docs(*): update docs
This commit is contained in:
parent
849e8c80dd
commit
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.gitignoreMakefile
doc
build.sh
en
mainpage.mdspec_control_api.mdspec_control_channel.mdspec_hardware_info.mdspec_image_data.mdspec_image_params.mdspec_imu_data.mdspec_imu_params.mdspecs_ctrl.mdspecs_data.md
langs.shstatic
zh-Hans
api.doxyfileguide_build_linux.mdguide_build_win.mdguide_log.mdguide_opencv.mdguide_ros.mdguide_samples.mdguide_tools.mdguides.mdmainpage.mdspec_control_api.mdspec_control_channel.mdspec_hardware_info.mdspec_image_data.mdspec_image_params.mdspec_imu_data.mdspec_imu_params.mdspecs_ctrl.mdspecs_data.md
docs
include/mynteye
2
.gitignore
vendored
2
.gitignore
vendored
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@ -7,6 +7,8 @@ _build/
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_install/
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_output/
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/docs/_doxygen/
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/get-pip.py
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/*INFO*
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15
Makefile
15
Makefile
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@ -62,22 +62,17 @@ all: init samples tools ros
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# doc
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apidoc:
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apidoc: cleandoc
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@$(call echo,Make $@)
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@# @[ -e ./_install/include ] || $(MAKE) install
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@[ -e /usr/local/include/mynteye ] || $(MAKE) install
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@$(SH) ./doc/build.sh
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@cd docs; make html
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opendoc: apidoc
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@$(call echo,Make $@)
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@$(shell $(SH) ./doc/langs.sh 1); \
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for lang in "$${LANGS[@]}"; do \
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html=./doc/_output/$$lang/html/index.html; \
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[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
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done
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@$(SH) ./scripts/open.sh docs/_build/html/index.html
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cleandoc:
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@$(call rm,./doc/_output/)
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@$(call rm,./docs/_build/)
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@$(call rm,./docs/_doxygen/)
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.PHONY: apidoc opendoc cleandoc
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83
doc/build.sh
83
doc/build.sh
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@ -1,83 +0,0 @@
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#!/usr/bin/env bash
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# Copyright 2018 Slightech Co., Ltd. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
|
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# distributed under the License is distributed on an "AS IS" BASIS,
|
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# _VERBOSE_=1
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# _TEST_=1
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BASE_DIR=$(cd "$(dirname "$0")" && pwd)
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ROOT_DIR=$(realpath "$BASE_DIR/..")
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SCRIPTS_DIR="$ROOT_DIR/scripts"
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source "$SCRIPTS_DIR/common/echo.sh"
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source "$SCRIPTS_DIR/common/mkdir.sh"
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source "$SCRIPTS_DIR/common/detect.sh"
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_detect "doxygen"
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_detect "pdflatex" 1
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source "$BASE_DIR/langs.sh"
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DOXYFILE="api.doxyfile"
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OUTPUT="$BASE_DIR/_output"
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# \usepackage{CJKutf8}
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# \begin{document}
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# \begin{CJK}{UTF8}{gbsn}
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# ...
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# \end{CJK}
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# \end{document}
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_texcjk() {
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tex="$1"; shift;
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_echo_in "add cjk to $tex"
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sed -i "" -E $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
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sed -i "" -E $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
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}
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for lang in "${LANGS[@]}"; do
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_echo_s "Build doc $lang"
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[ -d "$BASE_DIR/$lang" ] || continue
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cd "$BASE_DIR/$lang"
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if [ -f "$DOXYFILE" ]; then
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_mkdir "$OUTPUT/$lang"
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_echo_i "doxygen $DOXYFILE"
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doxygen $DOXYFILE
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version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
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sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
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# html
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if [ -d "$OUTPUT/$lang/html" ]; then
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dirname="mynt-eye-s-sdk-apidoc"; \
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[ -n "$version" ] && dirname="$dirname-$version"; \
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dirname="$dirname-$lang"
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cd "$OUTPUT/$lang"
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[ -d "$dirname" ] && rm -rf "$dirname"
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mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
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fi
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# latex
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if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
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_echo_in "doxygen make latex"
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filename="mynt-eye-s-sdk-apidoc"; \
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[ -n "$version" ] && filename="$filename-$version"; \
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filename="$filename-$lang.pdf"
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cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
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[ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
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fi
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_echo_d "doxygen completed"
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else
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_echo_e "$DOXYFILE not found"
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fi
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done
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@ -1,11 +0,0 @@
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# MYNT EYE S SDK {#mainpage}
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* <a class="el" href="annotated.html">API Classes</a>
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* <a class="el" href="modules.html">API Modules</a>
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* \link enumerations Enumerations\endlink
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* \link datatypes Datatypes\endlink
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* \link utils Utiliities\endlink
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* \link calibration Intrinsics & Extrinsics\endlink
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* <span style="font-weight:bold">Device Specifications</span>
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* @subpage specs_data
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* @subpage specs_ctrl
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@ -1,26 +0,0 @@
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# Control Protocols {#spec_control_api}
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There are two control modes, one is through UVC standard protocol, the other is through UVC custom protocol with extension unit.
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## Standard Protocol
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| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Note |
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| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :--- |
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| Gain | gain | 2 | 24 | 0 | 48 | √ | 0x12 | valid if manual-exposure |
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| Brightness | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | valid if manual-exposure |
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| Contrast | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | valid if manual-exposure |
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## Custom Protocol
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| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note |
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| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- |
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| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
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| IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
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| Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
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| Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |
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| Max exposure time | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | valid if auto-exposure |
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| Desired brightness | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | valid if auto-exposure |
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| IR control | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
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| HDR mode | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0: 10-bit; 1: 12-bit |
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| Zero drift calibration | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
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| Erase chip | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
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@ -1,53 +0,0 @@
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# Control Channels {#spec_control_channel}
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| Name | Field | Address | Bandwidth | Node |
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| :----- | :----- | :----- | :----- | :----- |
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| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
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| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
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| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
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| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
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| File channel | XU_FILE_CHANNEL | 5 | 2000 | |
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## Camera Control Channel
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The channel provides get, set and query (min, max, default).
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## Half-Duplex Channel
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The channel only provides set, such as zero drift correction.
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## IMU Channel
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The channel is used to request and response IMU data, see @ref spec_imu_data.
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## File Channel
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The channel is used to read and write device information, image params, and IMU params.
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| Name | Header | Size | File | Checksum |
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| :--- | :- | :--- | :--- | :-------- |
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| Bytes | 1 | 2 | - | 1 |
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| Type | uint8_t | uint16_t | - | uint8_t |
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| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes |
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| Header Bit Subscript | Description |
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| :------------------- | :---------- |
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| 0 | Device information |
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| 1 | Image params |
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| 2 | IMU params |
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| 3~6 | Undefined |
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| 7 | 0: Get; 1: Set |
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### File Content Packet
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| Name | ID | Size | Content |
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| :--- | :- | :--- | :------ |
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| Bytes | 1 | 2 | - |
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| Type | uint8_t | uint16_t | - |
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| Description | Content ID | Content size | Content data |
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| File | ID | Max Size |
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| :--- | :- | :------- |
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| Device information | 1 | 250 |
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| Image params | 2 | 250 |
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| IMU params | 4 | 500 |
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@ -1,16 +0,0 @@
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# Device Information {#spec_hardware_info}
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| Name | Field | Fixed Value | USB Descriptor | UVC Extension Unit | Bytes | Note |
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| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
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| VID | vid | 0x04B4 | √ | × | 2 | |
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| PID | pid | 0x00F9 | √ | × | 2 | |
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| Device name | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
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| Serial number | serial_number | - | √ | √ Get | 16 | |
|
||||
| Firmware version | firmware_version | - | √ | √ Get | 2 | major,minor |
|
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| Hardware version | hardware_version | - | × | √ Get | 3 | major,minor,flag |
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| Spec version | spec_version | - | × | √ Get | 2 | major,minor |
|
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| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
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| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
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| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 |
|
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| Auxiliary chip version | auxiliary_chip_version | - | × | √ Get | 2 | major,minor |
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| isp version | isp_version | - | × | √ Get | 2 | major,minor |
|
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# Image Data {#spec_image_data}
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| Name | Field | Unit | Bytes | Note |
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| :----- | :----- | :----- | :-------- | :----- |
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| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] |
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| Timestamp | timestamp | 10 us | 4 | uint32_t |
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| Exposure Time | exposure_time | 10 us | 2 | uint16_t |
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## Image Packet
|
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|
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| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
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| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
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| Bytes | 1 | 1 | 2 | 4 | 2 | 1 |
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| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
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| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes |
|
||||
|
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* The image packet will be dropped, if checksum is incorrect.
|
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* The accuracy of the time unit: 0.01 ms / 10 us.
|
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* The timestamp could indicate 11.9 hours, it will accumulate again after overflow.
|
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* The timestamp accumulation starts from the time of power-on, instead of opening.
|
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@ -1,23 +0,0 @@
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# Image Params {#spec_image_params}
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## Image Intrinsics
|
||||
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||||
| Name | Field | Unit | Bytes | Note |
|
||||
| :----- | :----- | :----- | :-------- | :----- |
|
||||
| Image width | width | px | 2 | uint16_t; [0,65535] |
|
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| Image height | height | px | 2 | uint16_t; [0,65535] |
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| Focal length | fx | - | 8 | double |
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| ^ | fy | - | 8 | double |
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| Principal point | cx | - | 8 | double |
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| ^ | cy | - | 8 | double |
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| Distortion model | model | - | 1 | uint8_t; pinhole,... |
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| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
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## Image Extrinsics
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Transformation matrix from left image to right image.
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| Name | Field | Unit | Bytes | Note |
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| :----- | :----- | :----- | :-------- | :----- |
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| Rotation matrix | rotation[3][3] | - | 72 | double |
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| Translation vector | translation[3] | - | 24 | double |
|
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# IMU Data {#spec_imu_data}
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## IMU Request Packet
|
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| Name | Header | Serial Number |
|
||||
| :--- | :----- | :------------ |
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| Bytes | 1 | 4 |
|
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| Type | uint8_t | uint32_t |
|
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| Description | 0x5A | First request should be 0, otherwise the last one |
|
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## IMU Response Packet
|
||||
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The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.
|
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|
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| Name | Header | State | Size | IMU Packets | Checksum |
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| :--- | :----- | :---- | :--- | :---------- | :------- |
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| Bytes | 1 | 1 | 2 | ... | 1 |
|
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| 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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@ -1,23 +0,0 @@
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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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@ -1,4 +0,0 @@
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# Device Control Specification {#specs_ctrl}
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* @subpage spec_control_api
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* @subpage spec_control_channel
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@ -1,7 +0,0 @@
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# Device Data Specification {#specs_data}
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* @subpage spec_hardware_info
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* @subpage spec_image_params
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* @subpage spec_imu_params
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* @subpage spec_image_data
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* @subpage spec_imu_data
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20
doc/langs.sh
20
doc/langs.sh
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@ -1,20 +0,0 @@
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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[@]})"
|
3
doc/static/custom.css
vendored
3
doc/static/custom.css
vendored
|
@ -1,3 +0,0 @@
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|||
#projectlogo img {
|
||||
margin: 1em 0.5em 1em 1em;
|
||||
}
|
BIN
doc/static/images/icon.png
vendored
BIN
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|
@ -1,44 +0,0 @@
|
|||
# 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。
|
|
@ -1,113 +0,0 @@
|
|||
# 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
|
||||
```
|
|
@ -1,6 +0,0 @@
|
|||
# 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。
|
|
@ -1,13 +0,0 @@
|
|||
# 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)
|
||||
```
|
|
@ -1,30 +0,0 @@
|
|||
# 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
|
||||
```
|
|
@ -1,46 +0,0 @@
|
|||
# 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` 。
|
|
@ -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` 。
|
|
@ -1,9 +0,0 @@
|
|||
# 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
|
|
@ -1,11 +0,0 @@
|
|||
# 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
|
|
@ -1,27 +0,0 @@
|
|||
# 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 | |
|
||||
|
|
@ -1,53 +0,0 @@
|
|||
# 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 |
|
|
@ -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。
|
|
@ -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。
|
|
@ -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 |
|
|
@ -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℃** 。
|
|
@ -1,23 +0,0 @@
|
|||
# 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 |
|
|
@ -1,4 +0,0 @@
|
|||
# 设备控制说明 {#specs_ctrl}
|
||||
|
||||
* @subpage spec_control_api
|
||||
* @subpage spec_control_channel
|
|
@ -1,7 +0,0 @@
|
|||
# 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
|
|
@ -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
docs/Makefile
Normal file
19
docs/Makefile
Normal file
|
@ -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)
|
23
docs/api/api.rst
Normal file
23
docs/api/api.rst
Normal file
|
@ -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:
|
30
docs/api/device.rst
Normal file
30
docs/api/device.rst
Normal file
|
@ -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:
|
67
docs/api/enums.rst
Normal file
67
docs/api/enums.rst
Normal file
|
@ -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
|
75
docs/api/types.rst
Normal file
75
docs/api/types.rst
Normal file
|
@ -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:
|
32
docs/api/utils.rst
Normal file
32
docs/api/utils.rst
Normal file
|
@ -0,0 +1,32 @@
|
|||
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
|
Before (image error) Size: 52 KiB After (image error) Size: 52 KiB |
194
docs/conf.py
Normal file
194
docs/conf.py
Normal file
|
@ -0,0 +1,194 @@
|
|||
# -*- 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
25
docs/index.rst
Normal file
|
@ -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
35
docs/make.bat
Normal file
|
@ -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
5
docs/requirements.txt
Normal file
|
@ -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
|
|
@ -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 */
|
||||
|
|
Loading…
Reference in New Issue
Block a user