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

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.3.8 LANGUAGES C CXX)
+project(mynteye VERSION 2.3.9 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -22,6 +22,8 @@ if(NOT CMAKE_DEBUG_POSTFIX)
   set(CMAKE_DEBUG_POSTFIX d)
 endif()
 
+LIST(APPEND CMAKE_MODULE_PATH cmake)
+
 # options
 
 include(cmake/Option.cmake)
@@ -59,8 +61,6 @@ macro(target_link_threads NAME)
   endif()
 endmacro()
 
-LIST(APPEND CMAKE_MODULE_PATH cmake)
-
 include(CMakePackageConfigHelpers)
 
 # config

README.md

@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.8-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.9-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
@@ -18,7 +18,7 @@ Please follow the guide doc to install the SDK on different platforms.
 
 * [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://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/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/pdf/latest/) [![](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/Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.3.8
+PROJECT_NUMBER         = 2.3.9
 
 # 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

docs/api/api.rst

@@ -1,3 +1,5 @@
+.. _api:
+
 API
 ===
 

docs/api/contents.rst

@@ -1,7 +1,5 @@
-.. _api:
+API DOCS
-
+==============
-API DOC
-=========
 
 .. toctree::
 
@@ -9,4 +7,4 @@ API DOC
    device
    enums
    types
-   utils
+   utils

docs/api/device.rst

@@ -1,3 +1,5 @@
+.. _device:
+
 Device
 ======
 

docs/api/enums.rst

@@ -1,3 +1,5 @@
+.. _enums:
+
 Enums
 =====
 

docs/api/types.rst

@@ -1,3 +1,5 @@
+.. _types:
+
 Types
 =====
 

docs/api/utils.rst

@@ -1,3 +1,5 @@
+.. _utils:
+
 Utils
 =====
 

docs/conf.py

@@ -24,7 +24,7 @@ copyright = '2018, MYNTAI'
 author = 'MYNTAI'
 
 # The short X.Y version
-version = '2.3.8'
+version = '2.3.9'
 # The full version, including alpha/beta/rc tags
 release = version
 

docs/index.rst

@@ -7,19 +7,16 @@ MYNT® EYE S SDK
 ===============
 
 .. toctree::
-   :maxdepth: 2
    :titlesonly:
+   :maxdepth: 2
 
-   src/mynteye/contents
+   src/product/contents
    src/sdk/contents
    src/firmware/contents
-   src/data/contents
+   src/tools/contents
-   src/control/contents
-   src/log/contents
-   src/wrapper/contents
-   src/analytics/contents
    src/slam/contents
    api/contents
+   src/support/contents
 
 ..
   Indices and tables

docs/src/analytics/contents.rst

@@ -1,10 +0,0 @@
-.. _analytics:
-
-Data Analytics
-===============
-
-.. toctree::
-
-   dataset
-   analytics_imu
-   analytics_stamp

docs/src/firmware/contents.rst

@@ -1,11 +1,8 @@
-.. _firmware:
+FIRMWARE
-
-MYNT® EYE Firmware
 ==================
 
 .. toctree::
+   :maxdepth: 2
 
-   applicable
+   fw_info
-   upgrade
+   fw_update
-   stm_update
-   from_v1.rst

docs/src/firmware/fw_changelog.rst

@@ -0,0 +1,5 @@
+Change Log
+==================
+
+.. toctree::
+   :maxdepth: 2

docs/src/firmware/fw_info.rst

@@ -0,0 +1,9 @@
+.. _fw_info:
+
+Firmware Description
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   applicable

docs/src/firmware/fw_update.rst

@@ -0,0 +1,10 @@
+.. _fw_update:
+
+Firmware Update
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   update_main_chip
+   update_auxiliary_chip

docs/src/firmware/update_auxiliary_chip.rst

@@ -1,26 +1,26 @@
-.. _firmware_stm_update:
+.. _fw_update_auxiliary_chip:
 
-How to update the Auxiliary Chip
+Update Auxiliary Chip Firmware
 ==================================
 
-Update auxiliary chip(Only Support S2100/S210A)
+Update auxiliary chip (Only Support S2100/S210A)
------------------------------------------------
+------------------------------------------------
 
 * Plug in the MYNT® EYE camera into a USB3.0 port
 
 * Open MYNT EYE TOOL and select ``Options/BoardUpdate`` .
 
-.. image:: ../../images/boardupdate.png
+.. image:: ../../images/firmware/boardupdate.png
 
 * Click ``StmUpdate`` .
 
-.. image:: ../../images/stmupdate.png
+.. image:: ../../images/firmware/stmupdate.png
 
 * In the open file selection box, select the firmware ``MYNTEYE-S210x-auxiliary-chip-v1.0.bin``  and start upgrading.
 
 * Once the upgrade is complete, it will display update finished.
 
-.. image:: ../../images/stmsuccess.png
+.. image:: ../../images/firmware/stmsuccess.png
 
 
 

docs/src/firmware/update_main_chip.rst

@@ -1,6 +1,6 @@
-.. _firmware_upgrade:
+.. _fw_update_main_chip:
 
-How to update Main Processing Chip
+Update Main Chip Firmware
 ====================================
 
 Please use the MYNT EYE TOOL to update main processing chip.
@@ -42,11 +42,11 @@ Update Firmware
 
 * Open MYNT EYE TOOL and select ``Options/FirmwareUpdate`` .
 
-.. image:: ../../images/firmware_update_option.png
+.. image:: ../../images/firmware/firmware_update_option.png
 
 * Click ``Update`` .
 
-.. image:: ../../images/firmware_update.png
+.. image:: ../../images/firmware/firmware_update.png
    :width: 60%
 
 * A warning dialog box will pop up, click ``yes`` .
@@ -56,19 +56,19 @@ Update Firmware
     * Usually, the MYNT EYE TOOL automatically installs the driver during the upgrade process.
     * If the upgrade fails, refer to README.
 
-.. image:: ../../images/firmware_update_warning.png
+.. image:: ../../images/firmware/firmware_update_warning.png
    :width: 60%
 
-.. image:: ../../images/firmware_update_dir.png
+.. image:: ../../images/firmware/firmware_update_dir.png
    :width: 60%
 
 * In the open file selection box, select the firmware you want to upgrade and start upgrading.
 
-.. image:: ../../images/firmware_update_select.png
+.. image:: ../../images/firmware/firmware_update_select.png
 
 * Once the upgrade is complete, the status will changes to ``Succeeded``.
 
-.. image:: ../../images/firmware_update_success.png
+.. image:: ../../images/firmware/firmware_update_success.png
    :width: 60%
 
 * Close the MYNT EYE TOOL，finish.
@@ -85,13 +85,13 @@ Manually update drivers
 
 * Open device manager, locate ``WestBridge_driver`` device, and right click Update Driver,select ``[application directory]WestBridge_driver\\[corresponding system folders](If it is more than win7, choose wlh)\\[system bits]`` .
 
-.. image:: ../../images/firmware_update_westbridge.png
+.. image:: ../../images/firmware/firmware_update_westbridge.png
 
 * For example,if it is the win10 64 bit system computer,and the application is installed under the default path,you should select ``C:\Program Files (x86)\slightech\MYNT EYE TOOL 2.0\WestBridge_driver\wlh\x64``.
 
 * After the installation driver is successful, you can find the ``Cypress USB BootLoader`` device in the device manager.
 
-.. image:: ../../images/firmware_update_cypressUSB.png
+.. image:: ../../images/firmware/firmware_update_cypressUSB.png
 
 * Then plug in the camera and open the application again to update.
 
@@ -101,5 +101,5 @@ Manually update drivers
 
 .. ::
 
-  .. image:: ../../images/firmware_update_driver.png
+  .. image:: ../../images/firmware/firmware_update_driver.png
-  .. image:: ../../images/firmware_update_driver_install.png
+  .. image:: ../../images/firmware/firmware_update_driver_install.png

docs/src/mynteye/contents.rst

@@ -1,14 +0,0 @@
-.. _mynteye:
-
-MYNT® EYE product introduction
-==============================
-
-.. toctree::
-
-   intro
-   surface_s1030
-   imu_coord_s1030
-   spec_s1030
-   surface_s2100
-   imu_coord_s2100
-   spec_s2100

docs/src/mynteye/imu_coord_s2100.rst

@@ -1,8 +0,0 @@
-.. _mynteye_imu_coord_s2100:
-
-MYNTEYE-S2100 IMU coordinata system
-====================================
-
-IMU coordinate system is right-handed,the axis directions are as follows:
-
-.. image:: ../../images/mynteye_avatar_imu_coord.jpg

docs/src/mynteye/spec_s1030.rst

@@ -1,87 +0,0 @@
-.. _mynteye_spec_s1030:
-
-S1030-IR-120/Mono Product Specification
-=========================================
-
-Product Specification:
------------------------
-
-
-==========================  =======================================
-  Model                        S1030-IR-120/Mono
---------------------------  ---------------------------------------
-  Size                         PCB dimension:149x24mm,
-                               Total dimension:165x31.5x29.6mm
---------------------------  ---------------------------------------
-  Frame Rate                   10/15/20/25/30/35/40/45/50/55/60FPS
---------------------------  ---------------------------------------
-  Resolution                    752*480,376*240
---------------------------  ---------------------------------------
-  Depth Resolution             Base on CPU/GPU Up to  752*480@60FPS
---------------------------  ---------------------------------------
-  Pixel Size                    6.0*6.0μm
---------------------------  ---------------------------------------
-  Baseline                      120.0mm
---------------------------  ---------------------------------------
-  Camera Lens                    Replacable Standard M12
---------------------------  ---------------------------------------
-  Visual Angle                     D:146° H:122° V:76°
---------------------------  ---------------------------------------
-  Focal Length                      2.1mm
---------------------------  ---------------------------------------
-  IR Support                       Yes
---------------------------  ---------------------------------------
-  IR detectable range           3m
---------------------------  ---------------------------------------
-  Color Mode                     Monochrome
---------------------------  ---------------------------------------
-  Working Distance                 0.7-2m
---------------------------  ---------------------------------------
-  Scanning Mode                    Global Shutter
---------------------------  ---------------------------------------
-  Power                        1~2.7W@5V DC from USB
---------------------------  ---------------------------------------
-  Output data format             Raw data
---------------------------  ---------------------------------------
-  Data transfer Interface       USB3.0
---------------------------  ---------------------------------------
-  Weight                        184g
---------------------------  ---------------------------------------
-  UVC MODE                      Yes
-==========================  =======================================
-
-
-
-Work Environment
------------------
-
-
-=========================  ================
-  Operating Temperature            50°C
--------------------------  ----------------
-  Storage Temperature             -20°C
-=========================  ================
-
-
-Package:
----------
-
-===================  =======================================
-  Package Contents      MYNT EYE x1   USB Micro-B Cable x1
-===================  =======================================
-
-Warranty：
-----------
-
-====================  ============================================
-  Product Warranty     12 Months Limited Manufacturer's Warranty
-====================  ============================================
-
-Accuracy
----------
-
-============================  ============================================
-  Depth Distance Deviation            Less than 4%
-============================  ============================================
-
-

docs/src/product/contents.rst

@@ -0,0 +1,10 @@
+PRODUCT
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   product_desc
+   product_surface
+   product_spec
+   imu_coord

docs/src/product/imu_coord.rst

@@ -0,0 +1,10 @@
+.. _product_imu_coord:
+
+IMU Coordinate System
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   imu_coord_s1030
+   imu_coord_s2100

docs/src/product/imu_coord_s1030.rst

@@ -1,8 +1,8 @@
-.. _mynteye_imu_coord_s1030:
+.. _product_imu_coord_s1030:
 
-MYNTEYE-S1030 IMU coordinata system
+S1030 Coordinate System
 ====================================
 
 IMU coordinate system is right-handed,the axis directions are as follows:
 
-.. image:: ../../images/mynteye_imu_coord.jpg
+.. image:: ../../images/product/mynteye_imu_coord.jpg

docs/src/product/imu_coord_s2100.rst

@@ -0,0 +1,8 @@
+.. _product_imu_coord_s2100:
+
+S2100 Coordinate System
+====================================
+
+IMU coordinate system is right-handed,the axis directions are as follows:
+
+.. image:: ../../images/product/mynteye_s2_imu_coord.jpg

docs/src/product/product_desc.rst

@@ -1,11 +1,11 @@
-.. _mynteye_intro:
+.. _product_desc:
 
-Product description
+Product Description
 ====================
 
 MYNT® EYE S Series includes MYNT EYE S, MYNT EYE SE and MYNT EYE SC. The “Binocular + IMU” inertial navigation solution for MYNT® EYE S Series provides accurate six-axis complementary data for vSLAM applications and is more accurate and robust than other single solutions.
 
-Combined with self-developed camera synchronization, auto exposure, and white balance control camera technology, MYNT® EYE S Series provides a CUDA-based GPU real-time acceleration solution that outputs high-precision, synchronized image sources to help reduce the difficulty of algorithm development and speed up the efficiency of algorithm research and development. At the same time, MYNT EYE S is equipped with a six-axis sensor (IMU) and an infrared active light (IR). Among them, six-axis sensor (IMU) can provide data complementation and correction for the research of visual positioning algorithm, suitable for algorithm research of visual inertial odometer (VIO), help improve positioning accuracy; infrared active light (IR) can help solve the problem of identifying indoor white walls and non-textured objects, and improve the recognition accuracy of image sources. The difference between MYNT EYE SE and MYNT EYE S is that MYNT EYE SE does not include IR and offers customers with lower cost hardware. MYNT EYE SC provides 8cm/12cm optional baseline solution, super wide angle 146°FOV, providing a wider depth recognition range and accuracy level, with color image sensor, upgraded brand new BMI088 six-axis IMU, IR active light, I2C time synchronization Chip, global shutter, etc., with resolutions up to 1280x800/60fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation.
+Combined with self-developed camera synchronization, auto exposure, and white balance control camera technology, MYNT® EYE S Series provides a CUDA-based GPU real-time acceleration solution that outputs high-precision, synchronized image sources to help reduce the difficulty of algorithm development and speed up the efficiency of algorithm research and development. At the same time, MYNT EYE S is equipped with a six-axis sensor (IMU) and an infrared active light (IR). Among them, six-axis sensor (IMU) can provide data complementation and correction for the research of visual positioning algorithm, suitable for algorithm research of visual inertial odometer (VIO), help improve positioning accuracy; infrared active light (IR) can help solve the problem of identifying indoor white walls and non-textured objects, and improve the recognition accuracy of image sources. The difference between MYNT EYE SE and MYNT EYE S is that MYNT EYE SE does not include IR and offers customers with lower cost hardware. MYNT EYE SC provides 8cm/12cm optional baseline solution, super wide angle 146°FOV, providing a wider depth recognition range and accuracy level, with color image sensor, upgraded brand new BMI088 six-axis IMU, IR active light, I2C time synchronization Chip, global shutter, etc., with resolutions up to 2560x800\@30fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation.
 
 As a hardware product for research and development of stereo vision computing applications, MYNT® EYE S Series can be widely used in a field of visual positioning navigation (vSLAM), including visual real-time positioning navigation system of driverless vehicle and robots, visual positioning system of UAV, obstacle avoidance navigation system for driverless Vehicle, Augmented Reality (AR), Virtual Reality (VR), etc. At the same time, it can be used in a field of visual recognition, including Stereoscopic face recognition, three-dimensional object recognition, space motion tracking, three-dimensional gestures, and somatosensory recognition. And of course, you can use it for measurement which includes assisted driving system (ADAS), binocular volume calculation, industrial visual screening, etc. At present, MYNTAI has carried out service and cooperation with more than 500 domestic and foreign enterprise clients.
 

docs/src/product/product_spec.rst

@@ -0,0 +1,11 @@
+.. _product_spec:
+
+Product Specification
+==============================
+
+.. toctree::
+   :maxdepth: 2
+
+   spec_s1030
+   spec_s1030_ir
+   spec_s2100

docs/src/product/product_surface.rst

@@ -0,0 +1,10 @@
+.. _product_surface:
+
+Product Surface
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   surface_s1030
+   surface_s2100

docs/src/product/spec_s1030.rst

@@ -0,0 +1,106 @@
+.. _mynteye_spec_s1030:
+
+S1030-120/Mono Product Specification
+=========================================
+
+Product Specification
+-----------------------
+
+
+==========================  =======================================
+  Model                       S1030-120/Mono
+--------------------------  ---------------------------------------
+  Size                        165x31.5x31.23mm
+--------------------------  ---------------------------------------
+  Frame Rate                  10/15/20/25/30/35/40/45/50/55/60FPS
+--------------------------  ---------------------------------------
+  Resolution                  752*480; 376*240
+--------------------------  ---------------------------------------
+  Depth Resolution           Based on CPU/GPU Up to  752*480\@60FPS
+--------------------------  ---------------------------------------
+  Pixel Size                  6.0*6.0μm
+--------------------------  ---------------------------------------
+  Baseline                    120.0mm
+--------------------------  ---------------------------------------
+  Visual Angle                D:146° H:122° V:76°
+--------------------------  ---------------------------------------
+  Focal Length                2.1mm
+--------------------------  ---------------------------------------
+  Filter                     Dual Pass Filter
+--------------------------  ---------------------------------------
+  IR Support                  No
+--------------------------  ---------------------------------------
+  IR detectable range         \-
+--------------------------  ---------------------------------------
+  Color Mode                  Monochrome
+--------------------------  ---------------------------------------
+  Depth Working Distance     0.8-5m+
+--------------------------  ---------------------------------------
+  Scanning Mode               Global Shutter
+--------------------------  ---------------------------------------
+  Power                       1W\@5V DC from USB
+--------------------------  ---------------------------------------
+Synchronization Precision      <1ms (up to 0.05ms)
+--------------------------  ---------------------------------------
+  IMU Frequency                 100/200/250/333/500Hz
+--------------------------  ---------------------------------------
+  Output data format          Raw data
+--------------------------  ---------------------------------------
+  Data transfer Interface     USB3.0
+--------------------------  ---------------------------------------
+  Weight                      160g
+--------------------------  ---------------------------------------
+  UVC MODE                    Yes
+==========================  =======================================
+
+
+
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  ==================================================================================
+
+
+
+Work Environment
+-----------------
+
+
+===========================  ================================
+  Operating Temperature        10°C~50°C
+---------------------------  --------------------------------
+  Storage Temperature          -20°C~60°C
+---------------------------  --------------------------------
+  Humidity                     10% to 90% non-condensing
+===========================  ================================
+
+
+Package
+---------
+
+===================  =======================================
+  Package Contents      MYNT EYE x1   USB Micro-B Cable x1
+===================  =======================================
+
+Warranty
+----------
+
+====================  ============================================
+  Product Warranty     12 Months Limited Manufacturer's Warranty
+====================  ============================================
+
+Accuracy
+---------
+
+============================  ============================================
+  Depth Distance Deviation            Less than 4%
+============================  ============================================
+
+

docs/src/product/spec_s1030_ir.rst

@@ -0,0 +1,108 @@
+.. _mynteye_spec_s1030_ir:
+
+S1030-IR-120/Mono Product Specification
+=========================================
+
+Product Specification
+-----------------------
+
+
+==========================  =======================================
+  Model                       S1030-IR-120/Mono
+--------------------------  ---------------------------------------
+  Size                        165x31.5x31.23mm
+--------------------------  ---------------------------------------
+  Frame Rate                  10/15/20/25/30/35/40/45/50/55/60FPS
+--------------------------  ---------------------------------------
+  Resolution                  752*480; 376*240
+--------------------------  ---------------------------------------
+  Depth Resolution           Based on CPU/GPU Up to  752*480\@60FPS
+--------------------------  ---------------------------------------
+  Pixel Size                  6.0*6.0μm
+--------------------------  ---------------------------------------
+  Baseline                    120.0mm
+--------------------------  ---------------------------------------
+  Camera Lens                 Replacable Standard M12
+--------------------------  ---------------------------------------
+  Visual Angle                D:146° H:122° V:76°
+--------------------------  ---------------------------------------
+  Focal Length                2.1mm
+--------------------------  ---------------------------------------
+  Filter                     Dual Pass Filter
+--------------------------  ---------------------------------------
+  IR Support                  Yes
+--------------------------  ---------------------------------------
+  IR detectable range         Up to 3m
+--------------------------  ---------------------------------------
+  Color Mode                  Monochrome
+--------------------------  ---------------------------------------
+ Depth Working Distance       0.8-5m+
+--------------------------  ---------------------------------------
+  Scanning Mode               Global Shutter
+--------------------------  ---------------------------------------
+  Power                       1~2.7W\@5V DC from USB
+--------------------------  ---------------------------------------
+Synchronization Precision     <1ms (up to 0.05ms)
+--------------------------  ---------------------------------------
+  IMU Frequency                 100/200/250/333/500Hz
+--------------------------  ---------------------------------------
+  Output data format          Raw data
+--------------------------  ---------------------------------------
+  Data transfer Interface     USB3.0
+--------------------------  ---------------------------------------
+  Weight                      184g
+--------------------------  ---------------------------------------
+  UVC MODE                    Yes
+==========================  =======================================
+
+
+
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  ==================================================================================
+
+
+
+Work Environment
+-----------------
+
+
+===========================  ================================
+  Operating Temperature        10°C~50°C
+---------------------------  --------------------------------
+  Storage Temperature          -20°C~60°C
+---------------------------  --------------------------------
+  Humidity                     10% to 90% non-condensing
+===========================  ================================
+
+
+Package
+---------
+
+===================  =======================================
+  Package Contents      MYNT EYE x1   USB Micro-B Cable x1
+===================  =======================================
+
+Warranty
+----------
+
+====================  ============================================
+  Product Warranty     12 Months Limited Manufacturer's Warranty
+====================  ============================================
+
+Accuracy
+---------
+
+============================  ============================================
+  Depth Distance Deviation            Less than 4%
+============================  ============================================
+
+

docs/src/product/spec_s2100.rst

@@ -4,7 +4,7 @@
 S2100-146/Color Product Specification
 ========================================
 
-Product Specification:
+Product Specification
 -----------------------
 
 
@@ -14,31 +14,39 @@ Product Specification:
   Size                         PCB dimension:15x100mm
                                Total dimension:125x47x26.6mm
 --------------------------  -----------------------------------------------------
-  Frame Rate                   1280x400@10/20/30/60fps   2560x800@10/20/30fps
+  Frame Rate                   1280x400\@10/20/30/60fps   2560x800\@10/20/30fps
 --------------------------  -----------------------------------------------------
   Resolution                    1280x400; 2560x800
+--------------------------  -----------------------------------------------------
+  Depth Resolution             Based on CPU/GPU Up to  1280*400\@60FPS
 --------------------------  -----------------------------------------------------
   Pixel Size                    3.0*3.0μm
 --------------------------  -----------------------------------------------------
   Baseline                      80.0mm
---------------------------  -----------------------------------------------------
-  Camera Lens                    Replacable Standard M7
 --------------------------  -----------------------------------------------------
   Visual Angle                     D:141° H:124° V:87°
 --------------------------  -----------------------------------------------------
   Focal Length                      0.95mm
+--------------------------  -----------------------------------------------------
+  IR Support                     No
 --------------------------  -----------------------------------------------------
   Color Mode                     Color
 --------------------------  -----------------------------------------------------
-  Working Distance                0.26-1m
+  Depth Working Distance         0.26-3m+
 --------------------------  -----------------------------------------------------
   Scanning Mode                    Global Shutter
 --------------------------  -----------------------------------------------------
-  Power                        1.1W@5V DC from USB
+  Power                        1.1W\@5V DC from USB
 --------------------------  -----------------------------------------------------
+Synchronization Precision       <1ms (up to 0.02ms)
+--------------------------  -----------------------------------------------------
+  IMU Frequency                 200Hz
+--------------------------  ---------------------------------------
   Output data format             YUYV
 --------------------------  -----------------------------------------------------
   Data transfer Interface       USB3.0
+--------------------------  -----------------------------------------------------
+   Time Sync interface          DF50A
 --------------------------  -----------------------------------------------------
   Weight                       62g
 --------------------------  -----------------------------------------------------
@@ -46,26 +54,41 @@ Product Specification:
 ==========================  =====================================================
 
 
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  ==================================================================================
+
+
 
 Work Environment
 -----------------
 
 
-=========================  ================
+=========================  ==============================
-  Operating Temperature       -15°C~60°C
+  Operating Temperature       -15°C~55°C
--------------------------  ----------------
+-------------------------  ------------------------------
-  Storage Temperature         -20°C~80°C
+  Storage Temperature         -20°C~75°C
-=========================  ================
+-------------------------  ------------------------------
+  Humidity                    0% to 95% non-condensing
+=========================  ==============================
 
 
-Package:
+Package
 ---------
 
 ===================  =======================================
   Package Contents      MYNT EYE x1   USB Micro-B Cable x1
 ===================  =======================================
 
-Warranty：
+Warranty
 ----------
 
 ====================  ============================================

docs/src/product/surface_s1030.rst

@@ -1,6 +1,6 @@
 .. _mynteye_surface_s1030:
 
-MYNTEYE-S1030 Size and structure
+S1030 Size and Structure
 =================================
 
 ============= ==============
@@ -9,7 +9,7 @@ Shell(mm)     PCBA board(mm)
 165x31.5x29.6 149x24
 ============= ==============
 
-.. image:: ../../images/mynteye_surface_zh-Hans.jpg
+.. image:: ../../images/product/mynteye_surface_zh-Hans.jpg
 
 A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation.
 B. Infrared structured-light transmitter and outlet: the infrared structured-light can effectively solve the problem associated with the visual positioning calculations of white wall non-textured object(For non-IR version, the outlet is reserved but there is no internal structured-light emitter).

docs/src/product/surface_s2100.rst

@@ -1,6 +1,6 @@
 .. _mynteye_surface_s2100:
 
-MYNTEYE-S2100 Size and structure
+S2100 Size and Structure
 ================================
 
 ============= ==============
@@ -9,7 +9,7 @@ Shell(mm)     PCBA board(mm)
 125x47x40     100x15
 ============= ==============
 
-.. image:: ../../images/mynteye_avatar_surface_zh-Hans.jpg
+.. image:: ../../images/product/mynteye_s2_surface_zh-Hans.jpg
 
 A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation.
 B. USB Micro-B interface and set screw holes: during usage, plug in the USB Micro-B cable and secure it by fastening the set screws to avoid damage to the interface and to ensure stability in connection.

docs/src/sdk/contents.rst

@@ -1,16 +1,12 @@
-.. _sdk:
+SDK
-
+==================
-MYNT® EYE SDK
-=============
 
 .. toctree::
+   :maxdepth: 5
 
-   changelog
+   sdk_info
-   platform
+   sdk_install
-   ppa_install_ubuntu
+   data/contents
-   exe_install_windows
+   control/contents
-   source_install_ubuntu
+   tools/contents
-   source_install_windows
+   sdk_changelog
-   install_macos
-   install_ros
-   without_opencv

docs/src/sdk/control/contents.rst

@@ -1,6 +1,6 @@
 .. _ctrl:
 
-MYNT® EYE Control
+SDK Control Samples
 =================
 
 .. toctree::
@@ -11,4 +11,4 @@ MYNT® EYE Control
    manual_exposure
    infrared
    imu_low_pass_filter
-   iic_address
+   iic_address

docs/src/sdk/control/iic_address.rst

@@ -55,4 +55,4 @@ s210a/s2100：
   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>`_.
+Complete code samples，please see `iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/iic_address.cc>`_ .

docs/src/sdk/control/infrared.rst

@@ -44,7 +44,7 @@ Reference running results on Linux:
 
 At this point, if the image is displayed, you can see IR speckle on the image, as below:
 
-.. image:: ../../images/ir.png
+.. image:: ../../../images/sdk/ir.png
 
 
 .. attention::

docs/src/sdk/data/contents.rst

@@ -1,7 +1,7 @@
 .. _data:
 
-MYNT® EYE Data
+SDK Data Samples
-==============
+================
 
 .. toctree::
 
@@ -17,6 +17,3 @@ MYNT® EYE Data
    get_imu_correspondence
    get_from_callbacks
    get_with_plugin
-   save_params
-   write_img_params
-   write_imu_params

docs/src/sdk/data/get_depth.rst

@@ -1,6 +1,6 @@
-.. _get_depth:
+.. _data_get_depth:
 
-Get depth image
+Get Depth Image
 ===============
 
 Depth images belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. The depth image type is CV_16UC1. In addition, it should be check not be empty before use.

docs/src/sdk/data/get_device_info.rst

@@ -1,6 +1,6 @@
-.. _get_device_info:
+.. _data_get_device_info:
 
-Get device information
+Get Device Information
 ======================
 
 Use ``GetInfo()`` function to get various current information values.

docs/src/sdk/data/get_disparity.rst

@@ -1,6 +1,6 @@
-.. _get_disparity:
+.. _data_get_disparity:
 
-Get disparity image
+Get Disparity Image
 ===================
 
 Disparity image belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. In addition, it should be check not be empty before use.

docs/src/sdk/data/get_from_callbacks.rst

@@ -1,6 +1,6 @@
-.. _get_from_callbacks:
+.. _data_get_from_callbacks:
 
-Get data from callbacks
+Get Data From Callbacks
 ========================
 
 API offers function ``SetStreamCallback()`` and ``SetMotionCallback()`` to set callbacks for various data.

docs/src/sdk/data/get_img_params.rst

@@ -1,6 +1,6 @@
-.. _get_img_params:
+.. _data_get_img_params:
 
-Get image calibration parameters
+Get Image Calibration Parameters
 ================================
 
 Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameters.

docs/src/sdk/data/get_imu.rst

@@ -1,6 +1,6 @@
-.. _get_imu_data:
+.. _data_get_imu_data:
 
-Get IMU data
+Get IMU Data
 =============
 
 The API offers ``Start()`` / ``Stop()`` function to start/stop capturing data. You can set the argument to``Source::MOTION_TRACKING`` to capture IMU data only, or set it to ``Source::ALL`` to capture both image and IMU data.

docs/src/sdk/data/get_imu_correspondence.rst

@@ -1,6 +1,6 @@
-.. _get_imu_correspondence:
+.. _data_get_imu_correspondence:
 
-Get IMU data with timestamp correspondence
+Get IMU Data With Timestamp Correspondence
 ===========================================
 
 If wanna get image with timestamp in the middle of IMU datas, you could call `EnableTimestampCorrespondence()`` to enable this feature.

docs/src/sdk/data/get_imu_params.rst

@@ -1,6 +1,6 @@
-.. _get_imu_params:
+.. _data_get_imu_params:
 
-Get IMU calibration parameters
+Get IMU Calibration Parameters
 ==============================
 
 Use ``GetMotionIntrinsics()`` & ``GetMotionExtrinsics()`` to get current IMU calibration parameters.

docs/src/sdk/data/get_points.rst

@@ -1,6 +1,6 @@
-.. _get_points:
+.. _data_get_points:
 
-Get point image
+Get Point Image
 ================
 
 Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use.

docs/src/sdk/data/get_stereo.rst

@@ -1,6 +1,6 @@
-.. _get_stereo:
+.. _data_get_stereo:
 
-Get original binocular image
+Get Original Binocular Image
 =============================
 
 Use ``Start()`` or ``Stop()`` , to start or stop data capturing. If you only need the image data, use ``Source::VIDEO_STREAMING`` .

docs/src/sdk/data/get_stereo_rectified.rst

@@ -1,6 +1,6 @@
-.. _get_stereo_rectified:
+.. _data_get_stereo_rectified:
 
-Get stereo camera correction image
+Get Stereo Camera Correction Image
 ==================================
 
 The ``GetStreamData()`` API provided can only get the raw data of the hardware, for example, the stereo camera raw image.

docs/src/sdk/data/get_with_plugin.rst

@@ -1,6 +1,6 @@
-.. _get_with_plugin:
+.. _data_get_with_plugin:
 
-Using the plugin to get data
+Using The Plugin To Get Data
 ============================
 
 API provides a ``EnablePlugin()`` function to enable plugins under a path.

docs/src/sdk/data/save_params.rst

@@ -1,6 +1,6 @@
-.. _save_params:
+.. _data_save_params:
 
-Save device infomation and parameters
+Save Device Infomation And Parameters
 =====================================
 
 The SDK provides a tool ``save_all_infos`` for save information and parameters. For more information, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .

docs/src/sdk/data/write_img_params.rst

@@ -1,6 +1,6 @@
-.. _write_img_params:
+.. _data_write_img_params:
 
-Write image parameters
+Write Image Parameters
 =======================
 
 The SDK provides a tool ``img_params_writer`` for writing image parameters. For details, read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .

docs/src/sdk/data/write_imu_params.rst

@@ -1,6 +1,6 @@
-.. _write_imu_params:
+.. _data_write_imu_params:
 
-Write IMU parameters
+Write IMU Parameters
 =====================
 
 SDK provides the tool ``imu_params_writer`` to write IMU parameters. For deltail, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .

docs/src/sdk/from_v1.rst

@@ -1,4 +1,4 @@
-.. _sdk_from_v1:
+..  _sdk_from_v1:
 
 Change from SDK 1.x to 2.x
 ===========================

docs/src/sdk/install_ros_wrapper.rst

@@ -1,7 +1,7 @@
-.. _sdk_install_ros:
+.. _sdk_install_ros_wrapper:
 
-ROS Installation
+ROS Wrapper Installation
-================
+========================
 
 .. only:: html
 

docs/src/sdk/install_ubuntu_ppa.rst

@@ -1,6 +1,6 @@
-.. _sdk_ppa_install_ubuntu:
+.. _sdk_install_ubuntu_ppa:
 
-Ubuntu SDK PPA Installation
+Ubuntu PPA Installation
 ============================
 
 .. only:: html

docs/src/sdk/install_ubuntu_src.rst

@@ -1,6 +1,6 @@
-.. _sdk_source_install_ubuntu:
+.. _sdk_install_ubuntu_src:
 
-Ubuntu SDK Source Installation
+Ubuntu Source Installation
 ==============================
 
 .. only:: html

docs/src/sdk/install_windows_exe.rst

@@ -1,6 +1,6 @@
-.. _sdk_exe_install_windows:
+.. _sdk_install_windows_exe:
 
-Windows SDK exe Installation
+Windows EXE Installation
 =============================
 
 .. only:: html
@@ -26,7 +26,7 @@ Download and install SDK
 
 .. tip::
 
-  Download here: mynteye-s-2.3.6-win-x64-opencv-3.4.3.exe `Google Drive <https://drive.google.com/open?id=1PYC_5Mh2pzLFVXkYlkllEzPnr50EbKht>`_ `Baidu Pan <https://pan.baidu.com/s/1s4KIcuYkO5i_9E1pG5blQA>`_ .
+  Download here: mynteye-s-x.x.x-win-x64-opencv-3.4.3.exe `Google Drive <https://drive.google.com/open?id=1PYC_5Mh2pzLFVXkYlkllEzPnr50EbKht>`_ `Baidu Pan(key:rj4k) <https://pan.baidu.com/s/1yCKjvivB2gsqTV8xyY7DQg>`_ .
 
 After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop.
 

docs/src/sdk/install_windows_src.rst

@@ -1,6 +1,6 @@
-.. _sdk_source_install_windows:
+.. _sdk_install_windows_src:
 
-Windows SDK Source Installation
+Windows Source Installation
 ================================
 
 .. only:: html
@@ -76,12 +76,12 @@ After installing Visual Studio, confirm that the following command can run in th
 
   Visual Studio Command Prompt can be opened from the Start menu,
 
-  .. image:: ../../images/vs_cmd_menu.png
+  .. image:: ../../images/sdk/vs_cmd_menu.png
     :width: 30%
 
   You can also open it from the Visual Studio Tools menu.
 
-  .. image:: ../../images/vs_cmd.png
+  .. image:: ../../images/sdk/vs_cmd.png
     :width: 40%
 
   However, if you do not have the Visual Studio 2015 Tools menu, you can add one yourself.
@@ -99,7 +99,7 @@ After installing Visual Studio, confirm that the following command can run in th
 
   In Visual Studio command Prompt, you can use the compile command ``cl`` ``link`` ``lib`` ``msbuild``, etc.(need finish ``MSYS2``and ``Getting Source Code`` steps first)
 
-  .. image:: ../../images/vs_cmd_test.png
+  .. image:: ../../images/sdk/vs_cmd_test.png
 
 MSYS2 (provide Linux command)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

docs/src/sdk/sdk_changelog.rst

@@ -1,7 +1,12 @@
 .. _sdk_changelog:
 
-Changelog
+Change Log
-=========
+==========
+
+2019-07-03(v2.3.9)
+-------------------
+1. Fix ros timestamp issue
+2. Add calibration tool doc
 
 2019-05-20(v2.3.8)
 -------------------

docs/src/sdk/sdk_info.rst

@@ -0,0 +1,10 @@
+.. _sdk_info:
+
+SDK Description
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   support_platforms
+   without_opencv

docs/src/sdk/sdk_install.rst

@@ -0,0 +1,13 @@
+.. _sdk_install:
+
+SDK Installation
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   install_ubuntu_ppa
+   install_ubuntu_src
+   install_windows_exe
+   install_windows_src
+   install_ros_wrapper

docs/src/sdk/sdk_projects.rst

@@ -0,0 +1,7 @@
+.. _sdk_projects:
+
+Project Samples
+==================
+
+.. toctree::
+   :maxdepth: 2