feat(*): add iic address setting sample

include/mynteye/types.h

@@ -263,7 +263,7 @@ enum class Option : std::uint8_t {
   /**
    * The setting of IIC address
    * <p>
-   *   range: [0,65535], default: 0
+   *   range: [0,127], default: 0
    * </p>
    */
   IIC_ADDRESS_SETTING,

samples/tutorials/CMakeLists.txt

@@ -122,6 +122,7 @@ make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV)
 make_executable2(ctrl_imu_low_pass_filter SRCS control/imu_low_pass_filter.cc WITH_OPENCV)
 make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
 make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
+make_executable2(ctrl_iic_adress SRCS control/iic_address.cc WITH_OPENCV)
 make_executable2(ctrl_auto_exposure
   SRCS control/auto_exposure.cc util/cv_painter.cc
   WITH_OPENCV

samples/tutorials/control/iic_address.cc

@@ -0,0 +1,65 @@
+// 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.
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  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);
+  }
+
+  // MYNTEYE-S1030/S2100 don't support this option
+  if (model == Model::STANDARD2 || model == Model::STANDARD) {
+    LOG(INFO) << "Sorry,MYNTEYE-S1030 don't support iic address setting";
+    return 0;
+  }
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    cv::imshow("frame", img);
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}

wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Option.java

@@ -97,7 +97,7 @@ public enum Option {
     GYROSCOPE_LOW_PASS_FILTER,
     /**
     * The setting of IIC address
-    *   range: [0,65535], default: 0
+    *   range: [0,127], default: 0
     */
     IIC_ADDRESS_SETTING,
     /** Zero drift calibration */

wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml

@@ -111,6 +111,6 @@ standard210a/accel_low_filter: -1
 standard210a/gyro_low_filter: -1
 # standard210a/gyro_low_filter: 64
 
-# standard210a/iic_address_setting range: [0,65535]
+# standard210a/iic_address_setting range: [0,127]
 standard210a/iic_address_setting: -1
-# standard210a/iic_address_setting: 0
+# standard210a/iic_address_setting: 0x01

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

@@ -251,7 +251,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           {Option::ACCELEROMETER_LOW_PASS_FILTER,
                   "standard210a/accel_low_filter"},
           {Option::GYROSCOPE_LOW_PASS_FILTER, "standard210a/gyro_low_filter"},
-          {Option::IIC_ADDRESS_SETTING, "standard2/iic_address_setting"}};
+          {Option::IIC_ADDRESS_SETTING, "standard210a/iic_address_setting"}};
     }
 
     // device options of standard2