diff --git a/docs/images/ir.png b/docs/images/ir.png new file mode 100644 index 0000000..8bae860 Binary files /dev/null and b/docs/images/ir.png differ diff --git a/docs/src/analytics/dataset.rst b/docs/src/analytics/dataset.rst index 0692231..6786350 100644 --- a/docs/src/analytics/dataset.rst +++ b/docs/src/analytics/dataset.rst @@ -9,10 +9,10 @@ Reference run command: .. code-block:: bash - ./tools/_output/bin/dataset/record + ./tools/_output/bin/dataset/record2 # Windows - .\tools\_output\bin\dataset\record.bat + .\tools\_output\bin\dataset\record2.bat Reference run results on Linux: diff --git a/docs/src/control/framerate.rst b/docs/src/control/framerate.rst index 967270a..37af436 100644 --- a/docs/src/control/framerate.rst +++ b/docs/src/control/framerate.rst @@ -9,7 +9,7 @@ For mynteye s1030, to set the image frame rate and IMU frequency, set ``Option:: .. Attention:: - * The effective fps of the image: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55. + * The effective fps of the image: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60. * The effective frequency of IMU: 100, 200, 250, 333, 500. For mynteye s2100/s210a, the image frame rate should be selected when running the sample, and the frame rate and resolution are combined as follows: diff --git a/docs/src/control/infrared.rst b/docs/src/control/infrared.rst index 710d00d..ab12e7e 100644 --- a/docs/src/control/infrared.rst +++ b/docs/src/control/infrared.rst @@ -42,7 +42,10 @@ Reference running results on Linux: I0504 16:16:28.520869 25848 infrared.cc:15] Support infrared2: true I0504 16:16:28.520889 25848 infrared.cc:20] Option::IR_CONTROL: {min: 0, max: 160, def: 0} -At this point, if the image is displayed, you can see IR speckle on the image. +At this point, if the image is displayed, you can see IR speckle on the image, as below: + +.. image:: ../../images/ir.png + .. attention:: diff --git a/docs/src/data/get_depth.rst b/docs/src/data/get_depth.rst index 475760d..fcd07e1 100644 --- a/docs/src/data/get_depth.rst +++ b/docs/src/data/get_depth.rst @@ -3,7 +3,7 @@ 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()``. In addition, it should be check not be empty before use. +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. For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified`. diff --git a/docs/src/data/get_disparity.rst b/docs/src/data/get_disparity.rst index a581dd0..8dc81c9 100644 --- a/docs/src/data/get_disparity.rst +++ b/docs/src/data/get_disparity.rst @@ -10,7 +10,7 @@ For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_ It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` . .. tip:: - The SetDisparityComputingMethodType method is used to change disparity computing method. Currently, BM and SGBM are available, and SGBM is used by default in sdk. + The SetDisparityComputingMethodType method is used to change disparity computing method. Currently, BM and SGBM are available. Reference code snippet: diff --git a/docs/src/data/get_img_params.rst b/docs/src/data/get_img_params.rst index 4161dbd..b4bf635 100644 --- a/docs/src/data/get_img_params.rst +++ b/docs/src/data/get_img_params.rst @@ -5,6 +5,11 @@ Get image calibration parameters Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameters. +.. tip:: + The detailed meaning of parameters can reference the files in ``tools/writer/config`` , of these + the image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A`` + the image calibration parameters of S1030 are in ``tools/writer/config/S1030`` + Reference code snippet: .. code-block:: c++ diff --git a/docs/src/data/write_img_params.rst b/docs/src/data/write_img_params.rst index 42d1dca..268d0a0 100644 --- a/docs/src/data/write_img_params.rst +++ b/docs/src/data/write_img_params.rst @@ -16,12 +16,18 @@ Reference commands: # Windows .\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params -And, `tools/writer/config/img.params `_ is the path of parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices. +.. warning:: + + Please don't override parameters, you can use ``save_all_infos`` to backup parameters. + +And, `tools/writer/config/S1030/img.params.pinhole `_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices. + +.. tip:: + + The image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A`` + The image calibration parameters of S1030 are in ``tools/writer/config/S1030`` .. tip:: You can also write into devices with ``SN*.conf`` provided by old SDK. -.. warning:: - - Please don't override parameters, you can use ``save_all_infos`` to backup parameters. \ No newline at end of file diff --git a/docs/src/firmware/upgrade.rst b/docs/src/firmware/upgrade.rst index 2ac2681..09f3dac 100644 --- a/docs/src/firmware/upgrade.rst +++ b/docs/src/firmware/upgrade.rst @@ -86,7 +86,7 @@ Manually update drivers .. image:: ../../images/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 Camera Tool\\wlh\\x64``. +* 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. diff --git a/docs/src/mynteye/contents.rst b/docs/src/mynteye/contents.rst index d2ca08f..2948900 100644 --- a/docs/src/mynteye/contents.rst +++ b/docs/src/mynteye/contents.rst @@ -1,7 +1,7 @@ .. _mynteye: -MYNT® EYE -========= +MYNT® EYE product introduction +============================== .. toctree:: @@ -9,4 +9,4 @@ MYNT® EYE surface_s1030 imu_coord_s1030 surface_s2100 - imu_coord_s2100 + imu_coord_s2100 \ No newline at end of file diff --git a/docs/src/sdk/changelog.rst b/docs/src/sdk/changelog.rst new file mode 100644 index 0000000..d2c9a67 --- /dev/null +++ b/docs/src/sdk/changelog.rst @@ -0,0 +1,22 @@ +.. _sdk_changelog: + +Changelog +========= + +2019-03-18 +---------- + + +1. Add API to get subsidiary chip&ISP's version(Depend on S2100/S210A 1.1 firmware & 1.0 subsidiary chip firmware). + +2. Fix point fragment issue in BM algorithm. + +3. Add 376*240 resolution support to S1030(Depend on 2.4.0 firmware of S1030). + +4. Add API to handle imu temperature drift.(Depend on imu calibration) + +5. Add version check feature. + +6. Fix depth image crash issue when use CUDA plugin. + +7. Documents update. \ No newline at end of file diff --git a/docs/src/sdk/contents.rst b/docs/src/sdk/contents.rst index 85f44ff..69cf0e2 100644 --- a/docs/src/sdk/contents.rst +++ b/docs/src/sdk/contents.rst @@ -5,6 +5,7 @@ MYNT® EYE SDK .. toctree:: + changelog platform ppa_install_ubuntu exe_install_windows diff --git a/docs/src/sdk/exe_install_windows.rst b/docs/src/sdk/exe_install_windows.rst index 2a837e3..813138c 100644 --- a/docs/src/sdk/exe_install_windows.rst +++ b/docs/src/sdk/exe_install_windows.rst @@ -26,7 +26,7 @@ Download and install SDK .. tip:: - Download here: mynteye-s-2.3.3-win-x64-opencv-3.4.3.exe `Google Drive `_ `Baidu Pan `_ . + Download here: mynteye-s-2.3.4-win-x64-opencv-3.4.3.exe `Google Drive `_ `Baidu Pan `_ . After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop. @@ -39,6 +39,10 @@ First, you should install `Visual Studio 2017 \\samples`` directory and click ``generate.bat`` to generate project. +.. tip:: + + Right click sample and select ``Set as StartUp Project``，then launch with Release x64 mode. + The tutorials of samples are here: https://slightech.github.io/MYNT-EYE-S-SDK-Guide/src/data/contents.html. Start using SDK with Visual Studio 2017 diff --git a/docs/src/sdk/install_ros.rst b/docs/src/sdk/install_ros.rst index 6bcb65d..fe57a64 100644 --- a/docs/src/sdk/install_ros.rst +++ b/docs/src/sdk/install_ros.rst @@ -26,6 +26,18 @@ Prepare Environment * `ROS `_ +ROS Melodic (Ubuntu 18.04) +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. code-block:: bash + + sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' + sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 + sudo apt update + sudo apt install ros-melodic-desktop-full + sudo rosdep init + rosdep update + ROS Kinetic (Ubuntu 16.04) ~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -56,7 +68,7 @@ Running node .. code-block:: bash source wrappers/ros/devel/setup.bash - roslaunch mynt_eye_ros_wrapper mynteye.launch + roslaunch mynt_eye_ros_wrapper mynteye.launch # this node doesn't have preview Run the node, and preview by RViz: diff --git a/docs/src/sdk/platform.rst b/docs/src/sdk/platform.rst index 51d9028..735b275 100644 --- a/docs/src/sdk/platform.rst +++ b/docs/src/sdk/platform.rst @@ -3,13 +3,14 @@ Supported platforms ==================== -SDK is built on CMake and can be used cross multiple platforms such as "Linux, Windows, macOS, etc. We provides two installation: Download and install, and Compile and install from source code. +SDK is built on CMake and can be used cross multiple platforms such as "Linux, Windows, etc. We provides two installation: Download and install, and Compile and install from source code. These are the platforms that can be used: * Windows 10 -* Ubuntu 18.04/ 16.04 / 14.04 -* Jetson TX2 +* Ubuntu 18.04 / 16.04 / 14.04 +* Jetson TX1/TX2 / Xavier +* firefly RK3399 .. warning:: diff --git a/docs/src/sdk/ppa_install_ubuntu.rst b/docs/src/sdk/ppa_install_ubuntu.rst index 1809484..f97b7fb 100644 --- a/docs/src/sdk/ppa_install_ubuntu.rst +++ b/docs/src/sdk/ppa_install_ubuntu.rst @@ -21,8 +21,8 @@ Ubuntu SDK PPA Installation ✓ ✓ ✓ =============== =============== =============== -PPA installation ------------------ +x64 PPA installation +-------------------- .. code-block:: bash @@ -30,6 +30,15 @@ PPA installation $ sudo apt-get update $ sudo apt-get install mynt-eye-s-sdk +armv8 PPA installation +----------------------- + +.. code-block:: bash + + $ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk-arm + $ sudo apt-get update + $ sudo apt-get install mynt-eye-s-sdk + Run samples ------------ diff --git a/docs/src/sdk/source_install_ubuntu.rst b/docs/src/sdk/source_install_ubuntu.rst index f835bee..3089622 100644 --- a/docs/src/sdk/source_install_ubuntu.rst +++ b/docs/src/sdk/source_install_ubuntu.rst @@ -6,7 +6,7 @@ Ubuntu SDK Source Installation .. only:: html =============== =============== =============== - Ubuntu 18.04 Ubuntu 16.04 Ubuntu 14.04 + Ubuntu 14.04 Ubuntu 16.04 Ubuntu 18.04 =============== =============== =============== |build_passing| |build_passing| |build_passing| =============== =============== =============== @@ -16,7 +16,7 @@ Ubuntu SDK Source Installation .. only:: latex =============== =============== =============== - Ubuntu 18.04 Ubuntu 16.04 Ubuntu 14.04 + Ubuntu 14.04 Ubuntu 16.04 Ubuntu 18.04 =============== =============== =============== ✓ ✓ ✓ =============== =============== =============== diff --git a/docs/src/sdk/source_install_windows.rst b/docs/src/sdk/source_install_windows.rst index 1443480..f99ac63 100644 --- a/docs/src/sdk/source_install_windows.rst +++ b/docs/src/sdk/source_install_windows.rst @@ -97,7 +97,7 @@ After installing Visual Studio, confirm that the following command can run in th Initial Directory ``$(SolutionDir)`` ================= ======================================================================================= - In Visual Studio command Prompt, you can use the compile command ``cl`` ``link`` ``lib`` ``msbuild``, etc. + 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 diff --git a/docs/src/slam/contents.rst b/docs/src/slam/contents.rst index 2c0638c..b492c38 100644 --- a/docs/src/slam/contents.rst +++ b/docs/src/slam/contents.rst @@ -7,6 +7,7 @@ SLAM how_to_use_kalibr vins + vins_fusion orb_slam2 okvis viorb diff --git a/docs/src/slam/okvis.rst b/docs/src/slam/okvis.rst index f31b8a3..35ffc89 100644 --- a/docs/src/slam/okvis.rst +++ b/docs/src/slam/okvis.rst @@ -18,10 +18,13 @@ First install dependencies based on the original OKVIS, and the follow: .. code-block:: bash - git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git + sudo apt-get install libgoogle-glog-dev + + git clone -b mynteye https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git + cd MYNT-EYE-OKVIS-Sample/ mkdir build && cd build - cmake -DCMAKE_BUILD_TYPE=Release .. - make -j4 + cmake .. + make Get camera calibration parameters ---------------------------------- @@ -33,7 +36,18 @@ Through the ``GetIntrinsics()`` and ``GetExtrinsics()`` function of the `MYNT-EY cd MYNT-EYE-S-SDK ./samples/_output/bin/tutorials/get_img_params -After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, then update to `here `_ . +After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained , and then update to `here `_ . + +.. tip:: + + You can get the camera model of device when get camera calibration parameters, if model is equidistant you need calibrate pinhole model by yourself or reference :ref:`write_img_params` to write a default pinhole config file to your device. + +.. code-block:: bash + + distortion_coefficients: [coeffs] # only first four parameters of coeffs need to be filled + focal_length: [fx, fy] + principal_point: [cx, cy] + distortion_type: radialtangential Run MYNTEYE OKVIS --------------------- @@ -43,4 +57,4 @@ Go to ``MYNT-EYE-OKVIS-Sample/build`` folder and Run the application ``okvis_app .. code-block:: bash cd MYNT-EYE-OKVIS-Sample/build - ./okvis_app_mynteye_s ../config/config_mynteye.yaml + ./okvis_app_mynteye_s ../config/config_mynteye_s.yaml diff --git a/docs/src/slam/orb_slam2.rst b/docs/src/slam/orb_slam2.rst index 9bba404..46e1539 100644 --- a/docs/src/slam/orb_slam2.rst +++ b/docs/src/slam/orb_slam2.rst @@ -15,7 +15,7 @@ If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps: Binocular camera sample ------------------------ -* Calibrate a stereo camera with `ROS-StereoCalibration `_ or OpenCV, and then update parameters to ``/config/mynteye_stereo.yaml``. +* Calibrate a stereo camera with `ROS-StereoCalibration `_ or OpenCV, and then update parameters to ``/config/mynteye_s_stereo.yaml``. * Execute ``build.sh``: @@ -28,7 +28,7 @@ Binocular camera sample .. code-block:: bash - ./Examples/Stereo/stereo_mynt ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw + ./Examples/Stereo/stereo_mynt_s ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw Building the nodes for mono and stereo (ROS) @@ -47,32 +47,25 @@ Building the nodes for mono and stereo (ROS) chmod +x build_ros.sh ./build_ros.sh -Mono_ROS Example -~~~~~~~~~~~~~~~~~ - - * Update ``distortion_parameters`` and ``projection_parameters`` in ``/config/mynteye_mono.yaml`` - -.. code-block:: bash - - cd MYNT-EYE-S-SDK - - ./samples/_output/bin/tutorials/get_img_params - -After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, and then update to ``/config/mynteye_mono.yaml``. - - * Launch ORB_SLAM2 ``Mono_ROS`` - -.. code-block:: bash - - rosrun ORB_SLAM2 mynteye_mono ./Vocabulary/ORBvoc.txt ./config/mynteye_mono.yaml /mynteye/left/image_raw Stereo_ROS Example ~~~~~~~~~~~~~~~~~~~ - * Calibrate a stereo camera with `ROS-StereoCalibration `_ or OpenCV, and then update parameters to ``/config/mynteye_stereo.yaml``. + * Reference ``Get camera calibration parameters`` in :ref:`slam_okvis` to get ``distortion_parameters`` and ``projection_parameters`` , and update ``/config/mynteye_s_stereo.yaml`` . * Launch ORB_SLAM2 ``Stereo_ROS`` +1. Launch mynteye node + .. code-block:: bash - rosrun ORB_SLAM2 ros_mynteye_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw + cd [path of mynteye-s-sdk] + make ros + source ./wrappers/ros/devel/setup.bash + roslaunch mynt_eye_ros_wrapper mynteye.launch + +2. Open another terminal and run ORB_SLAM2 + +.. code-block:: bash + + rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw diff --git a/docs/src/slam/vins.rst b/docs/src/slam/vins.rst index 2b9dfcf..e6e907e 100644 --- a/docs/src/slam/vins.rst +++ b/docs/src/slam/vins.rst @@ -9,7 +9,7 @@ If you wanna run VINS-Mono with MYNT EYE camera, please follow the steps: 1. Download `MYNT-EYE-S-SDK `_ and install mynt_eye_ros_wrapper. 2. Follow the normal procedure to install VINS-Mono. -3. Update ``distortion_parameters`` and ``projection_parameters`` to `here `_ . +3. Update ``distortion_parameters`` and ``projection_parameters`` to `here `_ . 4. Run mynt_eye_ros_wrapper and VINS-Mono. Install ROS Kinetic conveniently (if already installed, please ignore) @@ -28,7 +28,7 @@ Install MYNT-EYE-VINS-Sample mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src - git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-VINS-Sample.git + git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-Sample.git cd .. catkin_make source devel/setup.bash @@ -47,14 +47,27 @@ Use MYNT® EYE's left eye camera and IMU. By `MYNT-EYE-S-SDK `_ . +.. tip:: + + You can get the camera model of device when get camera calibration parameters, if model is equidistant you need calibrate pinhole model by yourself or reference :ref:`write_img_params` to write a default pinhole config file to your device. + Run VINS-Mono with MYNT® EYE ----------------------------- +1. Launch mynteye node + +.. code-block:: bash + + cd (local path of MYNT-EYE-S-SDK) + source ./wrappers/ros/devel/setup.bash + roslaunch mynt_eye_ros_wrapper mynteye.launch + +2. Open another terminal and run vins + .. code-block:: bash cd ~/catkin_ws - roslaunch mynt_eye_ros_wrapper mynteye.launch - roslaunch vins_estimator mynteye.launch + roslaunch vins_estimator mynteye_s.launch .. note:: diff --git a/docs/src/slam/vins_fusion.rst b/docs/src/slam/vins_fusion.rst new file mode 100644 index 0000000..5757752 --- /dev/null +++ b/docs/src/slam/vins_fusion.rst @@ -0,0 +1,55 @@ +.. _slam_vins_fusion: + +How to use in `VINS-Fusion `_ +==================================================================================== + + +If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps: +------------------------------------------------------------------------- + +1. Download `MYNT-EYE-S-SDK `_ and install mynt_eye_ros_wrapper. +2. Follow the normal procedure to install VINS-Fusion. +3. Run mynt_eye_ros_wrapper and VINS-Fusion. + + +Prerequisites +-------------- + +1. Install Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic.(if already installed, please ignore). `ROS Installation `_ +2. Install `Ceres `_ + + +Install MYNT-EYE-VINS-FUSION-Samples +------------------------------------- + +.. code-block:: bash + + mkdir -p ~/catkin_ws/src + cd ~/catkin_ws/src + git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git + cd .. + catkin_make + source ~/catkin_ws/devel/setup.bash + +(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS) + +Run VINS-FUSION with MYNT® EYE +------------------------------- + +1. Launch mynteye node + +.. code-block:: bash + + cd (local path of MYNT-EYE-S-SDK) + source ./wrappers/ros/devel/setup.bash + roslaunch mynt_eye_ros_wrapper mynteye.launch + +2. Open another terminal and run vins + +.. code-block:: bash + + cd ~/catkin_ws + roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion + # roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion + # roslaunch vins mynteye-avarta-mono-imu.launch # mono+imu fusion with mynteye-avarta + # roslaunch vins mynteye-avarta-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-avarta diff --git a/docs/src/slam/viorb.rst b/docs/src/slam/viorb.rst index f94dc4b..ecb0d2c 100644 --- a/docs/src/slam/viorb.rst +++ b/docs/src/slam/viorb.rst @@ -9,7 +9,7 @@ If you wanna run VIORB with MYNT® EYE，please follow the steps: 1. Download `MYNT-EYE-S-SDK `_ and install mynt_eye_ros_wrapper. 2. Follow the normal procedure to install VIORB. -3. Update camera parameters to ``/config/config_mynteye.yaml``. +3. Update camera parameters to ``/config/mynteye_s.yaml``. 4. Run mynt_eye_ros_wrapper and VIORB. Install MYNT-EYE-VIORB-Sample. @@ -17,7 +17,7 @@ Install MYNT-EYE-VIORB-Sample. .. code-block:: bash - git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-VIORB-Sample.git + git clone -b mynteye https://github.com/slightech/MYNT-EYE-VIORB-Sample.git cd MYNT-EYE-VIORB-Sample ``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line. Replace ``PATH`` by the folder where you cloned ``MYNT-EYE-VIORB-Sample``: @@ -45,13 +45,24 @@ Assume that the left eye of the mynteye camera is used with IMU. Through the ``G After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, and then update to ``/config/mynteye.yaml``. +.. tip:: + + You can get the camera model of device when get camera calibration parameters, if model is equidistant you need calibrate pinhole model by yourself or reference :ref:`write_img_params` to write a default pinhole config file to your device. + Run VIORB and mynt_eye_ros_wrapper -------------------------------------- +1. Launch mynteye node + .. code-block:: bash roslaunch mynt_eye_ros_wrapper mynteye.launch - roslaunch ORB_VIO testmynteye.launch + +2. Open another terminal and run viorb + +.. code-block:: bash + + roslaunch ORB_VIO testmynteye_s.launch Finally, ``pyplotscripts`` can be used to visualize some results. diff --git a/docs/src/wrapper/ros.rst b/docs/src/wrapper/ros.rst index bd7aa3a..169ce92 100644 --- a/docs/src/wrapper/ros.rst +++ b/docs/src/wrapper/ros.rst @@ -5,6 +5,10 @@ How to use ROS Compile and run the node according to :ref:`sdk_install_ros` . +.. tip:: + + Before doing below you need open a terminal to launch ros node first + ``rostopic list`` lists all released nodes: .. code-block:: bash @@ -62,6 +66,33 @@ The ROS file is structured like follows: In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, and set the control options. Please set ``gravity`` to the local gravity acceleration. +.. code-block:: xml + + # s2100/s210a modify frame/resolution + + + # s1030 modify frame/imu hz + + + + + + + + ... + + # s2100 modify brightness + + + + ... + + # s210a modify brightness + + + + ... + .. code-block:: xml