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

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TinyOh 2019-04-04 09:23:14 +08:00
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6
README.md
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@ -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/)
* 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)
* 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://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`.

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docs/src/control/contents.rst
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@ -10,4 +10,5 @@ MYNT® EYE Control
auto_exposure
manual_exposure
infrared
imu_low_pass_filter
imu_low_pass_filter
iic_address

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docs/src/control/iic_address.rst Normal file
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@ -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>`_.

8
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -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_;