Update doc version

Makefile

@@ -16,6 +16,12 @@ include CommonDefs.mk
 MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
 MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 
+# CMAKE_INSTALL_PREFIX:
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html
+#
+#   UNIX: /usr/local
+#   Windows: c:/Program Files/${PROJECT_NAME}
+
 .DEFAULT_GOAL := help
 
 help:
@@ -83,7 +89,8 @@ init: submodules
 
 build: third_party
 	@$(call echo,Make $@)
-	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+	@$(call cmake_build,./_build,..)
+	@# @$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
 
 .PHONY: build
 
@@ -115,10 +122,10 @@ ifeq ($(HOST_OS),Win)
 ifneq ($(HOST_NAME),MinGW)
 	@cd ./_build; msbuild.exe INSTALL.vcxproj /property:Configuration=Release
 else
-	@cd ./_build; make install
+	@cd ./_build; sudo make install
 endif
 else
-	@cd ./_build; make install
+	@cd ./_build; sudo make install
 endif
 
 .PHONY: install

README.md

@@ -1,6 +1,6 @@
 # MYNT® EYE SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.0--rc-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
+[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.1--rc0-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
 
 ## Overview
 
@@ -17,18 +17,19 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations
 
 * [API Doc](https://github.com/slightech/MYNT-EYE-SDK-2/releases): API reference, some guides and data spec.
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2083629/mynt-eye-sdk-apidoc-2.0.0-rc-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2083631/mynt-eye-sdk-apidoc-2.0.0-rc-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2203869/mynt-eye-sdk-apidoc-2.0.1-rc0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2203870/mynt-eye-sdk-apidoc-2.0.1-rc0-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2203872/mynt-eye-sdk-apidoc-2.0.1-rc0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2203874/mynt-eye-sdk-apidoc-2.0.1-rc0-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-sdk-apidoc-2.0.1-rc0-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc0-html-zh-Hans/index.html)
 * [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases): How to install and start using the SDK.
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2083740/mynt-eye-sdk-guide-2.0.0-rc-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2083745/mynt-eye-sdk-guide-2.0.0-rc-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2203877/mynt-eye-sdk-guide-2.0.1-rc0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2203879/mynt-eye-sdk-guide-2.0.1-rc0-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2203880/mynt-eye-sdk-guide-2.0.1-rc0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2203881/mynt-eye-sdk-guide-2.0.1-rc0-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-sdk-guide-2.0.1-rc0-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc0-html-zh-Hans/index.html	)
 
-> Supported languages: `zh-Hans`.
+> Supported languages: `en`, `zh-Hans`.
 
 ## Firmwares
 
-[Google Drive]: https://drive.google.com/drive/folders/1tdFCcTBMNcImEGZ39tdOZmlX2SHKCr2f
+[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
-[百度网盘]: https://pan.baidu.com/s/1yPQDp2r0x4jvNwn2UjlMUQ
 
-Get firmwares from our online disks: [Google Drive][], [百度网盘][]. The latest version is `2.0.0-rc`.
+Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.0.1`.
 
 ## Usage
 

doc/en/api.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.0.1-rc0
+PROJECT_NUMBER         = 2.0.1-rc1
 
 # 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

doc/en/spec_control_api.md

@@ -14,7 +14,7 @@ There are two control modes, one is through UVC standard protocol, the other is
 
 | Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note |
 | :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- |
-| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
+| Frame rate | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55} |
 | IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
 | Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
 | Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |

doc/zh-Hans/api.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.0.1-rc0
+PROJECT_NUMBER         = 2.0.1-rc1
 
 # 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

doc/zh-Hans/spec_control_api.md

@@ -16,7 +16,7 @@
 
 | 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 说明 |
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----- |
-| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
+| 图像帧率 | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55} |
 | IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} |
 | 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 |
 | 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |

include/mynteye/glog_init.h

@@ -25,14 +25,30 @@ struct glog_init {
   glog_init(int argc, char *argv[]) {
     (void)argc;
 
-    // FLAGS_logtostderr = true;
+    // Set whether log messages go to stderr instead of logfiles
-    FLAGS_alsologtostderr = true;
+    FLAGS_logtostderr = true;
+
+    // Set whether log messages go to stderr in addition to logfiles.
+    // FLAGS_alsologtostderr = true;
+
+    // Set color messages logged to stderr (if supported by terminal).
     FLAGS_colorlogtostderr = true;
 
-    // FLAGS_log_dir = ".";
+    // Log suppression level: messages logged at a lower level than this
+    // are suppressed.
+    FLAGS_minloglevel = google::GLOG_INFO;
+
+    // If specified, logfiles are written into this directory instead of the
+    // default logging directory.
+    FLAGS_log_dir = ".";
+
+    // Sets the maximum log file size (in MB).
     FLAGS_max_log_size = 1024;
+
+    // Sets whether to avoid logging to the disk if the disk is full.
     FLAGS_stop_logging_if_full_disk = true;
 
+    // Show all VLOG(m) messages for m <= this.
     // FLAGS_v = 2;
 
     google::InitGoogleLogging(argv[0]);

include/mynteye/mynteye.h.in

@@ -58,7 +58,7 @@ MYNTEYE_API_VERSION_CHECK( \
 # define MYNTEYE_USE_NAMESPACE
 #endif
 
-constexpr char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
+const char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
-constexpr char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
+const char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
 
 #endif  // MYNTEYE_MYNTEYE_H_

include/mynteye/types.h

@@ -144,7 +144,7 @@ enum class Option : std::uint8_t {
   /**
    * Image frame rate, must set IMU_FREQUENCY together
    *
-   *   values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
+   *   values: {10,15,20,25,30,35,40,45,50,55}, default: 25
    */
   FRAME_RATE,
   /**

samples/tutorials/control/framerate.cc

@@ -30,7 +30,7 @@ int main(int argc, char *argv[]) {
   // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
   // succeed.
 
-  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
+  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55
   api->SetOptionValue(Option::FRAME_RATE, 25);
   // IMU_FREQUENCY values: 100, 200, 250, 333, 500
   api->SetOptionValue(Option::IMU_FREQUENCY, 500);

samples/tutorials/data/get_img_params.cc

@@ -25,8 +25,8 @@ int main(int argc, char *argv[]) {
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";
-  LOG(INFO) << "Extrinsics left to right: {"
+  LOG(INFO) << "Extrinsics right to left: {"
-            << api->GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+            << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
 
   return 0;
 }

src/api/api.cc

@@ -213,11 +213,11 @@ std::vector<std::string> get_plugin_paths() {
 API::API(std::shared_ptr<Device> device) : device_(device) {
   VLOG(2) << __func__;
   if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
-    bool in_l_ok, in_r_ok, ex_l2r_ok;
+    bool in_l_ok, in_r_ok, ex_r2l_ok;
     device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
     device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
+    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT, &ex_r2l_ok);
-    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
+    if (!in_l_ok || !in_r_ok || !ex_r2l_ok) {
 #if defined(WITH_DEVICE_INFO_REQUIRED)
       LOG(FATAL)
 #else

src/api/processor/depth_processor.cc

@@ -19,6 +19,8 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DepthProcessor::NAME[] = "DepthProcessor";
+
 DepthProcessor::DepthProcessor(std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;

src/api/processor/depth_processor.h

@@ -23,7 +23,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DepthProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DepthProcessor";
+  static const char NAME[];
 
   explicit DepthProcessor(std::int32_t proc_period = 0);
   virtual ~DepthProcessor();

src/api/processor/disparity_normalized_processor.cc

@@ -21,6 +21,9 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DisparityNormalizedProcessor::NAME[] =
+    "DisparityNormalizedProcessor";
+
 DisparityNormalizedProcessor::DisparityNormalizedProcessor(
     std::int32_t proc_period)
     : Processor(std::move(proc_period)) {

src/api/processor/disparity_normalized_processor.h

@@ -23,7 +23,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DisparityNormalizedProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DisparityNormalizedProcessor";
+  static const char NAME[];
 
   explicit DisparityNormalizedProcessor(std::int32_t proc_period = 0);
   virtual ~DisparityNormalizedProcessor();

src/api/processor/disparity_processor.cc

@@ -21,6 +21,8 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DisparityProcessor::NAME[] = "DisparityProcessor";
+
 DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;

src/api/processor/disparity_processor.h

@@ -29,7 +29,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DisparityProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DisparityProcessor";
+  static const char NAME[];
 
   explicit DisparityProcessor(std::int32_t proc_period = 0);
   virtual ~DisparityProcessor();

src/api/processor/points_processor.cc

@@ -21,6 +21,8 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char PointsProcessor::NAME[] = "PointsProcessor";
+
 PointsProcessor::PointsProcessor(cv::Mat Q, std::int32_t proc_period)
     : Processor(std::move(proc_period)), Q_(std::move(Q)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;

src/api/processor/points_processor.h

@@ -25,7 +25,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class PointsProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "PointsProcessor";
+  static const char NAME[];
 
   explicit PointsProcessor(cv::Mat Q, std::int32_t proc_period = 0);
   virtual ~PointsProcessor();

src/api/processor/rectify_processor.cc

@@ -24,13 +24,15 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char RectifyProcessor::NAME[] = "RectifyProcessor";
+
 RectifyProcessor::RectifyProcessor(
     std::shared_ptr<Device> device, std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
   InitParams(
       device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
-      device->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
+      device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
 }
 
 RectifyProcessor::~RectifyProcessor() {
@@ -56,7 +58,7 @@ bool RectifyProcessor::OnProcess(
 }
 
 void RectifyProcessor::InitParams(
-    Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right) {
+    Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left) {
   cv::Size size{in_left.width, in_left.height};
 
   cv::Mat M1 =
@@ -68,12 +70,12 @@ void RectifyProcessor::InitParams(
   cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
   cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
   cv::Mat R =
-      (cv::Mat_<double>(3, 3) << ex_left_to_right.rotation[0][0],
+      (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
-       ex_left_to_right.rotation[0][1], ex_left_to_right.rotation[0][2],
+       ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
-       ex_left_to_right.rotation[1][0], ex_left_to_right.rotation[1][1],
+       ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
-       ex_left_to_right.rotation[1][2], ex_left_to_right.rotation[2][0],
+       ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
-       ex_left_to_right.rotation[2][1], ex_left_to_right.rotation[2][2]);
+       ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
-  cv::Mat T(3, 1, CV_64F, ex_left_to_right.translation);
+  cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
 
   VLOG(2) << "InitParams size: " << size;
   VLOG(2) << "M1: " << M1;

src/api/processor/rectify_processor.h

@@ -29,7 +29,7 @@ class Device;
 
 class RectifyProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "RectifyProcessor";
+  static const char NAME[];
 
   RectifyProcessor(
       std::shared_ptr<Device> device, std::int32_t proc_period = 0);
@@ -47,7 +47,7 @@ class RectifyProcessor : public Processor {
 
  private:
   void InitParams(
-      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right);
+      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
 };
 
 MYNTEYE_END_NAMESPACE

src/device/device.cc

@@ -565,11 +565,11 @@ void Device::ReadAllInfos() {
   if (img_params.ok) {
     SetIntrinsics(Stream::LEFT, img_params.in_left);
     SetIntrinsics(Stream::RIGHT, img_params.in_right);
-    SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_left_to_right);
+    SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
     VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
     VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
-    VLOG(2) << "Extrinsics left to right: {"
+    VLOG(2) << "Extrinsics right to left: {"
-            << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+            << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
   } else {
     LOG(WARNING) << "Intrinsics & extrinsics not exist";
   }

src/internal/channels.cc

@@ -224,7 +224,7 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
     } break;
     case Option::FRAME_RATE: {
       if (!in_range() ||
-          !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60}))
+          !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55}))
         break;
       XuCamCtrlSet(option, value);
     } break;
@@ -515,7 +515,7 @@ std::size_t from_data(
   std::size_t i = 0;
   i += from_data(&img_params->in_left, data + i, spec_version);
   i += from_data(&img_params->in_right, data + i, spec_version);
-  i += from_data(&img_params->ex_left_to_right, data + i, spec_version);
+  i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
   return i;
 }
 
@@ -787,7 +787,7 @@ std::size_t to_data(
   std::size_t i = 3;  // skip id, size
   i += to_data(&img_params->in_left, data + i, spec_version);
   i += to_data(&img_params->in_right, data + i, spec_version);
-  i += to_data(&img_params->ex_left_to_right, data + i, spec_version);
+  i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
   // others
   std::size_t size = i - 3;
   data[0] = Channels::FID_IMG_PARAMS;

src/internal/channels.h

@@ -72,7 +72,7 @@ class MYNTEYE_API Channels {
     bool ok;
     Intrinsics in_left;
     Intrinsics in_right;
-    Extrinsics ex_left_to_right;
+    Extrinsics ex_right_to_left;
   } img_params_t;
 
   typedef struct ImuParams {

src/public/utils.cc

@@ -100,9 +100,6 @@ float get_real_exposure_time(
     case 55:
       real_max = 16.325;
       break;
-    case 60:
-      real_max = 15;
-      break;
     default:
       LOG(ERROR) << "Invalid frame rate: " << frame_rate;
       return exposure_time;

tools/writer/config/img.params

@@ -22,7 +22,7 @@ in_right:
       model: 0
       coeffs: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0.,
           0. ]
-ex_left_to_right:
+ex_right_to_left:
    rotation: [ 9.9701893306553813e-01, -9.5378124886236681e-04,
        -7.7151392794850615e-02, 1.4493996762830500e-03,
        9.9997867219985104e-01, 6.3682325649414354e-03,

tools/writer/device_writer.cc

@@ -72,7 +72,7 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
     LOG(INFO) << "Write img params success";
     LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
     LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
-    LOG(INFO) << "Extrinsics left to right: {" << params.ex_left_to_right
+    LOG(INFO) << "Extrinsics right to left: {" << params.ex_right_to_left
               << "}";
     return true;
   } else {
@@ -185,8 +185,8 @@ bool DeviceWriter::SaveImgParams(
     return false;
   }
   fs << "in_left" << std::vector<Intrinsics>{params.in_left} << "in_right"
-     << std::vector<Intrinsics>{params.in_right} << "ex_left_to_right"
+     << std::vector<Intrinsics>{params.in_right} << "ex_right_to_left"
-     << params.ex_left_to_right;
+     << params.ex_right_to_left;
   fs.release();
   return true;
 }
@@ -213,7 +213,7 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
   SaveImgParams(
       {false, device_->GetIntrinsics(Stream::LEFT),
        device_->GetIntrinsics(Stream::RIGHT),
-       device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT)},
+       device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT)},
       dir + OS_SEP "img.params");
   auto &&m_in = device_->GetMotionIntrinsics();
   SaveImuParams(
@@ -311,8 +311,8 @@ DeviceWriter::dev_info_t DeviceWriter::LoadDeviceInfo(
     LOG(FATAL) << "Failed to load file: " << filepath;
   }
   DeviceInfo info;
-  info.lens_type = Type(fs["lens_type"].string());
+  info.lens_type = Type(std::string(fs["lens_type"]));
-  info.imu_type = Type(fs["imu_type"].string());
+  info.imu_type = Type(std::string(fs["imu_type"]));
   fs["nominal_baseline"] >> info.nominal_baseline;
   fs.release();
   return info;
@@ -348,11 +348,11 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
 
     to_intrinsics(w, h, m, M1, D1, &params.in_left);
     to_intrinsics(w, h, m, M2, D2, &params.in_right);
-    to_extrinsics(R, T, &params.ex_left_to_right);
+    to_extrinsics(R, T, &params.ex_right_to_left);
   } else {
     fs["in_left"][0] >> params.in_left;
     fs["in_right"][0] >> params.in_right;
-    fs["ex_left_to_right"] >> params.ex_left_to_right;
+    fs["ex_right_to_left"] >> params.ex_right_to_left;
   }
 
   fs.release();

wrappers/python/samples/mynteye.py

@@ -99,7 +99,7 @@ def main():
   # set_option_value
 
   def set_rate(frame_rate=25, imu_frequency=500):  # pylint: disable=unused-variable
-    # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
+    # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55
     api.set_option_value(mynteye.FRAME_RATE, frame_rate)
     # IMU_FREQUENCY values: 100, 200, 250, 333, 500
     api.set_option_value(mynteye.IMU_FREQUENCY, imu_frequency)

wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch

@@ -54,7 +54,7 @@
   <arg name="contrast" default="-1" />
   <!-- <arg name="contrast" default="127" /> -->
 
-  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
+  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55} -->
   <arg name="frame_rate" default="-1" />
   <!-- <arg name="frame_rate" default="25" /> -->
 

wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz

@@ -61,7 +61,7 @@ Visualization Manager:
           Min Value: 0
           Name: Left
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -73,7 +73,7 @@ Visualization Manager:
           Min Value: 0
           Name: Right
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -87,7 +87,7 @@ Visualization Manager:
               Min Value: 0
               Name: LeftRect
               Normalize Range: true
-              Queue Size: 2
+              Queue Size: 1
               Transport Hint: raw
               Unreliable: false
               Value: true
@@ -99,7 +99,7 @@ Visualization Manager:
               Min Value: 0
               Name: RightRect
               Normalize Range: true
-              Queue Size: 2
+              Queue Size: 1
               Transport Hint: raw
               Unreliable: false
               Value: true
@@ -117,7 +117,7 @@ Visualization Manager:
           Min Value: 0
           Name: Disparity
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -129,7 +129,7 @@ Visualization Manager:
           Min Value: 0
           Name: DisparityNorm
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -143,7 +143,7 @@ Visualization Manager:
       Min Value: 0
       Name: Depth
       Normalize Range: true
-      Queue Size: 2
+      Queue Size: 1
       Transport Hint: raw
       Unreliable: false
       Value: true
@@ -167,7 +167,7 @@ Visualization Manager:
       Min Intensity: 0
       Name: Points
       Position Transformer: XYZ
-      Queue Size: 10
+      Queue Size: 1
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.00999999978

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

@@ -23,6 +23,8 @@
 #include <tf/tf.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 
+#include <opencv2/calib3d/calib3d.hpp>
+
 #include <mynt_eye_ros_wrapper/GetInfo.h>
 #include <mynt_eye_ros_wrapper/Temp.h>
 
@@ -108,7 +110,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
       stream_topics[it->first] = it->second;
       private_nh_.getParam(it->second + "_topic", stream_topics[it->first]);
+
+      // if published init
+      is_published_[it->first] = false;
     }
+    is_motion_published_ = false;
+    is_started_ = false;
 
     std::string imu_topic = "imu";
     std::string temp_topic = "temp";
@@ -164,20 +171,17 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
       auto &&topic = stream_topics[it->first];
-      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
+      if (it->first == Stream::POINTS) {  // pointcloud
-        camera_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
-      } else if (it->first == Stream::POINTS) {  // pointcloud
         points_publisher_ = nh_.advertise<sensor_msgs::PointCloud2>(topic, 1);
-      } else {  // image
+      } else {  // camera
-        image_publishers_[it->first] = it_mynteye.advertise(topic, 1);
+        camera_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
       }
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
 
     camera_encodings_ = {{Stream::LEFT, enc::MONO8},
-                         {Stream::RIGHT, enc::MONO8}};
+                         {Stream::RIGHT, enc::MONO8},
-
+                         {Stream::LEFT_RECTIFIED, enc::MONO8},
-    image_encodings_ = {{Stream::LEFT_RECTIFIED, enc::MONO8},
                          {Stream::RIGHT_RECTIFIED, enc::MONO8},
                          {Stream::DISPARITY, enc::MONO8},  // float
                          {Stream::DISPARITY_NORMALIZED, enc::MONO8},
@@ -192,9 +196,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     // stream toggles
 
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
-      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
+      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {
-        continue;
+        continue;  // native streams
-      } else {  // image, pointcloud
+      } else {
         if (!api_->Supports(it->first))
           continue;
         bool enabled = false;
@@ -214,8 +218,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     NODELET_INFO_STREAM("Advertized service " << DEVICE_INFO_SERVICE);
 
     publishStaticTransforms();
+    while (private_nh_.ok()) {
       publishTopics();
     }
+  }
 
   bool getInfo(
       mynt_eye_ros_wrapper::GetInfo::Request &req,     // NOLINT
@@ -254,6 +260,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
   void publishTopics() {
+    if (camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 &&
+        !is_published_[Stream::LEFT]) {
       api_->SetStreamCallback(
           Stream::LEFT, [this](const api::StreamData &data) {
             ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
@@ -265,7 +273,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
             //     << ((data.img->timestamp - img_time_beg) * 0.00001f)
             //     << ", img_time_diff: " << FULL_PRECISION
             //     << ((img_time_prev < 0) ? 0
-          //         : (data.img->timestamp - img_time_prev) * 0.01f) << " ms");
+            //         : (data.img->timestamp - img_time_prev) * 0.01f) << "
+            //         ms");
             // img_time_prev = data.img->timestamp;
 
             ++left_count_;
@@ -276,7 +285,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                              << ", timestamp: " << data.img->timestamp
                              << ", exposure_time: " << data.img->exposure_time);
           });
+      is_published_[Stream::LEFT] = true;
+    }
 
+    if (camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 &&
+        !is_published_[Stream::RIGHT]) {
       api_->SetStreamCallback(
           Stream::RIGHT, [this](const api::StreamData &data) {
             ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
@@ -284,37 +297,51 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
             ++right_count_;
             publishCamera(Stream::RIGHT, data, right_count_, stamp);
             NODELET_DEBUG_STREAM(
-              Stream::RIGHT << ", count: " << right_count_
+                Stream::RIGHT
-                            << ", frame_id: " << data.img->frame_id
+                << ", count: " << right_count_ << ", frame_id: "
-                            << ", timestamp: " << data.img->timestamp
+                << data.img->frame_id << ", timestamp: " << data.img->timestamp
                 << ", exposure_time: " << data.img->exposure_time);
           });
+      is_published_[Stream::RIGHT] = true;
+    }
 
-    std::vector<Stream> image_streams{
+    std::vector<Stream> other_streams{
         Stream::LEFT_RECTIFIED, Stream::RIGHT_RECTIFIED, Stream::DISPARITY,
         Stream::DISPARITY_NORMALIZED, Stream::DEPTH};
 
-    for (auto &&stream : image_streams) {
+    for (auto &&stream : other_streams) {
+      if (camera_publishers_[stream].getNumSubscribers() == 0 &&
+          is_published_[stream]) {
+        continue;
+      }
       api_->SetStreamCallback(
           stream, [this, stream](const api::StreamData &data) {
+            // data.img is null, not hard timestamp
             static std::size_t count = 0;
             ++count;
-            publishImage(stream, data, count, ros::Time::now());
+            publishCamera(stream, data, count, ros::Time::now());
           });
+      is_published_[stream] = true;
     }
 
+    if (camera_publishers_[Stream::POINTS].getNumSubscribers() > 0 &&
+        !is_published_[Stream::POINTS]) {
       api_->SetStreamCallback(
           Stream::POINTS, [this](const api::StreamData &data) {
             static std::size_t count = 0;
             ++count;
             publishPoints(data, count, ros::Time::now());
           });
+      is_published_[Stream::POINTS] = true;
+    }
 
+    if (!is_motion_published_) {
       api_->SetMotionCallback([this](const api::MotionData &data) {
         ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);
 
         // static double imu_time_prev = -1;
-      // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << ros_time_beg
+        // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
+        // ros_time_beg
         //     << ", imu_time_elapsed: " << FULL_PRECISION
         //     << ((data.imu->timestamp - imu_time_beg) * 0.00001f)
         //     << ", imu_time_diff: " << FULL_PRECISION
@@ -338,16 +365,21 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         // Sleep 1ms, otherwise publish may drop some datas.
         ros::Duration(0.001).sleep();
       });
+      is_motion_published_ = true;
+    }
 
     time_beg_ = ros::Time::now().toSec();
+    if (!is_started_) {
       api_->Start(Source::ALL);
+      is_started_ = true;
+    }
   }
 
   void publishCamera(
       const Stream &stream, const api::StreamData &data, std::uint32_t seq,
       ros::Time stamp) {
-    if (camera_publishers_[stream].getNumSubscribers() == 0)
+    // if (camera_publishers_[stream].getNumSubscribers() == 0)
-      return;
+    //   return;
     std_msgs::Header header;
     header.seq = seq;
     header.stamp = stamp;
@@ -363,6 +395,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     camera_publishers_[stream].publish(msg, info);
   }
 
+  /*
   void publishImage(
       const Stream &stream, const api::StreamData &data, std::uint32_t seq,
       ros::Time stamp) {
@@ -380,11 +413,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         cv_bridge::CvImage(header, image_encodings_[stream], img).toImageMsg();
     image_publishers_[stream].publish(msg);
   }
+  */
 
   void publishPoints(
       const api::StreamData &data, std::uint32_t seq, ros::Time stamp) {
-    if (points_publisher_.getNumSubscribers() == 0)
+    // if (points_publisher_.getNumSubscribers() == 0)
-      return;
+    //   return;
 
     auto &&in = api_->GetIntrinsics(Stream::LEFT);
 
@@ -534,6 +568,43 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
 
     api_ = API::Create(device);
+
+    computeRectTransforms();
+  }
+
+  void computeRectTransforms() {
+    ROS_ASSERT(api_);
+    auto &&in_left = api_->GetIntrinsics(Stream::LEFT);
+    auto &&in_right = api_->GetIntrinsics(Stream::RIGHT);
+    auto &&ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);
+
+    cv::Size size{in_left.width, in_left.height};
+
+    cv::Mat M1 =
+        (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
+         in_left.cy, 0, 0, 1);
+    cv::Mat M2 =
+        (cv::Mat_<double>(3, 3) << in_right.fx, 0, in_right.cx, 0, in_right.fy,
+         in_right.cy, 0, 0, 1);
+    cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
+    cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
+    cv::Mat R =
+        (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
+         ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
+         ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
+         ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
+         ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
+    cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
+
+    cv::stereoRectify(
+        M1, D1, M2, D2, size, R, T, left_r_, right_r_, left_p_, right_p_, q_,
+        cv::CALIB_ZERO_DISPARITY, 0, size, &left_roi_, &right_roi_);
+
+    NODELET_DEBUG_STREAM("left_r: " << left_r_);
+    NODELET_DEBUG_STREAM("right_r: " << right_r_);
+    NODELET_DEBUG_STREAM("left_p: " << left_p_);
+    NODELET_DEBUG_STREAM("right_p: " << right_p_);
+    NODELET_DEBUG_STREAM("q: " << q_);
   }
 
   sensor_msgs::CameraInfoPtr getCameraInfo(const Stream &stream) {
@@ -541,10 +612,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       return camera_info_ptrs_[stream];
     }
 
+    // http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/CameraInfo.html
     sensor_msgs::CameraInfo *camera_info = new sensor_msgs::CameraInfo();
     camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info);
 
-    auto &&in = api_->GetIntrinsics(stream);
+    Intrinsics in;
+    if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
+      in = api_->GetIntrinsics(Stream::RIGHT);
+    } else {
+      in = api_->GetIntrinsics(Stream::LEFT);
+    }
 
     camera_info->header.frame_id = frame_ids_[stream];
     camera_info->width = in.width;
@@ -562,26 +639,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     //     [fx'  0  cx' Tx]
     // P = [ 0  fy' cy' Ty]
     //     [ 0   0   1   0]
-    camera_info->P.at(0) = camera_info->K.at(0);
+    cv::Mat p = left_p_;
-    camera_info->P.at(1) = 0;
+    if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
-    camera_info->P.at(2) = camera_info->K.at(2);
+      p = right_p_;
-    camera_info->P.at(3) = 0;
+    }
-
+    for (int i = 0; i < p.rows; i++) {
-    camera_info->P.at(4) = 0;
+      for (int j = 0; j < p.cols; j++) {
-    camera_info->P.at(5) = camera_info->K.at(4);
+        camera_info->P.at(i * p.cols + j) = p.at<double>(i, j);
-    camera_info->P.at(6) = camera_info->K.at(5);
+      }
-    camera_info->P.at(7) = 0;
-
-    camera_info->P.at(8) = 0;
-    camera_info->P.at(9) = 0;
-    camera_info->P.at(10) = 1;
-    camera_info->P.at(11) = 0;
-
-    if (stream == Stream::RIGHT) {
-      auto &&ex = api_->GetExtrinsics(stream, Stream::LEFT);
-      camera_info->P.at(3) = ex.translation[0];
-      camera_info->P.at(7) = ex.translation[1];
-      camera_info->P.at(11) = ex.translation[2];
     }
 
     camera_info->distortion_model = "plumb_bob";
@@ -759,16 +824,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   ros::NodeHandle nh_;
   ros::NodeHandle private_nh_;
 
-  // camera: LEFT, RIGHT
+  // camera:
+  //   LEFT, RIGHT, LEFT_RECTIFIED, RIGHT_RECTIFIED,
+  //   DISPARITY, DISPARITY_NORMALIZED,
+  //   DEPTH
   std::map<Stream, image_transport::CameraPublisher> camera_publishers_;
   std::map<Stream, sensor_msgs::CameraInfoPtr> camera_info_ptrs_;
   std::map<Stream, std::string> camera_encodings_;
 
-  // image: LEFT_RECTIFIED, RIGHT_RECTIFIED, DISPARITY, DISPARITY_NORMALIZED,
-  // DEPTH
-  std::map<Stream, image_transport::Publisher> image_publishers_;
-  std::map<Stream, std::string> image_encodings_;
-
   // pointcloud: POINTS
   ros::Publisher points_publisher_;
 
@@ -792,10 +855,18 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
   std::shared_ptr<API> api_;
 
+  // rectification transforms
+  cv::Mat left_r_, right_r_, left_p_, right_p_, q_;
+  cv::Rect left_roi_, right_roi_;
+
   double time_beg_ = -1;
   std::size_t left_count_ = 0;
   std::size_t right_count_ = 0;
   std::size_t imu_count_ = 0;
+
+  std::map<Stream, bool> is_published_;
+  bool is_motion_published_;
+  bool is_started_;
 };
 
 MYNTEYE_END_NAMESPACE