Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

README.md

@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.4-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.5-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
@@ -17,8 +17,8 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations
 
 * [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2981536/mynteye-s-sdk-docs-en-2.3.4.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2981540/mynt-eye-s-sdk-docs-2.3.4-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk/downloads/pdf/latest/) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk.readthedocs.io/en/latest/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-lightgray.svg?style=flat)]() [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2981541/mynt-eye-s-sdk-docs-2.3.4-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-docs-2.3.4-zh-Hans/mynt-eye-s-sdk-docs-2.3.4-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-lightgray.svg?style=flat)]() [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk-docs-zh-cn.readthedocs.io/zh_CN/latest/)
 
 > Supported languages: `en`, `zh-Hans`.
 

docs/src/control/contents.rst

@@ -10,4 +10,5 @@ MYNT® EYE Control
    auto_exposure
    manual_exposure
    infrared
-   imu_low_pass_filter
+   imu_low_pass_filter
+   iic_address

docs/src/control/iic_address.rst

@@ -0,0 +1,58 @@
+.. _iic_address:
+
+Set IIC Address
+================
+
+Using the ``SetOptionValue()`` function in the API, you can set various control values for the current device.
+
+To set the IIC address, set ``Option::IIC_ADDRESS_SETTING``.
+
+
+.. Attention::
+  Only support S210A
+
+Reference Code:
+
+s210a：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+  Model model = api->GetModel();
+  if (model == Model::STANDARD210A) {
+    api->SetOptionValue(Option::IIC_ADDRESS_SETTING, 0x31);
+    LOG(INFO) << "Set iic address to " << std::hex << "0x"
+              << api->GetOptionValue(Option::IIC_ADDRESS_SETTING);
+  }
+
+
+Reference running results on Linux:
+
+s210a：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_iic_adress
+  I/utils.cc:30 Detecting MYNT EYE devices
+  I/utils.cc:40 MYNT EYE devices:
+  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
+  I/utils.cc:51 Only one MYNT EYE device, select index: 0
+  I/utils.cc:79 MYNT EYE devices:
+  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
+  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
+  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
+  I/utils.cc:93 There are 7 stream requests, select index:
+  3
+  I/imu_range.cc:51 Set iic address to 0x31
+
+After the sample program finishes running with ``ESC/Q``.
+Complete code samples，please see `iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/iic_address.cc>`_.

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -712,10 +712,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           if (data.imu) {
             if (data.imu->flag == 1) {  // accelerometer
               imu_accel_ = data.imu;
-              publishImuBySync(stamp);
+              publishImuBySync();
             } else if (data.imu->flag == 2) {  // gyroscope
               imu_gyro_ = data.imu;
-              publishImuBySync(stamp);
+              publishImuBySync();
             } else {
               publishImu(data, imu_count_, stamp);
               publishTemperature(data.imu->temperature, imu_count_, stamp);
@@ -980,14 +980,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
   }
 
-  void publishImuBySync(ros::Time stamp) {
+  void publishImuBySync() {
     timestampAlign();
 
     if (imu_accel_ == nullptr || imu_gyro_ == nullptr) {
       return;
     }
     sensor_msgs::Imu msg;
-
+    ros::Time stamp = checkUpImuTimeStamp(imu_accel_->timestamp);
     msg.header.seq = imu_sync_count_;
     msg.header.stamp = stamp;
     msg.header.frame_id = imu_frame_id_;