chore(readme): update readme

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.3.1 LANGUAGES C CXX)
+project(mynteye VERSION 2.3.2 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -220,6 +220,7 @@ if(WITH_API)
     src/mynteye/api/processor/rectify_processor_ocv.cc
     src/mynteye/api/config.cc
     src/mynteye/api/correspondence.cc
+    src/mynteye/api/version_checker.cc
   )
   if(WITH_CAM_MODELS)
     list(APPEND MYNTEYE_SRCS

Makefile

@@ -130,7 +130,7 @@ endif
 
 # install
 
-install: build
+install: uninstall build
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
 ifneq ($(HOST_NAME),MinGW)

README.md

@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.1-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
@@ -17,11 +17,11 @@ 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/2893965/mynt-eye-s-sdk-apidoc-2.3.1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893979/mynt-eye-s-sdk-apidoc-2.3.1-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://github.com/slightech/MYNT-EYE-S-SDK/files/2913110/mynt-eye-s-sdk-apidoc-2.3.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913111/mynt-eye-s-sdk-apidoc-2.3.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893985/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2893986/mynt-eye-s-sdk-apidoc-2.3.1-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-2.3.1-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.1-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913112/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913113/mynt-eye-s-sdk-apidoc-2.3.2-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-2.3.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans/index.html)
 * [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/2893975/mynt-eye-s-sdk-guide-2.3.1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893996/mynt-eye-s-sdk-guide-2.3.1-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913052/mynt-eye-s-sdk-guide-2.3.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913053/mynt-eye-s-sdk-guide-2.3.2-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/2893997/mynt-eye-s-sdk-guide-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2893997/mynt-eye-s-sdk-guide-2.3.1-zh-Hans.pdf) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.3.1-zh-Hans/mynt-eye-s-sdk-guide-2.3.1-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913054/mynt-eye-s-sdk-guide-2.3.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913056/mynt-eye-s-sdk-guide-2.3.2-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-2.3.2-zh-Hans/mynt-eye-s-sdk-guide-2.3.2-zh-Hans/index.html)
 
 > Supported languages: `en`, `zh-Hans`.
 

doc/en/api.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.3.1
+PROJECT_NUMBER         = 2.3.2
 
 # 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/api.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.3.1
+PROJECT_NUMBER         = 2.3.2
 
 # 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

include/mynteye/types.h

@@ -122,6 +122,8 @@ enum class Info : std::uint8_t {
   IMU_TYPE,
   /** Nominal baseline */
   NOMINAL_BASELINE,
+  /** SDK version*/
+  SDK_VERSION,
   /** Last guard */
   LAST
 };

src/mynteye/api/api.cc

@@ -26,6 +26,7 @@
 #include "mynteye/api/dl.h"
 #include "mynteye/api/plugin.h"
 #include "mynteye/api/synthetic.h"
+#include "mynteye/api/version_checker.h"
 #include "mynteye/device/device.h"
 #include "mynteye/device/utils.h"
 
@@ -222,7 +223,11 @@ API::~API() {
 std::shared_ptr<API> API::Create(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device) return nullptr;
-  return Create(argc, argv, device);
+  auto api = Create(argc, argv, device);
+  return api;
+  // if (api && checkFirmwareVersion(api))
+  //   return api;
+  // return nullptr;
 }
 
 std::shared_ptr<API> API::Create(
@@ -261,7 +266,7 @@ std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
     }
   } else {
     LOG(ERROR) <<"no device!";
-    api = std::make_shared<API>(device, CalibrationModel::UNKNOW);
+    return nullptr;
   }
   return api;
 }
@@ -324,6 +329,20 @@ std::shared_ptr<DeviceInfo> API::GetInfo() const {
 }
 
 std::string API::GetInfo(const Info &info) const {
+  if (info == Info::SDK_VERSION) {
+    std::string info_path =
+        utils::get_sdk_install_dir();
+    info_path.append(MYNTEYE_OS_SEP "share" \
+        MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
+
+    cv::FileStorage fs(info_path, cv::FileStorage::READ);
+    if (!fs.isOpened()) {
+      LOG(WARNING) << "build.info not found: " << info_path;
+      return "null";
+    }
+    return fs["MYNTEYE_VERSION"];
+  }
+
   return device_->GetInfo(info);
 }
 

src/mynteye/api/correspondence.cc

@@ -171,9 +171,13 @@ void Correspondence::NotifyStreamDataReady() {
 
 bool Correspondence::IsStreamDataReady() {
   if (stream_datas_.empty()) return false;
+  if (stream_match_enabled_) {
+    if (stream_datas_match_.empty()) return false;
+  }
   if (motion_datas_.empty()) return false;
 
   std::uint64_t img_stamp = 0;
+  std::uint64_t img_macth_stamp = 0;
   {
     std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
     auto data = stream_datas_.front();
@@ -181,6 +185,10 @@ bool Correspondence::IsStreamDataReady() {
       LOG(FATAL) << "stream data image info is empty!";
     }
     img_stamp = data.img->timestamp;
+
+    if (stream_match_enabled_) {
+      img_macth_stamp = stream_datas_match_.front().img->timestamp;
+    }
   }
   std::uint64_t imu_stamp = 0;
   {
@@ -192,7 +200,12 @@ bool Correspondence::IsStreamDataReady() {
     imu_stamp = data.imu->timestamp;
   }
 
-  return img_stamp + stream_interval_us_half_ < imu_stamp;
+  if (stream_match_enabled_) {
+    return img_stamp + stream_interval_us_half_ < imu_stamp
+        && img_macth_stamp + stream_interval_us_half_ < imu_stamp;
+  } else {
+    return img_stamp + stream_interval_us_half_ < imu_stamp;
+  }
 }
 
 std::vector<api::StreamData> Correspondence::GetReadyStreamData(bool matched) {

src/mynteye/api/correspondence.h

@@ -15,6 +15,7 @@
 #define MYNTEYE_API_CONFIG_H_
 #pragma once
 
+#include <atomic>
 #include <condition_variable>
 #include <memory>
 #include <mutex>
@@ -57,7 +58,7 @@ class Correspondence {
   std::shared_ptr<Device> device_;
   Stream stream_;
   Stream stream_match_;
-  bool stream_match_enabled_;
+  std::atomic_bool stream_match_enabled_;
 
   float stream_interval_us_;
   float stream_interval_us_half_;

src/mynteye/api/version_checker.cc

@@ -0,0 +1,138 @@
+// 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 "mynteye/api/version_checker.h"
+#include "mynteye/device/utils.h"
+#include "mynteye/logger.h"
+#include "mynteye/types.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+typedef struct {
+  const std::string device_type;
+  const std::string sdk_version;
+  const std::string firmware_version;
+  const std::string status;
+}firmware_version_match_table_unit;
+
+const char* ERRO_DESCRIPTION_F =
+    "Please update the firmware at first";
+const char* ERRO_DESCRIPTION_S =
+    "Please update the SDK at first";
+const char* WARN_DESCRIPTION_F =
+    "We suggest that you should update the firmware";
+const char* WARN_DESCRIPTION_S =
+    "We suggest that you should update the SDK";
+const char* PASS_DESCRIPTION = "pass";
+
+/** firmware/sdk version matched table */
+/**----device type-----sdk version---firmware version-----pass tag-----*/
+static const firmware_version_match_table_unit FSVM_TABLE[] ={
+/** S1030 */
+  {"MYNT-EYE-S1030",    ">2.3.0",         ">2.2.0",   PASS_DESCRIPTION},
+  {"MYNT-EYE-S1030",    ">2.3.0",         "2.2.0",    WARN_DESCRIPTION_F},
+  {"MYNT-EYE-S1030",    ">2.3.0",         "<2.2.0",   ERRO_DESCRIPTION_F},
+  {"MYNT-EYE-S1030",    "<2.3.1",         "<2.2.0",   WARN_DESCRIPTION_S},
+/** S2100 */
+  {"MYNT-EYE-S2100",    ">0.0.0",         "1.0",      PASS_DESCRIPTION},
+/** S210A */
+  {"MYNT-EYE-S210A",    ">0.0.0",         "1.0",      PASS_DESCRIPTION},
+};
+
+void getVersion(const std::string &str, char *version) {
+  std::string st1("");
+  int j = 0;
+  for (size_t i = 0; i < str.size(); i++) {
+    if (str[i] == '.') {
+      version[j++] = atoi(st1.c_str());
+      st1 = "";
+    } else {
+      st1 += str[i];
+    }
+  }
+  version[j++] = atoi(st1.c_str());
+}
+
+bool conditionMatch(const std::string& condition, const std::string& target) {
+  char version[4] = {0};
+  char version_c[4] = {0};
+  getVersion(target, version);
+  int tag_c = 0;
+  std::string condition_c;
+  if (condition[0] == '>') {
+    tag_c = 1;
+    condition_c = condition.substr(1);
+  } else if (condition[0] == '<') {
+    tag_c = -1;
+    condition_c = condition.substr(1);
+  } else {
+    tag_c = 0;
+    condition_c = condition;
+  }
+  getVersion(condition_c, version_c);
+  int tag_big = memcmp(version, version_c, 4);
+  if (tag_big * tag_c > 0 || (tag_big == 0 && tag_c == 0)) return true;
+  return false;
+}
+
+enum STATUS_UNIT {
+  ST_PASS,
+  ST_ERRO_F,
+  ST_ERRO_S,
+  ST_NOT_PASS
+};
+
+STATUS_UNIT checkUnit(const std::string& sdkv,
+    const std::string& devn,
+    const std::string& firmv,
+    const firmware_version_match_table_unit& condition) {
+    if (condition.device_type == devn &&
+        conditionMatch(condition.sdk_version, sdkv) &&
+        conditionMatch(condition.firmware_version, firmv)) {
+      if (condition.status == ERRO_DESCRIPTION_F) {
+        return ST_ERRO_F;
+      }
+      if (condition.status == ERRO_DESCRIPTION_S) {
+        return ST_ERRO_S;
+      }
+      if (condition.status == WARN_DESCRIPTION_F ||
+          condition.status == WARN_DESCRIPTION_S) {
+        LOG(WARNING) << condition.status;
+      }
+      return ST_PASS;
+    }
+  return ST_NOT_PASS;
+}
+
+bool checkFirmwareVersion(const std::shared_ptr<API> api) {
+  auto sdkv = api->GetInfo(Info::SDK_VERSION);
+  auto devn = api->GetInfo(Info::DEVICE_NAME);
+  auto firmv = api->GetInfo(Info::FIRMWARE_VERSION);
+
+  for (size_t i =0;
+      i < sizeof(FSVM_TABLE)/sizeof(firmware_version_match_table_unit);
+      i++) {
+    auto res = checkUnit(sdkv, devn, firmv, FSVM_TABLE[i]);
+    if (res == ST_PASS) {
+      return true;
+    } else if (res == ST_ERRO_S || res == ST_ERRO_F) {
+      LOG(ERROR) << FSVM_TABLE[i].status;
+      return false;
+    }
+  }
+  LOG(ERROR) << ERRO_DESCRIPTION_S;
+  return false;
+}
+
+MYNTEYE_END_NAMESPACE
+

src/mynteye/api/version_checker.h

@@ -0,0 +1,25 @@
+// 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.
+#ifndef MYNTEYE_API_VERSION_CHECKER_H_
+#define MYNTEYE_API_VERSION_CHECKER_H_
+#pragma once
+
+#include <string>
+#include "mynteye/api/api.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+bool checkFirmwareVersion(const std::shared_ptr<API> api);
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_API_VERSION_CHECKER_H_

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

@@ -315,7 +315,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
         auto &&topic = mono_topics[it->first];
         if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {
-          mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
+          mono_publishers_[it->first] = it_mynteye.advertise(topic, 1);
         }
         NODELET_INFO_STREAM("Advertized on topic " << topic);
       }
@@ -644,7 +644,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           is_published_[stream] = false;
         }
         api_->Start(Source::VIDEO_STREAMING);
-      } else if (sum_c > sum) {
+      } else {
         if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
             mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
             !is_published_[Stream::LEFT]) {
@@ -828,9 +828,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
     auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
     pthread_mutex_unlock(&mutex_data_);
-    auto &&info = getCameraInfo(stream);
+    mono_publishers_[stream].publish(msg);
-    info->header.stamp = msg->header.stamp;
-    mono_publishers_[stream].publish(msg, info);
   }
 
   void publishPoints(
@@ -1517,7 +1515,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   std::map<Stream, std::string> image_encodings_;
 
   // mono: LEFT, RIGHT
-  std::map<Stream, image_transport::CameraPublisher> mono_publishers_;
+  std::map<Stream, image_transport::Publisher> mono_publishers_;
 
   // pointcloud: POINTS
   ros::Publisher points_publisher_;