fix: 3.4.19 opencv complie.

n

.commitlintrc.js

@@ -0,0 +1,11 @@
+module.exports = {
+  extends: ['@commitlint/config-conventional'],
+  rules: {
+  'type-enum': [2, 'always', [
+    "feat", "fix", "docs", "style", "refactor", "perf", "test", "build", "ci", "chore", "revert"
+  ]],
+  'scope-empty': [2, 'never'],
+  'subject-full-stop': [0, 'never'],
+  'subject-case': [0, 'never']
+  }
+};

.gitignore

@@ -7,6 +7,8 @@ _build/
 _install/
 _output/
 
+/docs/_doxygen/
+
 /get-pip.py
 
 /*INFO*
@@ -16,11 +18,15 @@ _output/
 
 /plugins/
 
+/3rdparty/ceres/
 /3rdparty/opencv/
 /pkginfo.sh
 /*.nsi
 /*.exe
 
+/node_modules/
+/package-lock.json
+
 # ros
 
 /wrappers/ros/build

.gitmodules

@@ -1,7 +0,0 @@
-[submodule "test/gtest"]
-	path = test/gtest
-	url = https://github.com/google/googletest.git
-[submodule "tools/linter"]
-  path = tools/linter
-  url = https://github.com/slightech/linter.git
-  branch = slightech

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.2.2 LANGUAGES C CXX)
+project(mynteye VERSION 2.5.0 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -22,6 +22,8 @@ if(NOT CMAKE_DEBUG_POSTFIX)
   set(CMAKE_DEBUG_POSTFIX d)
 endif()
 
+LIST(APPEND CMAKE_MODULE_PATH cmake)
+
 # options
 
 include(cmake/Option.cmake)
@@ -55,12 +57,10 @@ macro(target_link_threads NAME)
     target_compile_options(PUBLIC ${NAME} "-pthread")
   endif()
   if(CMAKE_THREAD_LIBS_INIT)
-    target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}")
+    target_link_libraries(${NAME} PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
   endif()
 endmacro()
 
-LIST(APPEND CMAKE_MODULE_PATH cmake)
-
 include(CMakePackageConfigHelpers)
 
 # config
@@ -94,6 +94,18 @@ if(OS_WIN)
   )
 endif()
 
+# rpath
+
+set(CMAKE_MACOSX_RPATH 1)
+set(MYNTEYE_CMAKE_RPATH "")
+if(WITH_OPENCV)
+  list(APPEND MYNTEYE_CMAKE_RPATH ${OpenCV_LIB_PATH})
+endif()
+if(MYNTEYE_CMAKE_RPATH)
+  message(STATUS "RPATH: ${MYNTEYE_CMAKE_RPATH}")
+  set(CMAKE_INSTALL_RPATH "${MYNTEYE_CMAKE_RPATH}")
+endif()
+
 # targets
 
 add_definitions(-DMYNTEYE_EXPORTS)
@@ -116,27 +128,44 @@ if(WITH_GLOG)
   )
 endif()
 
+## camera_models
+
+if(WITH_CAM_MODELS)
+
+  include_directories(
+    include
+    ${CMAKE_CURRENT_BINARY_DIR}/include
+    src/mynteye/api/camera_models
+    src/mynteye
+  )
+
+  add_library(camera_models STATIC
+    src/mynteye/api/camera_models/camera.cc
+    src/mynteye/api/camera_models/equidistant_camera.cc
+    src/mynteye/api/camera_models/util/gpl.cc
+  )
+
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+endif()
+
 ## libmynteye
 
 if(NOT WITH_GLOG AND NOT OS_WIN)
-  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
+  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type -Wno-comment")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
   unset(__MINIGLOG_FLAGS)
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_PUBLIC_H
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+  )
+endif()
 
 if(OS_WIN)
   set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
 elseif(OS_MAC)
-  add_compile_options(-x objective-c++)
+  add_compile_options(-x objective-c++ -Wno-unused-command-line-argument -Wno-missing-method-return-type -Wno-sign-compare)
-  ## INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx)
-  ## INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit)
-  ## aux_source_directory(src/mynteye/uvc/macosx/VVUVCKit/ MAC_VVUVCKIT_SRC_LIST)
-  ## aux_source_directory(src/mynteye/uvc/macosx/USBBusProber/ MAC_USBBUSPROBER_SRC_LIST)
-  ## add_library(usbBusProber SHARED ${MAC_USBBUSPROBER_SRC_LIST})
-  ## set_target_properties(usbBusProber PROPERTIES FRAMEWORK TRUE )
-  ## add_library(vvuvckit SHARED ${MAC_VVUVCKIT_SRC_LIST})
-  ## set_target_properties(vvuvckit PROPERTIES FRAMEWORK TRUE )
 
   INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/USBBusProber.framework/Headers)
   INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit.framework/Headers)
@@ -146,12 +175,7 @@ elseif(OS_MAC)
   SET(OSX_EXTRA_LIBS ${VVUVCKIT_LIBRARY} ${USB_LIBRARY})
 
   set(UVC_SRC src/mynteye/uvc/macosx/CameraEngine.cpp src/mynteye/uvc/macosx/AVfoundationCamera.mm src/mynteye/uvc/macosx/uvc-vvuvckit.cc )
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}") 
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}")
-
-  find_package(libuvc REQUIRED)
-  set(UVC_LIB ${libuvc_LIBRARIES})
-
-  include_directories(${libuvc_INCLUDE_DIRS})
 elseif(OS_LINUX)
   set(UVC_SRC src/mynteye/uvc/linux/uvc-v4l2.cc)
 else()
@@ -163,12 +187,19 @@ set(MYNTEYE_SRCS
   src/mynteye/types.cc
   src/mynteye/util/files.cc
   src/mynteye/util/strings.cc
-  src/mynteye/device/channels.cc
+  src/mynteye/device/channel/bytes.cc
+  src/mynteye/device/channel/channels.cc
+  src/mynteye/device/channel/file_channel.cc
   src/mynteye/device/config.cc
   src/mynteye/device/context.cc
   src/mynteye/device/device.cc
-  src/mynteye/device/device_s.cc
   src/mynteye/device/motions.cc
+  src/mynteye/device/standard/channels_adapter_s.cc
+  src/mynteye/device/standard/device_s.cc
+  src/mynteye/device/standard/streams_adapter_s.cc
+  src/mynteye/device/standard2/channels_adapter_s2.cc
+  src/mynteye/device/standard2/device_s2.cc
+  src/mynteye/device/standard2/streams_adapter_s2.cc
   src/mynteye/device/streams.cc
   src/mynteye/device/types.cc
   src/mynteye/device/utils.cc
@@ -179,13 +210,23 @@ if(WITH_API)
     src/mynteye/api/dl.cc
     src/mynteye/api/processor.cc
     src/mynteye/api/synthetic.cc
-    src/mynteye/api/processor/rectify_processor.cc
     src/mynteye/api/processor/disparity_processor.cc
     src/mynteye/api/processor/disparity_normalized_processor.cc
-    src/mynteye/api/processor/depth_processor.cc
+    src/mynteye/api/processor/root_camera_processor.cc
-    src/mynteye/api/processor/points_processor.cc
+    src/mynteye/api/processor/rectify_processor_ocv.cc
+    src/mynteye/api/correspondence.cc
+    src/mynteye/api/version_checker.cc
+    src/mynteye/api/data_tools.cc
   )
+  if(WITH_CAM_MODELS)
+    list(APPEND MYNTEYE_SRCS
+      src/mynteye/api/processor/depth_processor.cc
+      src/mynteye/api/processor/points_processor.cc
+      src/mynteye/api/processor/rectify_processor.cc
+    )
+  endif()
 endif()
+
 if(NOT WITH_GLOG)
   list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
 endif()
@@ -200,12 +241,16 @@ endif()
 if(WITH_GLOG)
   list(APPEND MYNTEYE_LINKLIBS glog::glog)
 endif()
+
 #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")
 
 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
-target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
+target_link_libraries(${MYNTEYE_NAME} PUBLIC ${MYNTEYE_LINKLIBS})
 if(OS_MAC)
-  target_link_libraries( ${MYNTEYE_NAME} ${OSX_EXTRA_LIBS} )
+  target_link_libraries(${MYNTEYE_NAME} PUBLIC ${OSX_EXTRA_LIBS} )
+endif()
+if(WITH_CAM_MODELS)
+  target_link_libraries(${MYNTEYE_NAME} PRIVATE camera_models)
 endif()
 target_link_threads(${MYNTEYE_NAME})
 
@@ -245,6 +290,7 @@ install(FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/callbacks.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/context.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/types.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/utils.h
   DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/device
 )

Jenkinsfile

@@ -16,7 +16,10 @@ pipeline {
       steps {
         echo "WORKSPACE: ${env.WORKSPACE}"
         echo 'apt-get ..'
-        sh 'apt-get update'
+        sh '''
+			apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+			apt-get update
+		'''
       }
     }
     stage('Init') {
@@ -39,24 +42,21 @@ pipeline {
         sh '. /opt/ros/kinetic/setup.sh; make install SUDO='
       }
     }
-    stage('Test') {
+
-      steps {
-        echo 'make test ..'
-        sh '. /opt/ros/kinetic/setup.sh; make test SUDO='
-      }
-    }
     stage('Samples') {
       steps {
         echo 'make samples ..'
         sh '. /opt/ros/kinetic/setup.sh; make samples SUDO='
       }
     }
+	   /*
     stage('Tools') {
       steps {
         echo 'make tools ..'
         sh '. /opt/ros/kinetic/setup.sh; make tools SUDO='
       }
     }
+	    */
     stage('ROS') {
       steps {
         echo 'make ros ..'
@@ -82,22 +82,36 @@ pipeline {
   post {
     always {
       echo 'This will always run'
+	  /*
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
+                    imageUrl: 'http://icon-park.com/imagefiles/loading7_gray.gif',
+                    message: '开始构建',
+                    jenkinsUrl: "${JENKINS_URL}"
+					*/
+
     }
     success {
       echo 'This will run only if successful'
+	  /*
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
+                    imageUrl: 'http://icons.iconarchive.com/icons/paomedia/small-n-flat/1024/sign-check-icon.png',
+                    message: '构建成功',
+                    jenkinsUrl: "${JENKINS_URL}"
+*/
     }
     failure {
       echo 'This will run only if failed'
-      mail to: 'mynteye-ci@slightech.com',
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
-      subject: "Failed Pipeline: ${currentBuild.fullDisplayName}",
+                    imageUrl: 'http://www.iconsdb.com/icons/preview/soylent-red/x-mark-3-xxl.png',
-      body: "Something is wrong with ${env.BUILD_URL}"
+                    message: '构建失败',
+                    jenkinsUrl: "${JENKINS_URL}"
     }
     unstable {
       echo 'This will run only if the run was marked as unstable'
     }
     changed {
       echo 'This will run only if the state of the Pipeline has changed'
-      echo 'For example, if the Pipeline was previously failing but is now successful'
+      echo 'For example, if the Pipeline was previously failing but is now successful11'
     }
   }
 }

Makefile

@@ -22,7 +22,14 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 #   UNIX: /usr/local
 #   Windows: c:/Program Files/${PROJECT_NAME}
 
+# Options
+#
+#   SUDO: sudo command
+#
+# e.g. make [TARGET] SUDO=
+
 SUDO ?= sudo
+CMAKE_BUILD_EXTRA_OPTIONS ?=
 
 .DEFAULT_GOAL := all
 
@@ -34,47 +41,34 @@ help:
 	@echo "  make init            init project"
 	@echo "  make build           build project"
 	@echo "  make install         install project"
-	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
-	@echo "  make tools           build tools"
+	@echo "  make pkg             package sdk(windows)"
-	@echo "  make pkg             package sdk"
 	@echo "  make ros             build ros wrapper"
-	@echo "  make py              build python wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
 
 .PHONY: help
 
-all: init samples tools ros
+all: init samples ros
 
 .PHONY: all
 
 # doc
 
-apidoc:
+doc: apidoc
+
+apidoc: cleandoc
 	@$(call echo,Make $@)
-	@# @[ -e ./_install/include ] || $(MAKE) install
+	@cd docs; make html
-	@[ -e /usr/local/include/mynteye ] || $(MAKE) install
-	@$(SH) ./doc/build.sh
 
 opendoc: apidoc
 	@$(call echo,Make $@)
-	@$(shell $(SH) ./doc/langs.sh 1); \
+	@$(SH) ./scripts/open.sh docs/_build/html/index.html
-	for lang in "$${LANGS[@]}"; do \
-		html=./doc/_output/$$lang/html/index.html; \
-		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
-	done
 
 cleandoc:
-	@$(call rm,./doc/_output/)
+	@$(call rm,./docs/_build/)
+	@$(call rm,./docs/_doxygen/)
 
-.PHONY: apidoc opendoc cleandoc
+.PHONY: doc apidoc opendoc cleandoc
-
-# deps
-
-submodules:
-	@git submodule update --init
-
-.PHONY: submodules
 
 # init
 
@@ -89,36 +83,16 @@ init:
 build:
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
-	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS))
 else
-	@$(call cmake_build,./_build,..)
+	@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
 endif
 
 .PHONY: build
 
-# test
-
-test: submodules install
-	@$(call echo,Make $@)
-	@$(call echo,Make gtest,33)
-ifeq ($(HOST_OS),Win)
-	@$(call cmake_build,./test/gtest/_build,..,-Dgtest_force_shared_crt=ON)
-else
-	@$(call cmake_build,./test/gtest/_build)
-endif
-	@$(call echo,Make test,33)
-	@$(call cmake_build,./test/_build)
-ifeq ($(HOST_OS),Win)
-	@.\\\test\\\_output\\\bin\\\mynteye_test.bat
-else
-	@./test/_output/bin/mynteye_test
-endif
-
-.PHONY: test
-
 # install
 
-install: build
+install: uninstall build
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
 ifneq ($(HOST_NAME),MinGW)
@@ -155,14 +129,6 @@ samples: install
 
 .PHONY: samples
 
-# tools
-
-tools: install
-	@$(call echo,Make $@)
-	@$(call cmake_build,./tools/_build)
-
-.PHONY: tools
-
 # pkg
 
 pkg: clean
@@ -205,43 +171,6 @@ cleanros:
 
 .PHONY: cleanros
 
-# python
-
-PBCVT_DIR := wrappers/python/third_party/pyboostcvconverter
-
-$(PBCVT_DIR):
-	@git clone https://github.com/Algomorph/pyboostcvconverter.git $@
-
-pbcvt: $(PBCVT_DIR)
-	@$(call cmake_build,$(PBCVT_DIR)/_build,.., \
-		-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/wrappers/python/_install \
-		-DPYTHON_DESIRED_VERSION=2.X)
-	@cd $(PBCVT_DIR)/_build; make install
-
-.PHONY: pbcvt
-
-NPCV_DIR := wrappers/python/third_party/numpy-opencv-converter
-
-$(NPCV_DIR):
-	@git clone https://github.com/GarrickLin/numpy-opencv-converter.git $@
-
-py: python
-
-python: install $(NPCV_DIR)
-	@$(call echo,Make $@)
-	@$(call cmake_build,./wrappers/python/_build)
-	@cd ./wrappers/python/_build; make install
-
-.PHONY: py python
-
-cleanpy:
-	@$(call echo,Make $@)
-	@$(call rm,./wrappers/python/_build/)
-	@$(call rm,./wrappers/python/_output/)
-	@$(call rm,./wrappers/python/_install/)
-	@$(call rm,./$(PBCVT_DIR)/_build/)
-
-.PHONY: cleanpy
 
 # clean
 
@@ -252,15 +181,10 @@ clean:
 	@$(call rm,./_install/)
 	@$(call rm,./samples/_build/)
 	@$(call rm,./samples/_output/)
-	@$(call rm,./tools/_build/)
-	@$(call rm,./tools/_output/)
-	@$(call rm,./test/_build/)
-	@$(call rm,./test/_output/)
 	@$(MAKE) cleanlog
 ifeq ($(HOST_OS),Linux)
 	@$(MAKE) cleanros
 endif
-	@$(MAKE) cleanpy
 
 cleanlog:
 	@$(call rm_f,*INFO*)
@@ -269,11 +193,7 @@ cleanlog:
 	@$(call rm_f,*FATAL*)
 
 cleanall: clean cleandoc
-	@$(call rm,./test/gtest/_build/)
-	@$(call rm,./third_party/glog/_build/)
 	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
-	@$(call rm,./$(PBCVT_DIR)/)
-	@$(call rm,./$(NPCV_DIR)/)
 
 .PHONY: clean cleanlog cleanall
 
@@ -296,11 +216,6 @@ host:
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
 	@echo PKGNAME: $(PKGNAME)
+	@echo CMAKE_BUILD_EXTRA_OPTIONS: $(CMAKE_BUILD_EXTRA_OPTIONS)
 
 .PHONY: host
-
-cpplint: submodules
-	@$(call echo,Make $@)
-	@$(SH) ./scripts/$@.sh
-
-.PHONY: cpplint

README.md

@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.5.0-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
@@ -17,11 +17,8 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations
 
 * [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/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-S-SDK/files/2683636/mynt-eye-s-sdk-apidoc-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683637/mynt-eye-s-sdk-apidoc-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk/downloads/pdf/latest/) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk.readthedocs.io/en/latest/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683638/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683639/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/pdf/latest/) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk-docs-zh-cn.readthedocs.io/zh_CN/latest/)
-* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-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-S-SDK-Guide/files/2683625/mynt-eye-s-sdk-guide-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683626/mynt-eye-s-sdk-guide-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683627/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683628/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/index.html)
 
 > Supported languages: `en`, `zh-Hans`.
 
@@ -29,7 +26,7 @@ Please follow the guide doc to install the SDK on different platforms.
 
 [MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
 
-Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.2`.
+Get firmwares from our online disks: [MYNTEYE_BOX][].
 
 ## Usage
 
@@ -56,7 +53,7 @@ Init project, build samples and run someone.
 ```bash
 make init
 make samples
-./samples/_output/bin/device/camera_d
+./samples/_output/bin/camera_with_junior_device_api
 ```
 
 ## Mirrors

cmake/DetectGLog.cmake

@@ -1,26 +0,0 @@
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
-cmake_include_guard()
-
-get_filename_component(__pro_dir ${CMAKE_CURRENT_LIST_DIR} DIRECTORY)
-LIST(APPEND CMAKE_PREFIX_PATH ${__pro_dir}/third_party/glog/_build)
-
-find_package(glog REQUIRED)
-if(glog_FOUND)
-  add_definitions(-DWITH_GLOG)
-endif()
-
-unset(__pro_dir)

cmake/DetectOpenCV.cmake

@@ -26,14 +26,13 @@ if(OpenCV_FOUND)
 #message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
 
 set(WITH_OPENCV TRUE)
-add_definitions(-DWITH_OPENCV)
 
 if(OpenCV_VERSION VERSION_LESS 3.0)
-  add_definitions(-DWITH_OPENCV2)
+  set(WITH_OPENCV2 TRUE)
 elseif(OpenCV_VERSION VERSION_LESS 4.0)
-  add_definitions(-DWITH_OPENCV3)
+  set(WITH_OPENCV3 TRUE)
 else()
-  add_definitions(-DWITH_OPENCV4)
+  set(WITH_OPENCV4 TRUE)
 endif()
 
 list(FIND OpenCV_LIBS "opencv_world" __index)
@@ -41,12 +40,35 @@ if(${__index} GREATER -1)
   set(WITH_OPENCV_WORLD TRUE)
 endif()
 
+if(NOT OpenCV_LIB_PATH)
+  list(LENGTH OpenCV_INCLUDE_DIRS __length)
+  if(${__length} GREATER 0)
+    list(GET OpenCV_INCLUDE_DIRS 0 __include_dir)
+    string(REGEX REPLACE "include.*$" "lib" __lib_dir "${__include_dir}")
+    find_library(__opencv_lib
+      NAMES opencv_core3 opencv_core opencv_world
+      PATHS "${__lib_dir}" "${__lib_dir}/x86_64-linux-gnu"
+      NO_DEFAULT_PATH)
+    #message(STATUS "__opencv_lib: ${__opencv_lib}")
+    if(__opencv_lib)
+      get_filename_component(OpenCV_LIB_PATH "${__opencv_lib}" DIRECTORY)
+    else()
+      set(OpenCV_LIB_PATH "${__lib_dir}")
+    endif()
+    #message(STATUS "OpenCV_LIB_PATH: ${OpenCV_LIB_PATH}")
+  endif()
+endif()
+
 if(MSVC OR MSYS OR MINGW)
   get_filename_component(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}/../bin" ABSOLUTE)
 else()
   set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
 endif()
 
+include_directories(
+  ${OpenCV_INCLUDE_DIRS}
+)
+
 else()
 
 set(WITH_OPENCV FALSE)

cmake/Option.cmake

@@ -21,9 +21,10 @@ include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
 # build components
 
 option(WITH_API "Build with API layer, need OpenCV" ON)
-
 option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
 
+option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" ON)
+
 # 3rdparty components
 
 option(WITH_BOOST "Include Boost support" ON)
@@ -32,25 +33,23 @@ option(WITH_BOOST "Include Boost support" ON)
 #   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
 option(WITH_GLOG "Include glog support" OFF)
 
-
 # packages
-
 if(WITH_API)
   include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
-endif()
+  if(WITH_OPENCV4)
-
+    set(WITH_CAM_MODELS OFF)
-if(WITH_DEVICE_INFO_REQUIRED)
+  endif()
-  add_definitions(-DWITH_DEVICE_INFO_REQUIRED)
+else()
+  # Disable WITH_CAM_MODELS if WITH_API is OFF
+  set(WITH_CAM_MODELS OFF)
 endif()
 
 if(WITH_BOOST)
-  find_package(Boost COMPONENTS filesystem)
+  find_package(Boost QUIET COMPONENTS filesystem)
   if(Boost_FOUND)
     set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
     set(WITH_FILESYSTEM TRUE)
     set(WITH_BOOST_FILESYSTEM TRUE)
-    add_definitions(-DWITH_FILESYSTEM)
-    add_definitions(-DWITH_BOOST_FILESYSTEM)
   endif()
 endif()
 
@@ -58,13 +57,11 @@ if(NOT WITH_FILESYSTEM)
   if(MSVC OR MSYS OR MINGW)  # win
     set(WITH_FILESYSTEM TRUE)
     set(WITH_NATIVE_FILESYSTEM TRUE)
-    add_definitions(-DWITH_FILESYSTEM)
-    add_definitions(-DWITH_NATIVE_FILESYSTEM)
   endif()
 endif()
 
 if(WITH_GLOG)
-  include(${CMAKE_CURRENT_LIST_DIR}/DetectGLog.cmake)
+  find_package(glog REQUIRED)
 endif()
 
 find_package(CUDA QUIET)
@@ -122,6 +119,8 @@ endif()
 
 status("  WITH_DEVICE_INFO_REQUIRED: ${WITH_DEVICE_INFO_REQUIRED}")
 
+status("  WITH_CAM_MODELS: ${WITH_CAM_MODELS}")
+
 status("  WITH_BOOST: ${WITH_BOOST}")
 if(WITH_BOOST)
   if(Boost_FOUND)

doc/build.sh

@@ -1,83 +0,0 @@
-#!/usr/bin/env bash
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# _VERBOSE_=1
-# _TEST_=1
-
-BASE_DIR=$(cd "$(dirname "$0")" && pwd)
-ROOT_DIR=$(realpath "$BASE_DIR/..")
-SCRIPTS_DIR="$ROOT_DIR/scripts"
-
-source "$SCRIPTS_DIR/common/echo.sh"
-source "$SCRIPTS_DIR/common/mkdir.sh"
-source "$SCRIPTS_DIR/common/detect.sh"
-
-_detect "doxygen"
-_detect "pdflatex" 1
-
-source "$BASE_DIR/langs.sh"
-DOXYFILE="api.doxyfile"
-OUTPUT="$BASE_DIR/_output"
-
-# \usepackage{CJKutf8}
-# \begin{document}
-# \begin{CJK}{UTF8}{gbsn}
-# ...
-# \end{CJK}
-# \end{document}
-_texcjk() {
-  tex="$1"; shift;
-  _echo_in "add cjk to $tex"
-  sed -i "" -E $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
-  sed -i "" -E $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
-}
-
-for lang in "${LANGS[@]}"; do
-  _echo_s "Build doc $lang"
-  [ -d "$BASE_DIR/$lang" ] || continue
-  cd "$BASE_DIR/$lang"
-  if [ -f "$DOXYFILE" ]; then
-    _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-s-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/$lang/latex/Makefile" ]; then
-      _echo_in "doxygen make latex"
-      filename="mynt-eye-s-sdk-apidoc"; \
-        [ -n "$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"
-  fi
-done

doc/en/mainpage.md

@@ -1,11 +0,0 @@
-# MYNT EYE S SDK {#mainpage}
-
-* <a class="el" href="annotated.html">API Classes</a>
-* <a class="el" href="modules.html">API Modules</a>
-  * \link enumerations Enumerations\endlink
-  * \link datatypes Datatypes\endlink
-  * \link utils Utiliities\endlink
-  * \link calibration Intrinsics & Extrinsics\endlink
-* <span style="font-weight:bold">Device Specifications</span>
-  * @subpage specs_data
-  * @subpage specs_ctrl

doc/en/spec_control_api.md

@@ -1,26 +0,0 @@
-# Control Protocols {#spec_control_api}
-
-There are two control modes, one is through UVC standard protocol, the other is through UVC custom protocol with extension unit.
-
-## Standard Protocol
-
-| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Note |
-| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :--- |
-| Gain | gain | 2 | 24 | 0 | 48 | √ | 0x12 | valid if manual-exposure |
-| Brightness | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | valid if manual-exposure |
-| Contrast | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | valid if manual-exposure |
-
-## Custom Protocol
-
-| 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} |
-| 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 |
-| Max exposure time | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | valid if auto-exposure |
-| Desired brightness | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | valid if auto-exposure |
-| IR control | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
-| HDR mode | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0: 10-bit; 1: 12-bit |
-| Zero drift calibration | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
-| Erase chip | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |

doc/en/spec_control_channel.md

@@ -1,53 +0,0 @@
-# Control Channels {#spec_control_channel}
-
-| Name | Field | Address | Bandwidth | Node |
-| :----- | :----- | :----- | :----- | :----- |
-| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
-| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
-| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
-| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
-| File channel | XU_FILE_CHANNEL | 5 | 2000 | |
-
-## Camera Control Channel
-
-The channel provides get, set and query (min, max, default).
-
-## Half-Duplex Channel
-
-The channel only provides set, such as zero drift correction.
-
-## IMU Channel
-
-The channel is used to request and response IMU data, see @ref spec_imu_data.
-
-## File Channel
-
-The channel is used to read and write device information, image params, and IMU params.
-
-| Name | Header | Size | File | Checksum |
-| :--- | :- | :--- | :--- | :-------- |
-| Bytes | 1 | 2 | - | 1 |
-| Type | uint8_t | uint16_t | - | uint8_t |
-| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes |
-
-| Header Bit Subscript | Description |
-| :------------------- | :---------- |
-| 0 | Device information |
-| 1 | Image params |
-| 2 | IMU params |
-| 3~6 | Undefined |
-| 7 | 0: Get; 1: Set |
-
-### File Content Packet
-
-| Name | ID | Size | Content |
-| :--- | :- | :--- | :------ |
-| Bytes | 1 | 2 | - |
-| Type | uint8_t | uint16_t | - |
-| Description | Content ID | Content size | Content data |
-
-| File | ID | Max Size |
-| :--- | :- | :------- |
-| Device information | 1 | 250 |
-| Image params | 2 | 250 |
-| IMU params | 4 | 500 |

doc/en/spec_hardware_info.md

@@ -1,14 +0,0 @@
-# Device Information {#spec_hardware_info}
-
-| Name | Field | Fixed Value | USB Descriptor | UVC Extension Unit | Bytes | Note |
-| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
-| VID | vid | 0x04B4 | √ | × | 2 | |
-| PID | pid | 0x00F9 | √ | × | 2 | |
-| Device name | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
-| Serial number | serial_number | - | √ | √ Get | 16 | |
-| Firmware version | firmware_version | - | √ | √ Get | 2 | major,minor |
-| Hardware version | hardware_version | - | × | √ Get | 3 | major,minor,flag |
-| Spec version | spec_version | - | × | √ Get | 2 | major,minor |
-| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
-| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
-| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 |

doc/en/spec_image_data.md

@@ -1,20 +0,0 @@
-# Image Data {#spec_image_data}
-
-| Name | Field | Unit | Bytes | Note |
-| :----- | :----- | :----- | :-------- | :----- |
-| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] |
-| Timestamp | timestamp | 10 us | 4 | uint32_t |
-| Exposure Time | exposure_time | 10 us | 2 | uint16_t |
-
-## Image Packet
-
-| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
-| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
-| Bytes | 1 | 1 | 2 | 4 | 2 | 1 |
-| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
-| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes |
-
-* The image packet will be dropped, if checksum is incorrect.
-* The accuracy of the time unit: 0.01 ms / 10 us.
-  * The timestamp could indicate 11.9 hours, it will accumulate again after overflow.
-* The timestamp accumulation starts from the time of power-on, instead of opening.

doc/en/spec_image_params.md

@@ -1,23 +0,0 @@
-# Image Params {#spec_image_params}
-
-## Image Intrinsics
-
-| Name | Field | Unit | Bytes | Note |
-| :----- | :----- | :----- | :-------- | :----- |
-| Image width | width | px | 2 | uint16_t; [0,65535] |
-| Image height | height | px | 2 | uint16_t; [0,65535] |
-| Focal length | fx | - | 8 | double |
-| ^ | fy | - | 8 | double |
-| Principal point | cx | - | 8 | double |
-| ^ | cy | - | 8 | double |
-| Distortion model | model | - | 1 | uint8_t; pinhole,... |
-| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
-
-## Image Extrinsics
-
-Transformation matrix from left image to right image.
-
-| Name | Field | Unit | Bytes | Note |
-| :----- | :----- | :----- | :-------- | :----- |
-| Rotation matrix | rotation[3][3] | - | 72 | double |
-| Translation vector | translation[3] | - | 24 | double |

doc/en/spec_imu_data.md

@@ -1,42 +0,0 @@
-# IMU Data {#spec_imu_data}
-
-## IMU Request Packet
-
-| Name | Header | Serial Number |
-| :--- | :----- | :------------ |
-| Bytes | 1 | 4 |
-| Type | uint8_t | uint32_t |
-| Description | 0x5A | First request should be 0, otherwise the last one |
-
-## IMU Response Packet
-
-The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.
-
-| Name | Header | State | Size | IMU Packets | Checksum |
-| :--- | :----- | :---- | :--- | :---------- | :------- |
-| Bytes | 1 | 1 | 2 | ... | 1 |
-| Type | uint8_t | uint8_t | uint16_t | - | uint8_t |
-| Description | 0x5B | 0 is success, others are failed | Content size | IMU packets | Checksum, XOR of all content bytes |
-
-### IMU Packet
-
-The IMU packet is an array of IMU datas.
-
-| Name | Serial Number | Timestamp | Count | IMU Datas |
-| :--- | :------------ | :-------- | :---- | :-------- |
-| Bytes | 4 | 4 | 1 | ... |
-| Type | uint32_t | uint32_t | uint8_t | - |
-| Description | Serial number | IMU basic timestamp | The number of IMU datas | IMU datas |
-
-### IMU Segment
-
-| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
-| :--- | :----- | :------- | :------------ | :---------- | :-------- |
-| Bytes | 2 | 2 | 6 | 2 | 6 |
-| Type | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
-| Description | The timestamp offset | Image frame ID | Accel x,y,z values | IMU temperature | Gyro x,y,z values |
-
-* Formula for converting the accel & gyro values to real ones: **real = data * range / 0x10000** .
-  * ``accel`` default ``range`` is **8 g**, ``gyro`` default ``range`` is **1000 deg/s**.
-* Formula for converting the temperature to real value: **real = data / ratio + offset** .
-  * default ``ratio`` is **326.8**, default ``offset`` is **25℃**.

doc/en/spec_imu_params.md

@@ -1,23 +0,0 @@
-# IMU Params {#spec_imu_params}
-
-## IMU Intrinsics
-
-| Name | Field | Unit | Bytes | Note |
-| :----- | :----- | :----- | :-------- | :----- |
-| Scale matrix | acc_scale[3][3] | - | 72 | double |
-| ^ | gyro_scale[3][3] | - | 72 | double |
-| Zero-drift | acc_drift[3] | - | 24 | double |
-| ^ | gyro_drift[3] | - | 24 | double |
-| Noise density | acc_noise[3] | - | 24 | double |
-| ^ | gyro_noise[3] | - | 24 | double |
-| Random walk | acc_bias[3] | - | 24 | double |
-| ^ | gyro_bias[3] | - | 24 | double |
-
-## IMU Extrinsics
-
-Transformation matrix from left image to IMU.
-
-| Name | Field | Unit | Bytes | Note |
-| :----- | :----- | :----- | :-------- | :----- |
-| Rotation matrix | rotation[3][3] | - | 72 | double |
-| Translation vector | translation[3] | - | 24 | double |

doc/en/specs_ctrl.md

@@ -1,4 +0,0 @@
-# Device Control Specification {#specs_ctrl}
-
-* @subpage spec_control_api
-* @subpage spec_control_channel

doc/en/specs_data.md

@@ -1,7 +0,0 @@
-# Device Data Specification {#specs_data}
-
-* @subpage spec_hardware_info
-* @subpage spec_image_params
-* @subpage spec_imu_params
-* @subpage spec_image_data
-* @subpage spec_imu_data

doc/langs.sh

@@ -1,20 +0,0 @@
-#!/usr/bin/env bash
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-LANGS=(
-  en
-  zh-Hans
-)
-[ $# -gt 0 ] && echo "LANGS=(${LANGS[@]})"

doc/static/custom.css

@@ -1,3 +0,0 @@
-#projectlogo img {
-  margin: 1em 0.5em 1em 1em;
-}

doc/zh-Hans/guide_build_linux.md

@@ -1,44 +0,0 @@
-# 编译 on Linux {#guide_build_linux}
-
-> Ubuntu 16.04, Ubuntu 14.04
-
-## 获取代码
-
-```bash
-git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
-```
-
-## 准备依赖
-
-```bash
-cd mynt-eye-s-sdk/
-make init
-```
-
-### [OpenCV](https://opencv.org/)
-
-编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
-
-```bash
-# Linux, macOS
-export OpenCV_DIR=~/opencv
-
-# Windows
-set OpenCV_DIR=C:\opencv
-```
-
-## 编译代码
-
-```bash
-make install
-```
-
-结果：
-
-![make install](make_install.png)
-
-\latexonly
-\includegraphics[width=0.6\textwidth,keepaspectratio]{make_install.png}
-\endlatexonly
-
-> CMake 如何引入编译好的库，可参考 `samples/CMakeLists.txt` 里的配置。

doc/zh-Hans/guide_build_win.md

@@ -1,113 +0,0 @@
-# 编译 on Windows {#guide_build_win}
-
-> Windows 10
-
-## 前提条件
-
-* [Git](https://git-scm.com/downloads)，用于获取代码。
-* [CMake](https://cmake.org/download/)，用于构建编译。
-* [Doxygen](http://www.stack.nl/~dimitri/doxygen/download.html)，用于生成文档。
-
-最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
-
-```cmd
->cmake --version
-cmake version 3.10.1
-
->git --version
-git version 2.11.1.windows.1
-
->doxygen --version
-1.8.13
-```
-
-* [Visual Studio](https://www.visualstudio.com/)
-  * [Visual Studio 2015](https://my.visualstudio.com/Downloads?q=Visual Studio 2015)
-  * [Visual Studio 2017](https://my.visualstudio.com/Downloads?q=Visual Studio 2017)
-* [Windows 10 SDK](https://developer.microsoft.com/en-US/windows/downloads/windows-10-sdk)
-
-以 Visual Studio 2015 举例，请在系统环境变量 `PATH` 里添加上如下路径：
-
-    C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\bin
-    C:\Program Files (x86)\MSBuild\14.0\Bin
-
-最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
-
-```cmd
->cl
-Microsoft (R) C/C++ Optimizing Compiler Version 19.00.24215.1 for x86
-
->link
-Microsoft (R) Incremental Linker Version 14.00.24215.1
-
->lib
-Microsoft (R) Library Manager Version 14.00.24215.1
-
->msbuild
-Microsoft (R) 生成引擎版本 14.0.25420.1
-```
-
-* [MSYS2](http://www.msys2.org/)
-  * [国内镜像](https://lug.ustc.edu.cn/wiki/mirrors/help/msys2)
-  * [pacman](https://wiki.archlinux.org/index.php/pacman)
-
-打开 MSYS2 MSYS ，然后执行：
-
-```msys
-$ pacman -Syu
-$ pacman -S make
-```
-
-并在系统环境变量 `PATH` 里添加上如下路径：
-
-    C:\msys64\usr\bin
-
-最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
-
-```cmd
->make --version
-GNU Make 4.2.1
-```
-
-## 获取代码
-
-```cmd
->git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
-```
-
-## 准备依赖
-
-```cmd
->cd mynt-eye-s-sdk
->make init
-Make init
-Init deps
-Install cmd: pacman -S
-Install deps: git clang-format
-pacman -S clang-format (not exists)
-error: target not found: clang-format
-pip install --upgrade autopep8 cpplint pylint requests
-...
-Init git hooks
-ERROR: clang-format-diff is not installed!
-Expect cmake version >= 3.0
-cmake version 3.10.1
-```
-
-### [OpenCV](https://opencv.org/)
-
-编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
-
-```bash
-# Linux, macOS
-export OpenCV_DIR=~/opencv
-
-# Windows
-set OpenCV_DIR=C:\opencv
-```
-
-## 编译代码
-
-```cmd
->make install
-```

doc/zh-Hans/guide_log.md

@@ -1,6 +0,0 @@
-# 日志 {#guide_log}
-
-日志系统用的 `glog` ，通用配置在头文件 `logger.h` 里。
-
-* 日志文件会存储在当前工作目录， `make cleanlog` 可以清理。
-* 如果需要打开详细日志，请取消 `logger.h` 里注释的 `FLAGS_v = 2;` ，重新编译。

doc/zh-Hans/guide_opencv.md

@@ -1,13 +0,0 @@
-# OpenCV 依赖 {#guide_opencv}
-
-SDK 提供了三层接口，其 OpenCV 依赖情况如下：
-
-* `api`， 上层接口，依赖 OpenCV 。
-* `device`，中间层接口，不依赖 OpenCV 。
-* `uvc`，底层接口，不依赖 OpenCV 。
-
-如果不想使用 OpenCV ，你可编辑 `<sdk>/cmake/Option.cmake` 里的 `WITH_API` 选项，设为 `OFF` 就能关闭 `api` 层代码编译：
-
-```cmake
-option(WITH_API "Build with API layer, need OpenCV" ON)
-```

doc/zh-Hans/guide_ros.md

@@ -1,30 +0,0 @@
-# ROS 封装 {#guide_ros}
-
-ROS 封装实现在 ``<sdk>/wrappers/ros`` 目录。
-
-## 依赖
-
-* [ROS](http://www.ros.org/) 环境。
-
-## 编译
-
-```bash
-cd <sdk>
-make ros
-```
-
-## 运行
-
-运行发布节点，
-
-```bash
-source wrappers/ros/devel/setup.bash
-roslaunch mynt_eye_ros_wrapper mynteye.launch
-```
-
-运行发布节点，同时打开 RViz 预览图像，
-
-```bash
-source wrappers/ros/devel/setup.bash
-roslaunch mynt_eye_ros_wrapper display.launch
-```

doc/zh-Hans/guide_samples.md

@@ -1,46 +0,0 @@
-# 样例 {#guide_samples}
-
-样例在 `<sdk>/samples` 目录，其提供了不同接口层的使用范例。
-
-## 依赖
-
-* [OpenCV](https://opencv.org/)，用于显示图像。
-  * 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
-
-```bash
-# Linux, macOS
-export OpenCV_DIR=~/opencv
-
-# Windows
-set OpenCV_DIR=C:\opencv
-```
-
-## 编译
-
-```bash
-make samples
-```
-
-## 运行
-
-运行 `api` 层接口样例，显示图像并输出 IMU 。
-
-```bash
-./samples/_output/bin/api/camera_a
-
-# Windows
-.\samples\_output\bin\api\camera_a.bat
-```
-
-运行 `device` 层接口样例，显示图像并输出 IMU 。
-
-```bash
-./samples/_output/bin/device/camera_d
-
-# Windows
-.\samples\_output\bin\device\camera_d.bat
-```
-
-## 结语
-
-更多样例的说明，请见 `samples/README.md` 。

doc/zh-Hans/guide_tools.md

@@ -1,73 +0,0 @@
-# 工具 {#guide_tools}
-
-工具在 `<sdk>/tools` 目录，其提供一些有用的脚本和程序。
-
-## 依赖
-
-* [OpenCV](https://opencv.org/)，部分工具需要。
-  * 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
-
-```bash
-# Linux, macOS
-export OpenCV_DIR=~/opencv
-
-# Windows
-set OpenCV_DIR=C:\opencv
-```
-
-* Python 第三方库，脚本需要。
-
-```bash
-cd tools/
-sudo pip install -r requirements.txt
-```
-
-## 编译
-
-```bash
-make tools
-```
-
-## 录制数据集
-
-```bash
-./tools/_output/bin/dataset/record
-
-# Windows
-.\tools\_output\bin\dataset\record.bat
-```
-
-默认录制进 `dataset` 目录，加参数可指定该目录。
-
-## 分析数据集
-
-分析 IMU 数据，
-
-```bash
-python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
--al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
-```
-
-![imu analytics](imu_analytics.png)
-
-\latexonly
-\includegraphics[width=0.6\textwidth,keepaspectratio]{imu_analytics.png}
-\endlatexonly
-
-分析图像 & IMU 时间戳，
-
-```bash
-python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
-```
-
-![stamp analytics](stamp_analytics.png)
-
-\latexonly
-\includegraphics[width=0.6\textwidth,keepaspectratio]{stamp_analytics.png}
-\endlatexonly
-
-> 如果用 ROS ，分析脚本也支持 ROS Bag 格式。
-
-## 结语
-
-设备信息读写、校验码等更多工具的说明，请见 `tools/README.md` 。

doc/zh-Hans/guides.md

@@ -1,9 +0,0 @@
-# SDK 指导 {#guides}
-
-* @subpage guide_build_linux
-* @subpage guide_build_win
-* @subpage guide_samples
-* @subpage guide_tools
-* @subpage guide_log
-* @subpage guide_opencv
-* @subpage guide_ros

doc/zh-Hans/mainpage.md

@@ -1,11 +0,0 @@
-# MYNT EYE S SDK {#mainpage}
-
-* <a class="el" href="annotated.html">API 类</a>
-* <a class="el" href="modules.html">API 模块</a>
-  * \link enumerations 枚举类型\endlink
-  * \link datatypes 数据类型\endlink
-  * \link utils 工具函数\endlink
-  * \link calibration 内参与外参\endlink
-* <span style="font-weight:bold">设备说明</span>
-  * @subpage specs_data
-  * @subpage specs_ctrl

doc/zh-Hans/spec_control_api.md

@@ -1,30 +0,0 @@
-# 控制 API 说明 {#spec_control_api}
-
-控制有两种实现方式，一是通过 UVC 标准协议，二是通过 UVC 拓展通道自定义协议。
-
-## 标准协议
-
-| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 |
-| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
-| 增益 | gain | 2 | 24 | 0 | 48 | √ | 0x12 | 关闭自动曝光，手动设定的参数 |
-| 亮度 | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
-| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | 关闭自动曝光，手动设定的参数 |
-
-> UVC 标准协议实现的控制，有现成的 API 进行 Get & Set ，包括 Min, Max, Default 。
-
-## 自定义协议
-
-| 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} |
-| 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 |
-| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
-| 期望亮度 | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
-| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
-| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0：10-bit；1：12-bit |
-| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
-| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
-| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
-| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |

doc/zh-Hans/spec_control_channel.md

@@ -1,53 +0,0 @@
-# 拓展通道说明 {#spec_control_channel}
-
-| 名称 | 字段 | 地址 | 带宽 | 说明 |
-| :----- | :----- | :----- | :----- | :----- |
-| 相机控制通道 | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
-| 半双工通道 | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
-| IMU 请求通道 | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
-| IMU 响应通道 | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
-| 文件通道 | XU_FILE_CHANNEL | 5 | 2000 | |
-
-## 相机控制通道
-
-相机控制通道是那些需要 Get & Set & Query 的控制通道，其中 Query 细分为 Min, Max, Default 。
-
-## 半双工通道
-
-半双工通道是那些仅需 Set 的控制通道，如请求零漂矫正。
-
-## IMU 通道
-
-用来请求和响应 IMU 数据的通道，可参见 @ref spec_imu_data 。
-
-## 文件通道
-
-用来读写硬件信息、图像参数、 IMU 参数的通道。
-
-| Name | Header | Size | File | Checksum |
-| :--- | :----- | :--- | :--- | :-------- |
-| 字节数 | 1 | 2 | - | 1 |
-| 类型 | uint8_t | uint16_t | - | uint8_t |
-| 描述 | 标识 | 文件内容大小 | 文件内容 | 校验码（文件内容所有字节异或） |
-
-| Header Bit Subscript | Description |
-| :------------------- | :---------- |
-| 0 | 硬件信息 |
-| 1 | 图像参数 |
-| 2 | IMU 参数 |
-| 3~6 | 未定义 |
-| 7 | 0: Get; 1: Set |
-
-### 文件内容包
-
-| Name | ID | Size | Content |
-| :--- | :- | :--- | :------ |
-| 字节数 | 1 | 2 | - |
-| 类型 | uint8_t | uint16_t | - |
-| 描述 | 内容 ID | 内容大小 | 内容 |
-
-| File | ID | Max Size |
-| :--- | :- | :------- |
-| 硬件信息 | 1 | 250 |
-| 图像参数 | 2 | 250 |
-| IMU 参数 | 4 | 500 |

doc/zh-Hans/spec_hardware_info.md

@@ -1,17 +0,0 @@
-# 硬件信息说明 {#spec_hardware_info}
-
-| 名称 | 字段 | 固定值 | 描述符获取 | 拓展通道获取 | 字节数 | 说明 |
-| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
-| VID | vid | 0x04B4 | √ | × | 2 | |
-| PID | pid | 0x00F9 | √ | × | 2 | |
-| 设备名称 | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
-| 序列号 | serial_number | - | √ | √ Get | 16 | |
-| 固件版本 | firmware_version | - | √ | √ Get | 2 | major,minor |
-| 硬件版本 | hardware_version | - | × | √ Get | 3 | major,minor,flag |
-| 协议版本 | spec_version | - | × | √ Get | 2 | major,minor |
-| 镜头类型 | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
-| IMU 类型 | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
-| 基线长度 | nominal_baseline | - | × | √ Get/Set | 2 | 单位 mm ，未 set 默认 0 |
-
-* 描述符获取：指通用 USB 设备信息，可用工具查看。
-* 拓展通道获取：指通过拓展通道（UVC Extension Unit）问硬件获取到的信息，需要读取。

doc/zh-Hans/spec_image_data.md

@@ -1,22 +0,0 @@
-# 图像数据说明 {#spec_image_data}
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] |
-| 时间戳 | timestamp | 10 us | 4 | uint32_t |
-| 曝光时间 | exposure_time | 10 us | 2 | uint16_t |
-
-> 图像数据传输方式：倒序排在图像尾部。
-
-## 图像数据包
-
-| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
-| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
-| 字节数 | 1 | 1 | 2 | 4 | 2 | 1 |
-| 类型 | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
-| 描述 | 0x3B | 0x08 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
-
-* 数据包校验不过，会丢弃该帧。
-* 时间单位的精度为： 0.01 ms / 10 us 。
-  * 4 字节能表示的最大时间约是 11.9 小时，溢出后将重累计。
-* 时间累计是从上电时从开始，而不是从打开时开始。

doc/zh-Hans/spec_image_params.md

@@ -1,25 +0,0 @@
-# 图像参数说明 {#spec_image_params}
-
-## 图像内参
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 宽度 | width | px | 2 | uint16_t; [0,65535] |
-| 高度 | height | px | 2 | uint16_t; [0,65535] |
-| 焦距 | fx | - | 8 | double |
-| ^ | fy | - | 8 | double |
-| 图像中心 | cx | - | 8 | double |
-| ^ | cy | - | 8 | double |
-| 畸变模型 | model | - | 1 | uint8_t; pinhole,... |
-| 畸变参数 | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
-
-> 图像分辨率不同，内参不同。多分辨率的话，需有多个内参。
-
-## 图像外参
-
-Left Image 到 Right Image 的变换矩阵。
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 旋转矩阵 | rotation[3][3] | - | 72 | double |
-| 平移矩阵 | translation[3] | - | 24 | double |

doc/zh-Hans/spec_imu_data.md

@@ -1,42 +0,0 @@
-# IMU 数据说明 {#spec_imu_data}
-
-## IMU 请求数据包
-
-| Name | Header | Serial Number |
-| :--- | :----- | :------------ |
-| 字节数 | 1 | 4 |
-| 类型 | uint8_t | uint32_t |
-| 描述 | 0x5A | 首次请求写 0 ，不然写上次响应数据包最后一个 IMU 包的序列号 |
-
-## IMU 响应数据包
-
-IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
-
-| Name | Header | State | Size | IMU Packets | Checksum |
-| :--- | :----- | :---- | :--- | :---------- | :------- |
-| 字节数 | 1 | 1 | 2 | ... | 1 |
-| 类型 | uint8_t | uint8_t | uint16_t | - | uint8_t |
-| 描述 | 0x5B | 正常状态为 0 ，否则错误 | 数据内容大小 | 所包含的 IMU 包 | 校验码（数据内容所有字节异或） |
-
-### IMU 包
-
-IMU 包/小包，是一组 IMU 数据。
-
-| Name | Serial Number | Timestamp | Count | IMU Datas |
-| :--- | :------------ | :-------- | :---- | :-------- |
-| 字节数 | 4 | 4 | 1 | ... |
-| 类型 | uint32_t | uint32_t | uint8_t | - |
-| 描述 | 序列号 | IMU 基准时间戳 | IMU 段数量 | 所包含的 IMU 段 |
-
-### IMU 段
-
-| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
-| :--- | :----- | :------- | :------------ | :---------- | :-------- |
-| 字节数 | 2 | 2 | 6 | 2 | 6 |
-| 类型 | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
-| 描述 | 相对基准时间戳的偏移量 | 图像帧 ID | 加速度计 x y z 三轴的值 | IMU 的温度 | 陀螺仪 x y z 三轴的值 |
-
-* 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。
-  * 加速度计量程默认值为 **8 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
-* 温度计量值换算成物理值公式： **real = data / ratio + offset** 。
-  * ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。

doc/zh-Hans/spec_imu_params.md

@@ -1,23 +0,0 @@
-# IMU 参数说明 {#spec_imu_params}
-
-## IMU 内参
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 比例因子 | acc_scale[3][3] | - | 72 | double |
-| ^ | gyro_scale[3][3] | - | 72 | double |
-| 零漂 | acc_drift[3] | - | 24 | double |
-| ^ | gyro_drift[3] | - | 24 | double |
-| 噪声密度 | acc_noise[3] | - | 24 | double |
-| ^ | gyro_noise[3] | - | 24 | double |
-| 随机游走 | acc_bias[3] | - | 24 | double |
-| ^ | gyro_bias[3] | - | 24 | double |
-
-## IMU 外参
-
-Left Image 到 IMU 的变换矩阵。
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 旋转矩阵 | rotation[3][3] | - | 72 | double |
-| 平移矩阵 | translation[3] | - | 24 | double |

doc/zh-Hans/specs_ctrl.md

@@ -1,4 +0,0 @@
-# 设备控制说明 {#specs_ctrl}
-
-* @subpage spec_control_api
-* @subpage spec_control_channel

doc/zh-Hans/specs_data.md

@@ -1,7 +0,0 @@
-# 设备数据说明 {#specs_data}
-
-* @subpage spec_hardware_info
-* @subpage spec_image_params
-* @subpage spec_imu_params
-* @subpage spec_image_data
-* @subpage spec_imu_data

docs/Makefile

@@ -0,0 +1,19 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/api/api.rst

@@ -0,0 +1,25 @@
+.. _api:
+
+API
+===
+
+API
+---
+
+.. doxygenclass:: mynteye::API
+   :project: mynteyes
+   :members:
+
+api::StreamData
+---------------
+
+.. doxygenstruct:: mynteye::api::StreamData
+   :project: mynteyes
+   :members:
+
+api::MotionData
+---------------
+
+.. doxygenstruct:: mynteye::api::MotionData
+   :project: mynteyes
+   :members:

docs/api/contents.rst

@@ -0,0 +1,10 @@
+API DOCS
+==============
+
+.. toctree::
+
+   api
+   device
+   enums
+   types
+   utils

docs/api/device.rst

@@ -0,0 +1,32 @@
+.. _device:
+
+Device
+======
+
+Device
+------
+
+.. doxygenclass:: mynteye::Device
+   :project: mynteyes
+   :members:
+
+device::Frame
+-------------
+
+.. doxygenclass:: mynteye::device::Frame
+   :project: mynteyes
+   :members:
+
+device::StreamData
+------------------
+
+.. doxygenstruct:: mynteye::device::StreamData
+   :project: mynteyes
+   :members:
+
+device::MotionData
+------------------
+
+.. doxygenstruct:: mynteye::device::MotionData
+   :project: mynteyes
+   :members:

docs/api/enums.rst

@@ -0,0 +1,69 @@
+.. _enums:
+
+Enums
+=====
+
+..
+  .. doxygengroup:: enumerations
+    :project: mynteyes
+
+Model
+-----
+
+.. doxygenenum:: mynteye::Model
+  :project: mynteyes
+
+Stream
+------
+
+.. doxygenenum:: mynteye::Stream
+  :project: mynteyes
+
+
+Capabilities
+------------
+
+.. doxygenenum:: mynteye::Capabilities
+  :project: mynteyes
+
+Info
+----
+
+.. doxygenenum:: mynteye::Info
+  :project: mynteyes
+
+Option
+------
+
+.. doxygenenum:: mynteye::Option
+  :project: mynteyes
+
+Source
+------
+
+.. doxygenenum:: mynteye::Source
+  :project: mynteyes
+
+AddOns
+------
+
+.. doxygenenum:: mynteye::AddOns
+  :project: mynteyes
+
+Format
+------
+
+.. doxygenenum:: mynteye::Format
+  :project: mynteyes
+
+CalibrationModel
+----------------
+
+.. doxygenenum:: mynteye::CalibrationModel
+  :project: mynteyes
+
+DisparityComputingMethod
+------------------------
+
+.. doxygenenum:: mynteye::DisparityComputingMethod
+  :project: mynteyes

docs/api/types.rst

@@ -0,0 +1,77 @@
+.. _types:
+
+Types
+=====
+
+OptionInfo
+----------
+
+.. doxygenstruct:: mynteye::OptionInfo
+   :project: mynteyes
+   :members:
+
+Resolution
+----------
+
+.. doxygenstruct:: mynteye::Resolution
+   :project: mynteyes
+   :members:
+
+StreamRequest
+-------------
+
+.. doxygenstruct:: mynteye::StreamRequest
+   :project: mynteyes
+   :members:
+
+Intrinsics
+----------
+
+IntrinsicsPinhole
+~~~~~~~~~~~~~~~~~
+
+.. doxygenstruct:: mynteye::IntrinsicsPinhole
+   :project: mynteyes
+   :members:
+
+IntrinsicsEquidistant
+~~~~~~~~~~~~~~~~~~~~~
+
+.. doxygenstruct:: mynteye::IntrinsicsEquidistant
+   :project: mynteyes
+   :members:
+
+ImuIntrinsics
+~~~~~~~~~~~~~
+
+.. doxygenstruct:: mynteye::ImuIntrinsics
+   :project: mynteyes
+   :members:
+
+MotionIntrinsics
+~~~~~~~~~~~~~~~~~
+
+.. doxygenstruct:: mynteye::MotionIntrinsics
+   :project: mynteyes
+   :members:
+
+Extrinsics
+----------
+
+.. doxygenstruct:: mynteye::Extrinsics
+   :project: mynteyes
+   :members:
+
+ImgData
+-------
+
+.. doxygenstruct:: mynteye::ImgData
+   :project: mynteyes
+   :members:
+
+ImuData
+-------
+
+.. doxygenstruct:: mynteye::ImuData
+   :project: mynteyes
+   :members:

docs/api/utils.rst

@@ -0,0 +1,34 @@
+.. _utils:
+
+Utils
+=====
+
+select
+------
+
+.. doxygenfunction:: select
+   :project: mynteyes
+
+select_request
+--------------
+
+.. doxygenfunction:: select_request
+   :project: mynteyes
+
+get_real_exposure_time
+----------------------
+
+.. doxygenfunction:: get_real_exposure_time
+   :project: mynteyes
+
+get_sdk_root_dir
+----------------
+
+.. doxygenfunction:: get_sdk_root_dir
+   :project: mynteyes
+
+get_sdk_install_dir
+-------------------
+
+.. doxygenfunction:: get_sdk_install_dir
+   :project: mynteyes

docs/conf.py

@@ -0,0 +1,194 @@
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'MYNT® EYE S SDK'
+copyright = '2019, MYNTAI'
+author = 'MYNTAI'
+
+# The short X.Y version
+version = '2.5.0'
+# The full version, including alpha/beta/rc tags
+release = version
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'breathe',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = 'en'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# on_rtd is whether we are on readthedocs.org
+import os
+on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
+
+import subprocess
+subprocess.call('doxygen', shell=True)
+
+
+# -- Options for HTML output -------------------------------------------------
+
+if not on_rtd:  # only import and set the theme if we're building docs locally
+    import sphinx_rtd_theme
+
+    # The theme to use for HTML and HTML Help pages.  See the documentation for
+    # a list of builtin themes.
+    #
+    # html_theme = 'alabaster'
+    html_theme = 'sphinx_rtd_theme'
+    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+    # Theme options are theme-specific and customize the look and feel of a theme
+    # further.  For a list of options available for each theme, see the
+    # documentation.
+    #
+    # html_theme_options = {}
+
+    # Add any paths that contain custom static files (such as style sheets) here,
+    # relative to this directory. They are copied after the builtin static files,
+    # so a file named "default.css" will overwrite the builtin "default.css".
+    # html_static_path = ['_static']
+
+    # Custom sidebar templates, must be a dictionary that maps document names
+    # to template names.
+    #
+    # The default sidebars (for documents that don't match any pattern) are
+    # defined by theme itself.  Builtin themes are using these templates by
+    # default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+    # 'searchbox.html']``.
+    #
+    # html_sidebars = {}
+
+# otherwise, readthedocs.org uses their theme by default, so no need to specify it
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'MYNTEYESSDKdoc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, 'MYNTEYESSDK.tex', 'MYNT® EYE S SDK Documentation',
+     'MYNTAI', 'manual'),
+]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'mynteyessdk', 'MYNT® EYE S SDK Documentation',
+     [author], 1)
+]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'MYNTEYESSDK', 'MYNT® EYE S SDK Documentation',
+     author, 'MYNTEYESSDK', 'One line description of project.',
+     'Miscellaneous'),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+breathe_projects = { 'mynteyes': '_doxygen/xml' }

docs/files/libmynteye.conf

@@ -0,0 +1,7 @@
+# libmynteye configuration
+#
+# 1) Copy this file to: /etc/ld.so.conf.d/libmynteye.conf
+# 2) Run this cmd in Terminal: sudo /sbin/ldconfig
+
+/usr/local/cuda/lib64
+$HOME/opencv-3.4.1/lib