<docs> update doc
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docs/images/ir.png
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@ -9,10 +9,10 @@ Reference run command:
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.. code-block:: bash
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./tools/_output/bin/dataset/record
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./tools/_output/bin/dataset/record2
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# Windows
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.\tools\_output\bin\dataset\record.bat
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.\tools\_output\bin\dataset\record2.bat
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Reference run results on Linux:
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@ -9,7 +9,7 @@ For mynteye s1030, to set the image frame rate and IMU frequency, set ``Option::
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.. Attention::
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* The effective fps of the image: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55.
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* The effective fps of the image: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60.
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* The effective frequency of IMU: 100, 200, 250, 333, 500.
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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:
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@ -42,7 +42,10 @@ Reference running results on Linux:
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I0504 16:16:28.520869 25848 infrared.cc:15] Support infrared2: true
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I0504 16:16:28.520889 25848 infrared.cc:20] Option::IR_CONTROL: {min: 0, max: 160, def: 0}
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At this point, if the image is displayed, you can see IR speckle on the image.
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At this point, if the image is displayed, you can see IR speckle on the image, as below:
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.. image:: ../../images/ir.png
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.. attention::
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@ -3,7 +3,7 @@
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Get depth image
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===============
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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.
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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.
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For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified`.
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@ -10,7 +10,7 @@ For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_
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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` .
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.. tip::
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The SetDisparityComputingMethodType method is used to change disparity computing method. Currently, BM and SGBM are available, and SGBM is used by default in sdk.
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The SetDisparityComputingMethodType method is used to change disparity computing method. Currently, BM and SGBM are available.
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Reference code snippet:
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@ -5,6 +5,11 @@ Get image calibration parameters
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Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameters.
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.. tip::
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The detailed meaning of parameters can reference the files in ``tools/writer/config`` , of these
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the image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A``
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the image calibration parameters of S1030 are in ``tools/writer/config/S1030``
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Reference code snippet:
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.. code-block:: c++
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@ -16,12 +16,18 @@ Reference commands:
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# Windows
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.\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params
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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.
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.. warning::
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Please don't override parameters, you can use ``save_all_infos`` to backup parameters.
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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.
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.. tip::
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The image calibration parameters of S2100/S210A are in ``tools/writer/config/S210A``
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The image calibration parameters of S1030 are in ``tools/writer/config/S1030``
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.. tip::
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You can also write into devices with ``SN*.conf`` provided by old SDK.
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.. warning::
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Please don't override parameters, you can use ``save_all_infos`` to backup parameters.
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@ -86,7 +86,7 @@ Manually update drivers
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.. image:: ../../images/firmware_update_westbridge.png
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* 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``.
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* 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``.
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* After the installation driver is successful, you can find the ``Cypress USB BootLoader`` device in the device manager.
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@ -1,7 +1,7 @@
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.. _mynteye:
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MYNT® EYE
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=========
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MYNT® EYE product introduction
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==============================
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.. toctree::
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22
docs/src/sdk/changelog.rst
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22
docs/src/sdk/changelog.rst
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@ -0,0 +1,22 @@
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.. _sdk_changelog:
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Changelog
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=========
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2019-03-18
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----------
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1. Add API to get subsidiary chip&ISP's version(Depend on S2100/S210A 1.1 firmware & 1.0 subsidiary chip firmware).
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2. Fix point fragment issue in BM algorithm.
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3. Add 376*240 resolution support to S1030(Depend on 2.4.0 firmware of S1030).
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4. Add API to handle imu temperature drift.(Depend on imu calibration)
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5. Add version check feature.
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6. Fix depth image crash issue when use CUDA plugin.
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7. Documents update.
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@ -5,6 +5,7 @@ MYNT® EYE SDK
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.. toctree::
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changelog
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platform
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ppa_install_ubuntu
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exe_install_windows
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@ -26,7 +26,7 @@ Download and install SDK
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.. tip::
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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>`_ .
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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>`_ .
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After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop.
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@ -39,6 +39,10 @@ First, you should install `Visual Studio 2017 <https://visualstudio.microsoft.co
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Second, goto the ``<SDK_ROOT_DIR>\\samples`` directory and click ``generate.bat`` to generate project.
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.. tip::
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Right click sample and select ``Set as StartUp Project``，then launch with Release x64 mode.
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The tutorials of samples are here: https://slightech.github.io/MYNT-EYE-S-SDK-Guide/src/data/contents.html.
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Start using SDK with Visual Studio 2017
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@ -26,6 +26,18 @@ Prepare Environment
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* `ROS <http://www.ros.org/>`_
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ROS Melodic (Ubuntu 18.04)
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~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. code-block:: bash
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
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sudo apt update
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sudo apt install ros-melodic-desktop-full
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sudo rosdep init
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rosdep update
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ROS Kinetic (Ubuntu 16.04)
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~~~~~~~~~~~~~~~~~~~~~~~~~~
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@ -56,7 +68,7 @@ Running node
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.. code-block:: bash
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source wrappers/ros/devel/setup.bash
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roslaunch mynt_eye_ros_wrapper mynteye.launch
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roslaunch mynt_eye_ros_wrapper mynteye.launch # this node doesn't have preview
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Run the node, and preview by RViz:
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@ -3,13 +3,14 @@
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Supported platforms
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====================
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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.
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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.
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These are the platforms that can be used:
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* Windows 10
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* Ubuntu 18.04 / 16.04 / 14.04
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* Jetson TX2
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* Jetson TX1/TX2 / Xavier
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* firefly RK3399
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.. warning::
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@ -21,8 +21,8 @@ Ubuntu SDK PPA Installation
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✓ ✓ ✓
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=============== =============== ===============
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PPA installation
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-----------------
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x64 PPA installation
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--------------------
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.. code-block:: bash
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@ -30,6 +30,15 @@ PPA installation
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$ sudo apt-get update
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$ sudo apt-get install mynt-eye-s-sdk
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armv8 PPA installation
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-----------------------
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.. code-block:: bash
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$ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk-arm
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$ sudo apt-get update
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$ sudo apt-get install mynt-eye-s-sdk
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Run samples
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------------
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@ -6,7 +6,7 @@ Ubuntu SDK Source Installation
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.. only:: html
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=============== =============== ===============
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Ubuntu 18.04 Ubuntu 16.04 Ubuntu 14.04
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Ubuntu 14.04 Ubuntu 16.04 Ubuntu 18.04
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=============== =============== ===============
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|build_passing| |build_passing| |build_passing|
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=============== =============== ===============
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@ -16,7 +16,7 @@ Ubuntu SDK Source Installation
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.. only:: latex
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=============== =============== ===============
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Ubuntu 18.04 Ubuntu 16.04 Ubuntu 14.04
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Ubuntu 14.04 Ubuntu 16.04 Ubuntu 18.04
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=============== =============== ===============
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✓ ✓ ✓
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=============== =============== ===============
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@ -97,7 +97,7 @@ After installing Visual Studio, confirm that the following command can run in th
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Initial Directory ``$(SolutionDir)``
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================= =======================================================================================
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In Visual Studio command Prompt, you can use the compile command ``cl`` ``link`` ``lib`` ``msbuild``, etc.
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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)
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.. image:: ../../images/vs_cmd_test.png
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@ -7,6 +7,7 @@ SLAM
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how_to_use_kalibr
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vins
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vins_fusion
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orb_slam2
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okvis
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viorb
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@ -18,10 +18,13 @@ First install dependencies based on the original OKVIS, and the follow:
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.. code-block:: bash
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git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
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sudo apt-get install libgoogle-glog-dev
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git clone -b mynteye https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
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cd MYNT-EYE-OKVIS-Sample/
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mkdir build && cd build
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cmake -DCMAKE_BUILD_TYPE=Release ..
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make -j4
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cmake ..
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make
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Get camera calibration parameters
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----------------------------------
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@ -33,7 +36,18 @@ Through the ``GetIntrinsics()`` and ``GetExtrinsics()`` function of the `MYNT-EY
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cd MYNT-EYE-S-SDK
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./samples/_output/bin/tutorials/get_img_params
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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>`_ .
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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>`_ .
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.. tip::
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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.
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.. code-block:: bash
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distortion_coefficients: [coeffs] # only first four parameters of coeffs need to be filled
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focal_length: [fx, fy]
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principal_point: [cx, cy]
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distortion_type: radialtangential
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Run MYNTEYE OKVIS
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---------------------
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@ -43,4 +57,4 @@ Go to ``MYNT-EYE-OKVIS-Sample/build`` folder and Run the application ``okvis_app
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.. code-block:: bash
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cd MYNT-EYE-OKVIS-Sample/build
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./okvis_app_mynteye_s ../config/config_mynteye.yaml
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./okvis_app_mynteye_s ../config/config_mynteye_s.yaml
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@ -15,7 +15,7 @@ If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:
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Binocular camera sample
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------------------------
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* 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``.
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* 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``.
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* Execute ``build.sh``:
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@ -28,7 +28,7 @@ Binocular camera sample
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.. code-block:: bash
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./Examples/Stereo/stereo_mynt ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
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./Examples/Stereo/stereo_mynt_s ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
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Building the nodes for mono and stereo (ROS)
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@ -47,32 +47,25 @@ Building the nodes for mono and stereo (ROS)
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chmod +x build_ros.sh
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./build_ros.sh
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Mono_ROS Example
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~~~~~~~~~~~~~~~~~
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* Update ``distortion_parameters`` and ``projection_parameters`` in ``<ORBSLAM2>/config/mynteye_mono.yaml``
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.. code-block:: bash
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cd MYNT-EYE-S-SDK
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./samples/_output/bin/tutorials/get_img_params
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After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, and then update to ``<ORB_SLAM2>/config/mynteye_mono.yaml``.
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* Launch ORB_SLAM2 ``Mono_ROS``
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.. code-block:: bash
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rosrun ORB_SLAM2 mynteye_mono ./Vocabulary/ORBvoc.txt ./config/mynteye_mono.yaml /mynteye/left/image_raw
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Stereo_ROS Example
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~~~~~~~~~~~~~~~~~~~
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* 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``.
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* 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`` .
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* Launch ORB_SLAM2 ``Stereo_ROS``
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1. Launch mynteye node
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.. code-block:: bash
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rosrun ORB_SLAM2 ros_mynteye_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
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cd [path of mynteye-s-sdk]
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make ros
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source ./wrappers/ros/devel/setup.bash
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roslaunch mynt_eye_ros_wrapper mynteye.launch
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2. Open another terminal and run ORB_SLAM2
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.. code-block:: bash
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rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
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@ -9,7 +9,7 @@ If you wanna run VINS-Mono with MYNT EYE camera, please follow the steps:
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1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and install mynt_eye_ros_wrapper.
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2. Follow the normal procedure to install VINS-Mono.
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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>`_ .
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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>`_ .
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4. Run mynt_eye_ros_wrapper and VINS-Mono.
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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.launch
|
||||
roslaunch vins_estimator mynteye_s.launch
|
||||
|
||||
.. note::
|
||||
|
||||
|
|
|
|||
55
docs/src/slam/vins_fusion.rst
Normal file
55
docs/src/slam/vins_fusion.rst
Normal file
|
|
@ -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
|
||||
|
|
@ -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.
|
||||
|
||||
|
|
|
|||
|
|
@ -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" />
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user