Update version

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.0.1 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.1 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 

README.md

@@ -1,6 +1,6 @@
 # MYNT® EYE SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.1--rc1-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
+[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.1--rc2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
 
 ## Overview
 
@@ -17,12 +17,11 @@ 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.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285351/mynt-eye-sdk-apidoc-2.0.1-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285352/mynt-eye-sdk-apidoc-2.0.1-rc1-html-en.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/2422149/mynt-eye-sdk-apidoc-2.0.1-rc2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422151/mynt-eye-sdk-apidoc-2.0.1-rc2-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/2285353/mynt-eye-sdk-apidoc-2.0.1-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285354/mynt-eye-sdk-apidoc-2.0.1-rc1-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-rc1-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc1-html-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422152/mynt-eye-sdk-apidoc-2.0.1-rc2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422153/mynt-eye-sdk-apidoc-2.0.1-rc2-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-rc2-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc2-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.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281782/mynt-eye-sdk-guide-2.0.1-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281783/mynt-eye-sdk-guide-2.0.1-rc1-html-en.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/2422160/mynt-eye-sdk-guide-2.0.1-rc2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422161/mynt-eye-sdk-guide-2.0.1-rc2-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/2281785/mynt-eye-sdk-guide-2.0.1-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281786/mynt-eye-sdk-guide-2.0.1-rc1-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-rc1-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc1-html-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422162/mynt-eye-sdk-guide-2.0.1-rc2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422164/mynt-eye-sdk-guide-2.0.1-rc2-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-rc2-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc2-html-zh-Hans/index.html)
-
 
 > Supported languages: `en`, `zh-Hans`.
 

doc/build.sh

@@ -52,16 +52,30 @@ for lang in "${LANGS[@]}"; do
     _mkdir "$OUTPUT/$lang"
     _echo_i "doxygen $DOXYFILE"
     doxygen $DOXYFILE
+
+    version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
+      sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
+
+    # html
+    if [ -d "$OUTPUT/$lang/html" ]; then
+      dirname="mynt-eye-sdk-apidoc"; \
+        [ -n "$version" ] && dirname="$dirname-$version"; \
+        dirname="$dirname-$lang"
+      cd "$OUTPUT/$lang"
+      [ -d "$dirname" ] && rm -rf "$dirname"
+      mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
+    fi
+
+    # latex
     if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
       _echo_in "doxygen make latex"
-      version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
-        sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
       filename="mynt-eye-sdk-apidoc"; \
         [ -n "$version" ] && filename="$filename-$version"; \
         filename="$filename-$lang.pdf"
       cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
       [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
     fi
+
     _echo_d "doxygen completed"
   else
     _echo_e "$DOXYFILE not found"

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-rc2
+PROJECT_NUMBER         = 2.2.1-rc
 
 # 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 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55} |
+| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
 | 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-rc2
+PROJECT_NUMBER         = 2.2.1-rc
 
 # 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 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55} |
+| 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} |
 | 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/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}, default: 25
+   *   values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
    */
   FRAME_RATE,
   /**

samples/tutorials/control/framerate.cc

@@ -29,7 +29,7 @@ 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
+  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
   api->SetOptionValue(Option::FRAME_RATE, 25);
   // IMU_FREQUENCY values: 100, 200, 250, 333, 500
   api->SetOptionValue(Option::IMU_FREQUENCY, 500);

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}))
+          !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60}))
         break;
       XuCamCtrlSet(option, value);
     } break;

src/public/utils.cc

@@ -100,6 +100,9 @@ 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/device.info

@@ -2,7 +2,7 @@
 ---
 device_name: MYNT-EYE-S1000
 serial_number: "0386322C0009070E"
-firmware_version: "2.0"
+firmware_version: "2.2"
 hardware_version: "2.0"
 spec_version: "1.0"
 lens_type: "0000"

tools/writer/config/img.params

@@ -4,29 +4,29 @@ in_left:
    -
       width: 752
       height: 480
-      fx: 7.3638305001095546e+02
+      fx: 3.6220059643202876e+02
-      fy: 7.2350066150722432e+02
+      fy: 3.6350065250745848e+02
-      cx: 3.5691961817119693e+02
+      cx: 4.0658699068023441e+02
-      cy: 2.1727271340923883e+02
+      cy: 2.3435161110061483e+02
       model: 0
-      coeffs: [ -5.4898645145016478e-01, 5.2837141203888638e-01, 0., 0.,
+      coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
-          0. ]
+          -7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
 in_right:
    -
       width: 752
       height: 480
-      fx: 7.3638305001095546e+02
+      fx: 3.6514014888558478e+02
-      fy: 7.2350066150722432e+02
+      fy: 3.6513385298966961e+02
-      cx: 4.5668367112303980e+02
+      cx: 3.8932395100630907e+02
-      cy: 2.5070083335536796e+02
+      cy: 2.3495160212312547e+02
       model: 0
-      coeffs: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0.,
+      coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
-          0. ]
+          5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
 ex_right_to_left:
-   rotation: [ 9.9701893306553813e-01, -9.5378124886236681e-04,
+   rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
-       -7.7151392794850615e-02, 1.4493996762830500e-03,
+       5.0988459509619687e-02, 5.9890316389333252e-03,
-       9.9997867219985104e-01, 6.3682325649414354e-03,
+       9.9995670037792639e-01, 7.1224201868366971e-03,
-       7.7143673424555026e-02, -6.4610716411527686e-03,
+       -5.1031440326695092e-02, -6.8076406092671274e-03,
-       9.9699905125522237e-01 ]
+       9.9867384471984544e-01 ]
-   translation: [ -1.1888991734400047e+02, -4.5605803870530912e-02,
+   translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-       -3.9531373691193386e+00 ]
+       -5.2058205159996538e+00 ]

tools/writer/config/imu.params

@@ -1,15 +1,15 @@
 %YAML:1.0
 ---
 in_accel:
-   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
-   drift: [ 0., 0., 0. ]
+   drift: [ 0.0, 0.0, 0.0 ]
-   noise: [ 0., 0., 0. ]
+   noise: [ 0.016925432397973516, 0.016735310195561025, 0.017452487504590969 ]
-   bias: [ 0., 0., 0. ]
+   bias: [ 0.00019031356589714596, 0.00016996777864587261, 0.00054490537096493644 ]
 in_gyro:
-   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
    drift: [ 0., 0., 0. ]
-   noise: [ 0., 0., 0. ]
+   noise: [ 0.0010848026158819934, 0.0012466367883501759, 0.0011003229919806443 ]
-   bias: [ 0., 0., 0. ]
+   bias: [ 0.000023404834136742844, 0.000023596771567764949, 0.000014970418056326829 ]
 ex_left_to_imu:
-   rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   rotation: [ -0.0064662, -0.99994994, -0.00763565, 0.99997909, -0.00646566, -0.00009558, 0.0000462, -0.00763611, 0.99997084 ]
-   translation: [ 0., 0., 0. ]
+   translation: [ 0.00533646, -0.04302922, 0.02303124 ]

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
+    # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
     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} -->
+  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
   <arg name="frame_rate" default="-1" />
   <!-- <arg name="frame_rate" default="25" /> -->