<docs> update doc

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:
 

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:

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::
 

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`.
 

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:
 

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++

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 <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/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 <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/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.

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.
 

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

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.

docs/src/sdk/contents.rst

@@ -5,6 +5,7 @@ MYNT® EYE SDK
 
 .. toctree::
 
+   changelog
    platform
    ppa_install_ubuntu
    exe_install_windows

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 <https://drive.google.com/open?id=1PYC_5Mh2pzLFVXkYlkllEzPnr50EbKht>`_ `Baidu Pan <https://pan.baidu.com/s/1s4KIcuYkO5i_9E1pG5blQA>`_ .
+  Download here: mynteye-s-2.3.4-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>`_ .
 
 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 <https://visualstudio.microsoft.co
 
 Second, goto the ``<SDK_ROOT_DIR>\\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

docs/src/sdk/install_ros.rst

@@ -26,6 +26,18 @@ Prepare Environment
 
 * `ROS <http://www.ros.org/>`_
 
+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:
 

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
+* Ubuntu 18.04 / 16.04 / 14.04
-* Jetson TX2
+* Jetson TX1/TX2 / Xavier
+* firefly RK3399
 
 .. warning::
 

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
 ------------
 

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
   =============== =============== ===============
   ✓               ✓               ✓
   =============== =============== ===============

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
 

docs/src/slam/contents.rst

@@ -7,6 +7,7 @@ SLAM
 
    how_to_use_kalibr
    vins
+   vins_fusion
    orb_slam2
    okvis
    viorb

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 ..
+  cmake ..
-  make -j4
+  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 <https://github.com/slightech/MYNT-EYE-OKVIS-Sample/blob/mynteye-s/config/config_mynteye.yaml>`_ .
+After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained , and then update to `here <https://github.com/slightech/MYNT-EYE-OKVIS-Sample/blob/mynteye/config/config_mynteye_s.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.
+
+.. 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

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 <http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration>`_ or OpenCV, and then update parameters to ``<ORB_SLAM2>/config/mynteye_stereo.yaml``.
+* Calibrate a stereo camera with `ROS-StereoCalibration <http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration>`_ or OpenCV, and then update parameters to ``<ORB_SLAM2>/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 ``<ORBSLAM2>/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 ``<ORB_SLAM2>/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 <http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration>`_ or OpenCV, and then update parameters to ``<ORB_SLAM2>/config/mynteye_stereo.yaml``.
+  * Reference ``Get camera calibration parameters`` in :ref:`slam_okvis` to get ``distortion_parameters`` and ``projection_parameters`` , and update ``<ORB_SLAM2>/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

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 <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and install mynt_eye_ros_wrapper.
 2. Follow the normal procedure to install VINS-Mono.
-3. Update ``distortion_parameters`` and ``projection_parameters`` to `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye-s/config/mynteye/mynteye_config.yaml>`_ .
+3. Update ``distortion_parameters`` and ``projection_parameters`` to `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye/config/mynteye/mynteye_s_config.yaml>`_ .
 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 <https://github.com
 
 After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained , and then update to `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye-s/config/mynteye/mynteye_config.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 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_s.launch
-  roslaunch vins_estimator mynteye.launch
 
 .. note::
 

docs/src/slam/vins_fusion.rst

@@ -0,0 +1,55 @@
+.. _slam_vins_fusion:
+
+How to use in `VINS-Fusion <https://github.com/HKUST-Aerial-Robotics/Vins-Fusion>`_
+====================================================================================
+
+
+If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:
+-------------------------------------------------------------------------
+
+1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ 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 <http://wiki.ros.org/ROS/Installation>`_
+2. Install `Ceres <http://ceres-solver.org/installation.html>`_
+
+
+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

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 <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and install mynt_eye_ros_wrapper.
 2. Follow the normal procedure to install VIORB.
-3. Update camera parameters to ``<VIO>/config/config_mynteye.yaml``.
+3. Update camera parameters to ``<VIO>/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 ``<MYNT-EYE-VIORB-Sample>/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.
 

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
+  <arg name="request_index" default="$(arg index_s2_2)" />
+
+  # s1030 modify frame/imu hz
+  <!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
+  <arg name="standard/frame_rate" default="-1" />
+  <!-- <arg name="standard/frame_rate" default="25" /> -->
+
+  <!-- standard/imu_frequency range: {100,200,250,333,500} -->
+  <arg name="standard/imu_frequency" default="-1" />
+  <!-- <arg name="standard/imu_frequency" default="200" /> -->
+  ...
+
+  # s2100 modify brightness
+  <!-- standard2/brightness range: [0,240] -->
+  <arg name="standard2/brightness" default="-1" />
+  <!-- <arg name="standard2/brightness" default="120" /> -->
+  ...
+
+  # s210a modify brightness
+  <!-- standard210a/brightness range: [0,240] -->
+  <arg name="standard210a/brightness" default="-1" />
+  <!-- <arg name="standard210a/brightness" default="120" /> -->
+  ...
+
 .. code-block:: xml
 
   <arg name="gravity" default="9.8" />