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John Zhao 2019-03-11 13:27:49 +08:00
parent 849e8c80dd
commit 9dcf3acf2a
52 changed files with 569 additions and 3453 deletions
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2
.gitignore vendored
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@ -7,6 +7,8 @@ _build/
_install/
_output/
/docs/_doxygen/
/get-pip.py
/*INFO*

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Makefile
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@ -62,22 +62,17 @@ all: init samples tools ros
# doc
apidoc:
apidoc: cleandoc
@$(call echo,Make $@)
@# @[ -e ./_install/include ] || $(MAKE) install
@[ -e /usr/local/include/mynteye ] || $(MAKE) install
@$(SH) ./doc/build.sh
@cd docs; make html
opendoc: apidoc
@$(call echo,Make $@)
@$(shell $(SH) ./doc/langs.sh 1); \
for lang in "$${LANGS[@]}"; do \
html=./doc/_output/$$lang/html/index.html; \
[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
done
@$(SH) ./scripts/open.sh docs/_build/html/index.html
cleandoc:
@$(call rm,./doc/_output/)
@$(call rm,./docs/_build/)
@$(call rm,./docs/_doxygen/)
.PHONY: apidoc opendoc cleandoc

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#!/usr/bin/env bash
# Copyright 2018 Slightech Co., Ltd. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# _VERBOSE_=1
# _TEST_=1
BASE_DIR=$(cd "$(dirname "$0")" && pwd)
ROOT_DIR=$(realpath "$BASE_DIR/..")
SCRIPTS_DIR="$ROOT_DIR/scripts"
source "$SCRIPTS_DIR/common/echo.sh"
source "$SCRIPTS_DIR/common/mkdir.sh"
source "$SCRIPTS_DIR/common/detect.sh"
_detect "doxygen"
_detect "pdflatex" 1
source "$BASE_DIR/langs.sh"
DOXYFILE="api.doxyfile"
OUTPUT="$BASE_DIR/_output"
# \usepackage{CJKutf8}
# \begin{document}
# \begin{CJK}{UTF8}{gbsn}
# ...
# \end{CJK}
# \end{document}
_texcjk() {
tex="$1"; shift;
_echo_in "add cjk to $tex"
sed -i "" -E $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
sed -i "" -E $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
}
for lang in "${LANGS[@]}"; do
_echo_s "Build doc $lang"
[ -d "$BASE_DIR/$lang" ] || continue
cd "$BASE_DIR/$lang"
if [ -f "$DOXYFILE" ]; then
_mkdir "$OUTPUT/$lang"
_echo_i "doxygen $DOXYFILE"
doxygen $DOXYFILE
version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
# html
if [ -d "$OUTPUT/$lang/html" ]; then
dirname="mynt-eye-s-sdk-apidoc"; \
[ -n "$version" ] && dirname="$dirname-$version"; \
dirname="$dirname-$lang"
cd "$OUTPUT/$lang"
[ -d "$dirname" ] && rm -rf "$dirname"
mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
fi
# latex
if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
_echo_in "doxygen make latex"
filename="mynt-eye-s-sdk-apidoc"; \
[ -n "$version" ] && filename="$filename-$version"; \
filename="$filename-$lang.pdf"
cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
[ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
fi
_echo_d "doxygen completed"
else
_echo_e "$DOXYFILE not found"
fi
done

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# MYNT EYE S SDK {#mainpage}
* <a class="el" href="annotated.html">API Classes</a>
* <a class="el" href="modules.html">API Modules</a>
* \link enumerations Enumerations\endlink
* \link datatypes Datatypes\endlink
* \link utils Utiliities\endlink
* \link calibration Intrinsics & Extrinsics\endlink
* <span style="font-weight:bold">Device Specifications</span>
* @subpage specs_data
* @subpage specs_ctrl

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# Control Protocols {#spec_control_api}
There are two control modes, one is through UVC standard protocol, the other is through UVC custom protocol with extension unit.
## Standard Protocol
| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Note |
| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :--- |
| Gain | gain | 2 | 24 | 0 | 48 | √ | 0x12 | valid if manual-exposure |
| Brightness | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | valid if manual-exposure |
| Contrast | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | valid if manual-exposure |
## Custom Protocol
| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note |
| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- |
| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
| IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
| Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
| Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |
| Max exposure time | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | valid if auto-exposure |
| Desired brightness | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | valid if auto-exposure |
| IR control | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
| HDR mode | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0: 10-bit; 1: 12-bit |
| Zero drift calibration | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
| Erase chip | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |

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# Control Channels {#spec_control_channel}
| Name | Field | Address | Bandwidth | Node |
| :----- | :----- | :----- | :----- | :----- |
| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
| File channel | XU_FILE_CHANNEL | 5 | 2000 | |
## Camera Control Channel
The channel provides get, set and query (min, max, default).
## Half-Duplex Channel
The channel only provides set, such as zero drift correction.
## IMU Channel
The channel is used to request and response IMU data, see @ref spec_imu_data.
## File Channel
The channel is used to read and write device information, image params, and IMU params.
| Name | Header | Size | File | Checksum |
| :--- | :- | :--- | :--- | :-------- |
| Bytes | 1 | 2 | - | 1 |
| Type | uint8_t | uint16_t | - | uint8_t |
| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes |
| Header Bit Subscript | Description |
| :------------------- | :---------- |
| 0 | Device information |
| 1 | Image params |
| 2 | IMU params |
| 3~6 | Undefined |
| 7 | 0: Get; 1: Set |
### File Content Packet
| Name | ID | Size | Content |
| :--- | :- | :--- | :------ |
| Bytes | 1 | 2 | - |
| Type | uint8_t | uint16_t | - |
| Description | Content ID | Content size | Content data |
| File | ID | Max Size |
| :--- | :- | :------- |
| Device information | 1 | 250 |
| Image params | 2 | 250 |
| IMU params | 4 | 500 |

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# Device Information {#spec_hardware_info}
| Name | Field | Fixed Value | USB Descriptor | UVC Extension Unit | Bytes | Note |
| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
| VID | vid | 0x04B4 | √ | × | 2 | |
| PID | pid | 0x00F9 | √ | × | 2 | |
| Device name | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
| Serial number | serial_number | - | √ | √ Get | 16 | |
| Firmware version | firmware_version | - | √ | √ Get | 2 | major,minor |
| Hardware version | hardware_version | - | × | √ Get | 3 | major,minor,flag |
| Spec version | spec_version | - | × | √ Get | 2 | major,minor |
| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 |
| Auxiliary chip version | auxiliary_chip_version | - | × | √ Get | 2 | major,minor |
| isp version | isp_version | - | × | √ Get | 2 | major,minor |

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# Image Data {#spec_image_data}
| Name | Field | Unit | Bytes | Note |
| :----- | :----- | :----- | :-------- | :----- |
| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] |
| Timestamp | timestamp | 10 us | 4 | uint32_t |
| Exposure Time | exposure_time | 10 us | 2 | uint16_t |
## Image Packet
| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
| Bytes | 1 | 1 | 2 | 4 | 2 | 1 |
| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes |
* The image packet will be dropped, if checksum is incorrect.
* The accuracy of the time unit: 0.01 ms / 10 us.
* The timestamp could indicate 11.9 hours, it will accumulate again after overflow.
* The timestamp accumulation starts from the time of power-on, instead of opening.

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# Image Params {#spec_image_params}
## Image Intrinsics
| Name | Field | Unit | Bytes | Note |
| :----- | :----- | :----- | :-------- | :----- |
| Image width | width | px | 2 | uint16_t; [0,65535] |
| Image height | height | px | 2 | uint16_t; [0,65535] |
| Focal length | fx | - | 8 | double |
| ^ | fy | - | 8 | double |
| Principal point | cx | - | 8 | double |
| ^ | cy | - | 8 | double |
| Distortion model | model | - | 1 | uint8_t; pinhole,... |
| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
## Image Extrinsics
Transformation matrix from left image to right image.
| Name | Field | Unit | Bytes | Note |
| :----- | :----- | :----- | :-------- | :----- |
| Rotation matrix | rotation[3][3] | - | 72 | double |
| Translation vector | translation[3] | - | 24 | double |

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# IMU Data {#spec_imu_data}
## IMU Request Packet
| Name | Header | Serial Number |
| :--- | :----- | :------------ |
| Bytes | 1 | 4 |
| Type | uint8_t | uint32_t |
| Description | 0x5A | First request should be 0, otherwise the last one |
## IMU Response Packet
The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.
| Name | Header | State | Size | IMU Packets | Checksum |
| :--- | :----- | :---- | :--- | :---------- | :------- |
| Bytes | 1 | 1 | 2 | ... | 1 |
| Type | uint8_t | uint8_t | uint16_t | - | uint8_t |
| Description | 0x5B | 0 is success, others are failed | Content size | IMU packets | Checksum, XOR of all content bytes |
### IMU Packet
The IMU packet is an array of IMU datas.
| Name | Serial Number | Timestamp | Count | IMU Datas |
| :--- | :------------ | :-------- | :---- | :-------- |
| Bytes | 4 | 4 | 1 | ... |
| Type | uint32_t | uint32_t | uint8_t | - |
| Description | Serial number | IMU basic timestamp | The number of IMU datas | IMU datas |
### IMU Segment
| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
| :--- | :----- | :------- | :------------ | :---------- | :-------- |
| Bytes | 2 | 2 | 6 | 2 | 6 |
| Type | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
| Description | The timestamp offset | Image frame ID | Accel x,y,z values | IMU temperature | Gyro x,y,z values |
* Formula for converting the accel & gyro values to real ones: **real = data * range / 0x10000** .
* ``accel`` default ``range`` is **8 g**, ``gyro`` default ``range`` is **1000 deg/s**.
* Formula for converting the temperature to real value: **real = data / ratio + offset** .
* default ``ratio`` is **326.8**, default ``offset`` is **25℃**.

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# IMU Params {#spec_imu_params}
## IMU Intrinsics
| Name | Field | Unit | Bytes | Note |
| :----- | :----- | :----- | :-------- | :----- |
| Scale matrix | acc_scale[3][3] | - | 72 | double |
| ^ | gyro_scale[3][3] | - | 72 | double |
| Zero-drift | acc_drift[3] | - | 24 | double |
| ^ | gyro_drift[3] | - | 24 | double |
| Noise density | acc_noise[3] | - | 24 | double |
| ^ | gyro_noise[3] | - | 24 | double |
| Random walk | acc_bias[3] | - | 24 | double |
| ^ | gyro_bias[3] | - | 24 | double |
## IMU Extrinsics
Transformation matrix from left image to IMU.
| Name | Field | Unit | Bytes | Note |
| :----- | :----- | :----- | :-------- | :----- |
| Rotation matrix | rotation[3][3] | - | 72 | double |
| Translation vector | translation[3] | - | 24 | double |

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# Device Control Specification {#specs_ctrl}
* @subpage spec_control_api
* @subpage spec_control_channel

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# Device Data Specification {#specs_data}
* @subpage spec_hardware_info
* @subpage spec_image_params
* @subpage spec_imu_params
* @subpage spec_image_data
* @subpage spec_imu_data

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#!/usr/bin/env bash
# Copyright 2018 Slightech Co., Ltd. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
LANGS=(
en
zh-Hans
)
[ $# -gt 0 ] && echo "LANGS=(${LANGS[@]})"

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#projectlogo img {
margin: 1em 0.5em 1em 1em;
}

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# 编译 on Linux {#guide_build_linux}
> Ubuntu 16.04, Ubuntu 14.04
## 获取代码
```bash
git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
```
## 准备依赖
```bash
cd mynt-eye-s-sdk/
make init
```
### [OpenCV](https://opencv.org/)
编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
```bash
# Linux, macOS
export OpenCV_DIR=~/opencv
# Windows
set OpenCV_DIR=C:\opencv
```
## 编译代码
```bash
make install
```
结果：
![make install](make_install.png)
\latexonly
\includegraphics[width=0.6\textwidth,keepaspectratio]{make_install.png}
\endlatexonly
> CMake 如何引入编译好的库，可参考 `samples/CMakeLists.txt` 里的配置。

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# 编译 on Windows {#guide_build_win}
> Windows 10
## 前提条件
* [Git](https://git-scm.com/downloads)，用于获取代码。
* [CMake](https://cmake.org/download/)，用于构建编译。
* [Doxygen](http://www.stack.nl/~dimitri/doxygen/download.html)，用于生成文档。
最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
```cmd
>cmake --version
cmake version 3.10.1
>git --version
git version 2.11.1.windows.1
>doxygen --version
1.8.13
```
* [Visual Studio](https://www.visualstudio.com/)
* [Visual Studio 2015](https://my.visualstudio.com/Downloads?q=Visual Studio 2015)
* [Visual Studio 2017](https://my.visualstudio.com/Downloads?q=Visual Studio 2017)
* [Windows 10 SDK](https://developer.microsoft.com/en-US/windows/downloads/windows-10-sdk)
以 Visual Studio 2015 举例，请在系统环境变量 `PATH` 里添加上如下路径：
C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\bin
C:\Program Files (x86)\MSBuild\14.0\Bin
最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
```cmd
>cl
Microsoft (R) C/C++ Optimizing Compiler Version 19.00.24215.1 for x86
>link
Microsoft (R) Incremental Linker Version 14.00.24215.1
>lib
Microsoft (R) Library Manager Version 14.00.24215.1
>msbuild
Microsoft (R) 生成引擎版本 14.0.25420.1
```
* [MSYS2](http://www.msys2.org/)
* [国内镜像](https://lug.ustc.edu.cn/wiki/mirrors/help/msys2)
* [pacman](https://wiki.archlinux.org/index.php/pacman)
打开 MSYS2 MSYS ，然后执行：
```msys
$ pacman -Syu
$ pacman -S make
```
并在系统环境变量 `PATH` 里添加上如下路径：
C:\msys64\usr\bin
最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
```cmd
>make --version
GNU Make 4.2.1
```
## 获取代码
```cmd
>git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
```
## 准备依赖
```cmd
>cd mynt-eye-s-sdk
>make init
Make init
Init deps
Install cmd: pacman -S
Install deps: git clang-format
pacman -S clang-format (not exists)
error: target not found: clang-format
pip install --upgrade autopep8 cpplint pylint requests
...
Init git hooks
ERROR: clang-format-diff is not installed!
Expect cmake version >= 3.0
cmake version 3.10.1
```
### [OpenCV](https://opencv.org/)
编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
```bash
# Linux, macOS
export OpenCV_DIR=~/opencv
# Windows
set OpenCV_DIR=C:\opencv
```
## 编译代码
```cmd
>make install
```

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# 日志 {#guide_log}
日志系统用的 `glog` ，通用配置在头文件 `logger.h` 里。
* 日志文件会存储在当前工作目录， `make cleanlog` 可以清理。
* 如果需要打开详细日志，请取消 `logger.h` 里注释的 `FLAGS_v = 2;` ，重新编译。

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# OpenCV 依赖 {#guide_opencv}
SDK 提供了三层接口，其 OpenCV 依赖情况如下：
* `api`， 上层接口，依赖 OpenCV 。
* `device`，中间层接口，不依赖 OpenCV 。
* `uvc`，底层接口，不依赖 OpenCV 。
如果不想使用 OpenCV ，你可编辑 `<sdk>/cmake/Option.cmake` 里的 `WITH_API` 选项，设为 `OFF` 就能关闭 `api` 层代码编译：
```cmake
option(WITH_API "Build with API layer, need OpenCV" ON)
```

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# ROS 封装 {#guide_ros}
ROS 封装实现在 ``<sdk>/wrappers/ros`` 目录。
## 依赖
* [ROS](http://www.ros.org/) 环境。
## 编译
```bash
cd <sdk>
make ros
```
## 运行
运行发布节点，
```bash
source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
```
运行发布节点，同时打开 RViz 预览图像，
```bash
source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper display.launch
```

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# 样例 {#guide_samples}
样例在 `<sdk>/samples` 目录，其提供了不同接口层的使用范例。
## 依赖
* [OpenCV](https://opencv.org/)，用于显示图像。
* 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
```bash
# Linux, macOS
export OpenCV_DIR=~/opencv
# Windows
set OpenCV_DIR=C:\opencv
```
## 编译
```bash
make samples
```
## 运行
运行 `api` 层接口样例，显示图像并输出 IMU 。
```bash
./samples/_output/bin/api/camera_a
# Windows
.\samples\_output\bin\api\camera_a.bat
```
运行 `device` 层接口样例，显示图像并输出 IMU 。
```bash
./samples/_output/bin/device/camera_d
# Windows
.\samples\_output\bin\device\camera_d.bat
```
## 结语
更多样例的说明，请见 `samples/README.md` 。

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@ -1,73 +0,0 @@
# 工具 {#guide_tools}
工具在 `<sdk>/tools` 目录，其提供一些有用的脚本和程序。
## 依赖
* [OpenCV](https://opencv.org/)，部分工具需要。
* 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
```bash
# Linux, macOS
export OpenCV_DIR=~/opencv
# Windows
set OpenCV_DIR=C:\opencv
```
* Python 第三方库，脚本需要。
```bash
cd tools/
sudo pip install -r requirements.txt
```
## 编译
```bash
make tools
```
## 录制数据集
```bash
./tools/_output/bin/dataset/record
# Windows
.\tools\_output\bin\dataset\record.bat
```
默认录制进 `dataset` 目录，加参数可指定该目录。
## 分析数据集
分析 IMU 数据，
```bash
python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
-al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
```
![imu analytics](imu_analytics.png)
\latexonly
\includegraphics[width=0.6\textwidth,keepaspectratio]{imu_analytics.png}
\endlatexonly
分析图像 & IMU 时间戳，
```bash
python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
```
![stamp analytics](stamp_analytics.png)
\latexonly
\includegraphics[width=0.6\textwidth,keepaspectratio]{stamp_analytics.png}
\endlatexonly
> 如果用 ROS ，分析脚本也支持 ROS Bag 格式。
## 结语
设备信息读写、校验码等更多工具的说明，请见 `tools/README.md` 。

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# SDK 指导 {#guides}
* @subpage guide_build_linux
* @subpage guide_build_win
* @subpage guide_samples
* @subpage guide_tools
* @subpage guide_log
* @subpage guide_opencv
* @subpage guide_ros

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# MYNT EYE S SDK {#mainpage}
* <a class="el" href="annotated.html">API 类</a>
* <a class="el" href="modules.html">API 模块</a>
* \link enumerations 枚举类型\endlink
* \link datatypes 数据类型\endlink
* \link utils 工具函数\endlink
* \link calibration 内参与外参\endlink
* <span style="font-weight:bold">设备说明</span>
* @subpage specs_data
* @subpage specs_ctrl

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# 控制 API 说明 {#spec_control_api}
控制有两种实现方式，一是通过 UVC 标准协议，二是通过 UVC 拓展通道自定义协议。
## 标准协议
| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 |
| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
| 亮度 | brightness | 2 | 192 | 0 | 255 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
> UVC 标准协议实现的控制，有现成的 API 进行 Get & Set ，包括 Min, Max, Default 。
## 自定义协议
| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 通道地址 | 说明 |
| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
| 最大增益 | max_gain | 2 | 8 | 0 | 255 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
| 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
| 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | - | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |
| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | |

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# 拓展通道说明 {#spec_control_channel}
| 名称 | 字段 | 地址 | 带宽 | 说明 |
| :----- | :----- | :----- | :----- | :----- |
| 相机控制通道 | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
| 半双工通道 | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
| IMU 请求通道 | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
| IMU 响应通道 | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
| 文件通道 | XU_FILE_CHANNEL | 5 | 2000 | |
## 相机控制通道
相机控制通道是那些需要 Get & Set & Query 的控制通道，其中 Query 细分为 Min, Max, Default 。
## 半双工通道
半双工通道是那些仅需 Set 的控制通道，如请求零漂矫正。
## IMU 通道
用来请求和响应 IMU 数据的通道，可参见 @ref spec_imu_data 。
## 文件通道
用来读写硬件信息、图像参数、 IMU 参数的通道。
| Name | Header | Size | File | Checksum |
| :--- | :----- | :--- | :--- | :-------- |
| 字节数 | 1 | 2 | - | 1 |
| 类型 | uint8_t | uint16_t | - | uint8_t |
| 描述 | 标识 | 文件内容大小 | 文件内容 | 校验码（文件内容所有字节异或） |
| Header Bit Subscript | Description |
| :------------------- | :---------- |
| 0 | 硬件信息 |
| 1 | 图像参数 |
| 2 | IMU 参数 |
| 3~6 | 未定义 |
| 7 | 0: Get; 1: Set |
### 文件内容包
| Name | ID | Size | Content |
| :--- | :- | :--- | :------ |
| 字节数 | 1 | 2 | - |
| 类型 | uint8_t | uint16_t | - |
| 描述 | 内容 ID | 内容大小 | 内容 |
| File | ID | Max Size |
| :--- | :- | :------- |
| 硬件信息 | 1 | 250 |
| 图像参数 | 2 | 404 |
| IMU 参数 | 4 | 500 |

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@ -1,19 +0,0 @@
# 硬件信息说明 {#spec_hardware_info}
| 名称 | 字段 | 固定值 | 描述符获取 | 拓展通道获取 | 字节数 | 说明 |
| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
| VID | vid | 0x04B4 | √ | × | 2 | |
| PID | pid | 0x00F9 | √ | × | 2 | |
| 设备名称 | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
| 序列号 | serial_number | - | √ | √ Get | 16 | |
| 固件版本 | firmware_version | - | √ | √ Get | 2 | major,minor |
| 硬件版本 | hardware_version | - | × | √ Get | 3 | major,minor,flag |
| 协议版本 | spec_version | - | × | √ Get | 2 | major,minor |
| 镜头类型 | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
| IMU 类型 | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
| 基线长度 | nominal_baseline | - | × | √ Get/Set | 2 | 单位 mm ，未 set 默认 0 |
| 辅助芯片版本 | auxiliary_chip_version | - | × | √ Get | 2 | major,minor |
| ISP版本 | isp_version | - | × | √ Get | 2 | major,minor |
* 描述符获取：指通用 USB 设备信息，可用工具查看。
* 拓展通道获取：指通过拓展通道（UVC Extension Unit）问硬件获取到的信息，需要读取。

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@ -1,21 +0,0 @@
# 图像数据说明 {#spec_image_data}
| 名称 | 字段 | 单位 | 字节数 | 说明 |
| :----- | :----- | :----- | :-------- | :----- |
| 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] |
| 时间戳 | timestamp | 1 us | 8 | uint64_t |
| 曝光时间 | exposure_time | 1 us | 2 | uint16_t |
> 图像数据传输方式：倒序排在图像尾部。
## 图像数据包
| Name | Header | Size | FrameID | Timestamp | ExposureTime | Checksum |
| :--- | :----- | :--- | :------ | :-------- | :----------- | :------- |
| 字节数 | 1 | 1 | 2 | 8 | 2 | 1 |
| 类型 | uint8_t | uint8_t | uint16_t | uint64_t | uint16_t | uint8_t |
| 描述 | 0x3B | 0x10 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
* 数据包校验不过，会丢弃该帧。
* 时间的单位精度为： 1 us 。
* 时间累计是从上电时从开始，而不是从打开时开始。

25
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@ -1,25 +0,0 @@
# 图像参数说明 {#spec_image_params}
## 图像内参
| 名称 | 字段 | 单位 | 字节数 | 说明 |
| :----- | :----- | :----- | :-------- | :----- |
| 宽度 | width | px | 2 | uint16_t; [0,65535] |
| 高度 | height | px | 2 | uint16_t; [0,65535] |
| 焦距 | fx | - | 8 | double |
| ^ | fy | - | 8 | double |
| 图像中心 | cx | - | 8 | double |
| ^ | cy | - | 8 | double |
| 畸变模型 | model | - | 1 | uint8_t; pinhole,... |
| 畸变参数 | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
> 图像分辨率不同，内参不同。多分辨率的话，需有多个内参。
## 图像外参
Left Image 到 Right Image 的变换矩阵。
| 名称 | 字段 | 单位 | 字节数 | 说明 |
| :----- | :----- | :----- | :-------- | :----- |
| 旋转矩阵 | rotation[3][3] | - | 72 | double |
| 平移矩阵 | translation[3] | - | 24 | double |

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@ -1,42 +0,0 @@
# IMU 数据说明 {#spec_imu_data}
## IMU 请求数据包
| Name | Header | Serial Number |
| :--- | :----- | :------------ |
| 字节数 | 1 | 4 |
| 类型 | uint8_t | uint32_t |
| 描述 | 0x5A | 首次请求写 0 ，不然写上次响应数据包最后一个 IMU 包的序列号 |
## IMU 响应数据包
IMU 响应数据包里会包含1个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
| Name | Header | State | Size | IMU Packets | Checksum |
| :--- | :----- | :---- | :--- | :---------- | :------- |
| 字节数 | 1 | 1 | 2 | ... | 1 |
| 类型 | uint8_t | uint8_t | uint16_t | - | uint8_t |
| 描述 | 0x5B | 正常状态为 0 ，否则错误 | 数据内容大小 | 所包含的 IMU 包 | 校验码（数据内容所有字节异或） |
### IMU 包
IMU 包/小包，是一组 IMU 数据。
| Name | Count | IMU Datas |
| :--- | :-----| :-------- |
| 字节数 | 2 | ... |
| 类型 | uint16_t | - |
| 描述 | IMU 段数量 | 所包含的 IMU 段 |
### IMU 段
| Name | Serial Number | Timestamp | flag | Temperature | Accelerometer or Gyroscope |
| :--- | :------------ | :-------- | :----| :----------- | :------------------------- |
| 字节数 | 4 | 8 | 1 | 2 | 6 |
| 类型 | uint32_t | uint64_t | int8_t | int16_t | int16_t * 3 |
| Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 x y z 三轴的值 |
* 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。
* 加速度计量程默认值为 **12 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
* 温度计量值换算成物理值公式： **real = data / ratio + offset** 。
* ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。

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# IMU 参数说明 {#spec_imu_params}
## IMU 内参
| 名称 | 字段 | 单位 | 字节数 | 说明 |
| :----- | :----- | :----- | :-------- | :----- |
| 比例因子 | acc_scale[3][3] | - | 72 | double |
| ^ | gyro_scale[3][3] | - | 72 | double |
| 零漂 | acc_drift[3] | - | 24 | double |
| ^ | gyro_drift[3] | - | 24 | double |
| 噪声密度 | acc_noise[3] | - | 24 | double |
| ^ | gyro_noise[3] | - | 24 | double |
| 随机游走 | acc_bias[3] | - | 24 | double |
| ^ | gyro_bias[3] | - | 24 | double |
## IMU 外参
Left Image 到 IMU 的变换矩阵。
| 名称 | 字段 | 单位 | 字节数 | 说明 |
| :----- | :----- | :----- | :-------- | :----- |
| 旋转矩阵 | rotation[3][3] | - | 72 | double |
| 平移矩阵 | translation[3] | - | 24 | double |

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# 设备控制说明 {#specs_ctrl}
* @subpage spec_control_api
* @subpage spec_control_channel

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# 设备数据说明 {#specs_data}
* @subpage spec_hardware_info
* @subpage spec_image_params
* @subpage spec_imu_params
* @subpage spec_image_data
* @subpage spec_imu_data

33
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@ -38,27 +38,27 @@ PROJECT_NAME = "MYNT EYE S SDK"
# could be handy for archiving the generated documentation or if some version
# control system is used.
PROJECT_NUMBER = 2.3.3
PROJECT_NUMBER = 2.3.4
# 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
# quick idea about the purpose of the project. Keep the description short.
PROJECT_BRIEF = http://www.myntai.com/mynteye/standard
PROJECT_BRIEF = https://www.myntai.com/mynteye/standard
# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
# in the documentation. The maximum height of the logo should not exceed 55
# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
# the logo to the output directory.
PROJECT_LOGO = ../static/images/icon.png
PROJECT_LOGO =
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
# into which the generated documentation will be written. If a relative path is
# entered, it will be relative to the location where doxygen was started. If
# left blank the current directory will be used.
OUTPUT_DIRECTORY = ../_output/en
OUTPUT_DIRECTORY = _doxygen
# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
# directories (in 2 levels) under the output directory of each output format and
@ -791,17 +791,7 @@ WARN_LOGFILE =
# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
# Note: If this tag is empty the current directory is searched.
INPUT = mainpage.md \
specs_data.md \
spec_hardware_info.md \
spec_image_params.md \
spec_imu_params.md \
spec_image_data.md \
spec_imu_data.md \
specs_ctrl.md \
spec_control_api.md \
spec_control_channel.md \
/usr/local/include/mynteye
INPUT = ../include/mynteye
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@ -938,7 +928,7 @@ EXAMPLE_RECURSIVE = NO
# that contain images that are to be included in the documentation (see the
# \image command).
IMAGE_PATH = ../static/images
IMAGE_PATH =
# The INPUT_FILTER tag can be used to specify a program that doxygen should
# invoke to filter for each input file. Doxygen will invoke the filter program
@ -1115,7 +1105,7 @@ IGNORE_PREFIX =
# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
# The default value is: YES.
GENERATE_HTML = YES
GENERATE_HTML = NO
# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@ -1185,7 +1175,7 @@ HTML_STYLESHEET =
# list). For an example see the documentation.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_EXTRA_STYLESHEET = ../static/custom.css
HTML_EXTRA_STYLESHEET =
# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
# other source files which should be copied to the HTML output directory. Note
@ -1667,7 +1657,7 @@ EXTRA_SEARCH_MAPPINGS =
# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
# The default value is: YES.
GENERATE_LATEX = YES
GENERATE_LATEX = NO
# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@ -1947,7 +1937,7 @@ MAN_LINKS = NO
# captures the structure of the code including all documentation.
# The default value is: NO.
GENERATE_XML = NO
GENERATE_XML = YES
# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@ -2102,7 +2092,8 @@ INCLUDE_FILE_PATTERNS =
PREDEFINED = DOXYGEN_WORKING \
"MYNTEYE_BEGIN_NAMESPACE=namespace mynteye {" \
"MYNTEYE_END_NAMESPACE=}"
"MYNTEYE_END_NAMESPACE=}" \
"MYNTEYE_API=" "LAST="
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
# tag can be used to specify a list of macro names that should be expanded. The

19
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@ -0,0 +1,19 @@
# Minimal makefile for Sphinx documentation
#
# You can set these variables from the command line.
SPHINXOPTS =
SPHINXBUILD = sphinx-build
SOURCEDIR = .
BUILDDIR = _build
# Put it first so that "make" without argument is like "make help".
help:
@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
.PHONY: help Makefile
# Catch-all target: route all unknown targets to Sphinx using the new
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
%: Makefile
@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

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@ -0,0 +1,23 @@
API
===
API
---
.. doxygenclass:: mynteye::API
:project: mynteyes
:members:
api::StreamData
---------------
.. doxygenstruct:: mynteye::api::StreamData
:project: mynteyes
:members:
api::MotionData
---------------
.. doxygenstruct:: mynteye::api::MotionData
:project: mynteyes
:members:

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@ -0,0 +1,30 @@
Device
======
Device
------
.. doxygenclass:: mynteye::Device
:project: mynteyes
:members:
device::Frame
-------------
.. doxygenclass:: mynteye::device::Frame
:project: mynteyes
:members:
device::StreamData
------------------
.. doxygenstruct:: mynteye::device::StreamData
:project: mynteyes
:members:
device::MotionData
------------------
.. doxygenstruct:: mynteye::device::MotionData
:project: mynteyes
:members:

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@ -0,0 +1,67 @@
Enums
=====
..
.. doxygengroup:: enumerations
:project: mynteyes
Model
-----
.. doxygenenum:: mynteye::Model
:project: mynteyes
Stream
------
.. doxygenenum:: mynteye::Stream
:project: mynteyes
Capabilities
------------
.. doxygenenum:: mynteye::Capabilities
:project: mynteyes
Info
----
.. doxygenenum:: mynteye::Info
:project: mynteyes
Option
------
.. doxygenenum:: mynteye::Option
:project: mynteyes
Source
------
.. doxygenenum:: mynteye::Source
:project: mynteyes
AddOns
------
.. doxygenenum:: mynteye::AddOns
:project: mynteyes
Format
------
.. doxygenenum:: mynteye::Format
:project: mynteyes
CalibrationModel
----------------
.. doxygenenum:: mynteye::CalibrationModel
:project: mynteyes
DisparityComputingMethod
------------------------
.. doxygenenum:: mynteye::DisparityComputingMethod
:project: mynteyes

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@ -0,0 +1,75 @@
Types
=====
OptionInfo
----------
.. doxygenstruct:: mynteye::OptionInfo
:project: mynteyes
:members:
Resolution
----------
.. doxygenstruct:: mynteye::Resolution
:project: mynteyes
:members:
StreamRequest
-------------
.. doxygenstruct:: mynteye::StreamRequest
:project: mynteyes
:members:
Intrinsics
----------
IntrinsicsPinhole
~~~~~~~~~~~~~~~~~
.. doxygenstruct:: mynteye::IntrinsicsPinhole
:project: mynteyes
:members:
IntrinsicsEquidistant
~~~~~~~~~~~~~~~~~~~~~
.. doxygenstruct:: mynteye::IntrinsicsEquidistant
:project: mynteyes
:members:
ImuIntrinsics
~~~~~~~~~~~~~
.. doxygenstruct:: mynteye::ImuIntrinsics
:project: mynteyes
:members:
MotionIntrinsics
~~~~~~~~~~~~~~~~~
.. doxygenstruct:: mynteye::MotionIntrinsics
:project: mynteyes
:members:
Extrinsics
----------
.. doxygenstruct:: mynteye::Extrinsics
:project: mynteyes
:members:
ImgData
-------
.. doxygenstruct:: mynteye::ImgData
:project: mynteyes
:members:
ImuData
-------
.. doxygenstruct:: mynteye::ImuData
:project: mynteyes
:members:

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Utils
=====
select
------
.. doxygenfunction:: select
:project: mynteyes
select_request
--------------
.. doxygenfunction:: select_request
:project: mynteyes
get_real_exposure_time
----------------------
.. doxygenfunction:: get_real_exposure_time
:project: mynteyes
get_sdk_root_dir
----------------
.. doxygenfunction:: get_sdk_root_dir
:project: mynteyes
get_sdk_install_dir
-------------------
.. doxygenfunction:: get_sdk_install_dir
:project: mynteyes

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# -*- coding: utf-8 -*-
#
# Configuration file for the Sphinx documentation builder.
#
# This file does only contain a selection of the most common options. For a
# full list see the documentation:
# http://www.sphinx-doc.org/en/master/config
# -- Path setup --------------------------------------------------------------
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
#
# import os
# import sys
# sys.path.insert(0, os.path.abspath('.'))
# -- Project information -----------------------------------------------------
project = 'MYNT® EYE S SDK'
copyright = '2018, MYNTAI'
author = 'MYNTAI'
# The short X.Y version
version = '2.3.4'
# The full version, including alpha/beta/rc tags
release = version
# -- General configuration ---------------------------------------------------
# If your documentation needs a minimal Sphinx version, state it here.
#
# needs_sphinx = '1.0'
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [
'breathe',
]
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
# The suffix(es) of source filenames.
# You can specify multiple suffix as a list of string:
#
# source_suffix = ['.rst', '.md']
source_suffix = '.rst'
# The master toctree document.
master_doc = 'index'
# The language for content autogenerated by Sphinx. Refer to documentation
# for a list of supported languages.
#
# This is also used if you do content translation via gettext catalogs.
# Usually you set "language" from the command line for these cases.
language = 'en'
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
# The name of the Pygments (syntax highlighting) style to use.
pygments_style = None
# on_rtd is whether we are on readthedocs.org
import os
on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
import subprocess
subprocess.call('doxygen', shell=True)
# -- Options for HTML output -------------------------------------------------
if not on_rtd: # only import and set the theme if we're building docs locally
import sphinx_rtd_theme
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
#
# html_theme = 'alabaster'
html_theme = 'sphinx_rtd_theme'
html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
# Theme options are theme-specific and customize the look and feel of a theme
# further. For a list of options available for each theme, see the
# documentation.
#
# html_theme_options = {}
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
# html_static_path = ['_static']
# Custom sidebar templates, must be a dictionary that maps document names
# to template names.
#
# The default sidebars (for documents that don't match any pattern) are
# defined by theme itself. Builtin themes are using these templates by
# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
# 'searchbox.html']``.
#
# html_sidebars = {}
# otherwise, readthedocs.org uses their theme by default, so no need to specify it
# -- Options for HTMLHelp output ---------------------------------------------
# Output file base name for HTML help builder.
htmlhelp_basename = 'MYNTEYESSDKdoc'
# -- Options for LaTeX output ------------------------------------------------
latex_elements = {
# The paper size ('letterpaper' or 'a4paper').
#
# 'papersize': 'letterpaper',
# The font size ('10pt', '11pt' or '12pt').
#
# 'pointsize': '10pt',
# Additional stuff for the LaTeX preamble.
#
# 'preamble': '',
# Latex figure (float) alignment
#
# 'figure_align': 'htbp',
}
# Grouping the document tree into LaTeX files. List of tuples
# (source start file, target name, title,
# author, documentclass [howto, manual, or own class]).
latex_documents = [
(master_doc, 'MYNTEYESSDK.tex', 'MYNT® EYE S SDK Documentation',
'MYNTAI', 'manual'),
]
# -- Options for manual page output ------------------------------------------
# One entry per manual page. List of tuples
# (source start file, name, description, authors, manual section).
man_pages = [
(master_doc, 'mynteyessdk', 'MYNT® EYE S SDK Documentation',
[author], 1)
]
# -- Options for Texinfo output ----------------------------------------------
# Grouping the document tree into Texinfo files. List of tuples
# (source start file, target name, title, author,
# dir menu entry, description, category)
texinfo_documents = [
(master_doc, 'MYNTEYESSDK', 'MYNT® EYE S SDK Documentation',
author, 'MYNTEYESSDK', 'One line description of project.',
'Miscellaneous'),
]
# -- Options for Epub output -------------------------------------------------
# Bibliographic Dublin Core info.
epub_title = project
# The unique identifier of the text. This can be a ISBN number
# or the project homepage.
#
# epub_identifier = ''
# A unique identification for the text.
#
# epub_uid = ''
# A list of files that should not be packed into the epub file.
epub_exclude_files = ['search.html']
# -- Extension configuration -------------------------------------------------
breathe_projects = { 'mynteyes': '_doxygen/xml' }

25
docs/index.rst Normal file
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@ -0,0 +1,25 @@
.. MYNT® EYE S SDK documentation master file, created by
sphinx-quickstart on Mon Mar 11 08:59:35 2019.
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
MYNT® EYE S SDK
===============
.. toctree::
:caption: API REFERENCE
:maxdepth: 2
api/api
api/device
api/enums
api/types
api/utils
..
Indices and tables
==================
* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`

35
docs/make.bat Normal file
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@ -0,0 +1,35 @@
@ECHO OFF
pushd %~dp0
REM Command file for Sphinx documentation
if "%SPHINXBUILD%" == "" (
set SPHINXBUILD=sphinx-build
)
set SOURCEDIR=.
set BUILDDIR=_build
if "%1" == "" goto help
%SPHINXBUILD% >NUL 2>NUL
if errorlevel 9009 (
echo.
echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
echo.installed, then set the SPHINXBUILD environment variable to point
echo.to the full path of the 'sphinx-build' executable. Alternatively you
echo.may add the Sphinx directory to PATH.
echo.
echo.If you don't have Sphinx installed, grab it from
echo.http://sphinx-doc.org/
exit /b 1
)
%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
goto end
:help
%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
:end
popd

5
docs/requirements.txt Normal file
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@ -0,0 +1,5 @@
breathe>=4.11.1
restructuredtext-lint>=1.1.3
Sphinx>=1.8.1
sphinx-intl>=0.9.11
sphinx-rtd-theme>=0.4.2

73
include/mynteye/types.h
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@ -137,109 +137,125 @@ enum class Info : std::uint8_t {
enum class Option : std::uint8_t {
/**
* Image gain, valid if manual-exposure
*
* <p>
* range: [0,48], default: 24
* </p>
*/
GAIN,
/**
* Image brightness, valid if manual-exposure
*
* <p>
* range: [0,240], default: 120
* </p>
*/
BRIGHTNESS,
/**
* Image contrast, valid if manual-exposure
*
* <p>
* range: [0,255], default: 127
* </p>
*/
CONTRAST,
/**
* Image frame rate, must set IMU_FREQUENCY together
*
* <p>
* values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
* </p>
*/
FRAME_RATE,
/**
* IMU frequency, must set FRAME_RATE together
*
* <p>
* values: {100,200,250,333,500}, default: 200
* </p>
*/
IMU_FREQUENCY,
/**
* Exposure mode
*
* 0: enable auto-exposure
* <p>
* 0: enable auto-exposure<br>
* 1: disable auto-exposure (manual-exposure)
* </p>
*/
EXPOSURE_MODE,
/**
* Max gain, valid if auto-exposure
*
* range of standard 1: [0,48], default: 48
* <p>
* range of standard 1: [0,48], default: 48<br>
* range of standard 2: [0,255], default: 8
* </p>
*/
MAX_GAIN,
/**
* Max exposure time, valid if auto-exposure
*
* range of standard 1: [0,240], default: 240
* <p>
* range of standard 1: [0,240], default: 240<br>
* range of standard 2: [0,1000], default: 333
* </p>
*/
MAX_EXPOSURE_TIME,
/**
* min exposure time, valid if auto-exposure
*
* range: [0,1000], default: 0
* <p>
* range: [0,1000], default: 0<br>
* </p>
*/
MIN_EXPOSURE_TIME,
/**
* Desired brightness, valid if auto-exposure
*
* range of standard 1: [0,255], default: 192
* <p>
* range of standard 1: [0,255], default: 192<br>
* range of standard 2: [1,255], default: 122
* </p>
*/
DESIRED_BRIGHTNESS,
/**
* IR control
*
* range: [0,160], default: 0
* <p>
* range: [0,160], default: 0<br>
* </p>
*/
IR_CONTROL,
/**
* HDR mode
*
* 0: 10-bit
* <p>
* 0: 10-bit<br>
* 1: 12-bit
* </p>
*/
HDR_MODE,
/**
* The range of accelerometer
*
* value of standard 1: {4,8,16,32}, default: 8
* <p>
* value of standard 1: {4,8,16,32}, default: 8<br>
* value of standard 2: {6,12,24,48}, default: 12
* </p>
*/
ACCELEROMETER_RANGE,
/**
* The range of gyroscope
*
* value of standard 1: {500,1000,2000,4000}, default: 1000
* <p>
* value of standard 1: {500,1000,2000,4000}, default: 1000<br>
* value of standard 2: {250,500,1000,2000,4000}, default: 1000
* </p>
*/
GYROSCOPE_RANGE,
/**
* The parameter of accelerometer low pass filter
*
* <p>
* values: {0,1,2}, default: 2
* </p>
*/
ACCELEROMETER_LOW_PASS_FILTER,
/**
* The parameter of gyroscope low pass filter
*
* <p>
* values: {23,64}, default: 64
* </p>
*/
GYROSCOPE_LOW_PASS_FILTER,
@ -608,10 +624,11 @@ struct MYNTEYE_API ImuData {
std::uint32_t frame_id;
/**
* IMU accel or gyro flag
*
* 0: accel and gyro are both valid
* 1: accel is valid
* <p>
* 0: accel and gyro are both valid<br>
* 1: accel is valid<br>
* 2: gyro is valid
* </p>
*/
std::uint8_t flag;
/** IMU timestamp in 1us */