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687 ca-certificates \
sudo apt-get update && sudo apt-get install libsuitesparse-dev curl \
mkdir ceres-bin gnupg-agent \
cd ceres-bin software-properties-common
cmake ../ceres-solver curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
make -j3 sudo add-apt-repository \
sudo make install "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
$(lsb_release -cs) \
stable"
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io
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.
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.
Install MYNT-EYE-VINS-FUSION-Samples Install MYNT-EYE-VINS-FUSION-Samples
------------------------------------- -------------------------------------
.. code-block:: bash .. code-block:: bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
cd .. cd MYNT-EYE-VINS-FUSION-Samples/docker
catkin_make make build
source ~/catkin_ws/devel/setup.bash
(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS) 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.
Run VINS-FUSION with MYNT® EYE Run VINS-FUSION with MYNT® EYE
------------------------------- -------------------------------
@ -65,9 +71,7 @@ Run VINS-FUSION with MYNT® EYE
.. code-block:: bash .. code-block:: bash
cd ~/catkin_ws/src cd path/to/this_repo/docker
source ./devel/setup.bash ./run.sh mynteye-s/mynt_stereo_imu_config.yaml # Stereo fusion
roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion # ./run.sh mynteye-s2100/mynt_stereo_config.yaml # Stereo fusion with mynteye-s2100
# roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion # ./run.sh mynteye-s2100/mynt_stereo_imu_config.yaml # Stereo+imu fusion with mynteye-s2100
# roslaunch vins mynteye-s2100-mono-imu.launch # mono+imu fusion with mynteye-s2100
# roslaunch vins mynteye-s2100-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-s2100

42
docs/src/wrapper/ros.rst
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@ -51,9 +51,17 @@ The ROS file is structured like follows:
<sdk>/wrappers/ros/ <sdk>/wrappers/ros/
├─src/ ├─src/
│ └─mynt_eye_ros_wrapper/ │ └─mynt_eye_ros_wrapper/
│ ├─config/
│ │ ├─device/
│ │ ├─standard.yaml # S1030
│ │ └─standard2.yaml # S2100/S210A
│ │ ├─laserscan/
│ │ ├─process/
│ │ └─...
│ ├─launch/ │ ├─launch/
│ │ ├─display.launch │ │ ├─display.launch
│ │ └─mynteye.launch │ │ └─mynteye.launch
│ │ └─...
│ ├─msg/ │ ├─msg/
│ ├─rviz/ │ ├─rviz/
│ ├─src/ │ ├─src/
@ -64,35 +72,41 @@ The ROS file is structured like follows:
│ └─package.xml │ └─package.xml
└─README.md └─README.md
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. 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.
standard.yaml/standard2.yaml:
.. code-block:: xml .. code-block:: xml
# s2100/s210a modify frame/resolution # s2100/s210a modify frame/resolution
<arg name="request_index" default="$(arg index_s2_2)" /> standard2/request_index: 2
# s1030 modify frame/imu hz # s1030 modify frame/imu hz
<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} --> # standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
<arg name="standard/frame_rate" default="-1" /> standard/frame_rate: -1
<!-- <arg name="standard/frame_rate" default="25" /> --> # standard/frame_rate: 25
<!-- standard/imu_frequency range: {100,200,250,333,500} --> # standard/imu_frequency range: {100,200,250,333,500}
<arg name="standard/imu_frequency" default="-1" /> standard/imu_frequency: -1
<!-- <arg name="standard/imu_frequency" default="200" /> --> # standard/imu_frequency: 200
... ...
# s2100 modify brightness # s2100 modify brightness
<!-- standard2/brightness range: [0,240] --> # standard2/brightness range: [0,240]
<arg name="standard2/brightness" default="-1" /> standard2/brightness: -1
<!-- <arg name="standard2/brightness" default="120" /> --> # standard2/brightness: 120
... ...
# s210a modify brightness # s210a modify brightness
<!-- standard210a/brightness range: [0,240] --> # standard210a/brightness range: [0,240]
<arg name="standard210a/brightness" default="-1" /> standard210a/brightness: -1
<!-- <arg name="standard210a/brightness" default="120" /> --> # standard210a/brightness: 120
... ...
mynteye.launch:
.. code-block:: xml .. code-block:: xml
<arg name="gravity" default="9.8" /> <arg name="gravity" default="9.8" />

2
samples/tutorials/control/imu_range.cc
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@ -42,7 +42,7 @@ int main(int argc, char *argv[]) {
// Set imu range for S2000/S2100/S210A // Set imu range for S2000/S2100/S210A
if (model == Model::STANDARD2 || model == Model::STANDARD210A) { if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
// ACCELEROMETER_RANGE values: 6, 12, 24, 32 // ACCELEROMETER_RANGE values: 6, 12, 24, 48
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6); api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000 // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000); api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);