fix(ros): fix imu publish bug

* 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk:
  feat(ros): added multiple device launch for ros
  feat(imu): add is_ets flag for imu
  fix(ros): change default range of accel
  feat(ros): add slam launch
  feat(ros): added imu process mode in mynteye.launch
  fix(ros): modified sstandard --> standard
  chore(rviz): use color points cloud
  feat: add mesh to rviz.

.gitignore

@@ -7,6 +7,8 @@ _build/
 _install/
 _output/
 
+/docs/_doxygen/
+
 /get-pip.py
 
 /*INFO*

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.3.1 LANGUAGES C CXX)
+project(mynteye VERSION 2.3.5 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -199,9 +199,6 @@ set(MYNTEYE_SRCS
   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/standard2/channels_adapter_s210a.cc
-  src/mynteye/device/standard2/device_s210a.cc
-  src/mynteye/device/standard2/streams_adapter_s210a.cc
   src/mynteye/device/streams.cc
   src/mynteye/device/types.cc
   src/mynteye/device/utils.cc
@@ -220,6 +217,8 @@ 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
+    src/mynteye/api/data_tools.cc
   )
   if(WITH_CAM_MODELS)
     list(APPEND MYNTEYE_SRCS

Makefile

@@ -62,24 +62,21 @@ all: init samples tools ros
 
 # 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
 
@@ -130,7 +127,7 @@ 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-2.3.5-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/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://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/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-lightgray.svg?style=flat)]() [![](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/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/)
-  * 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)
 
 > Supported languages: `en`, `zh-Hans`.
 

config/disparity_config.yaml

@@ -0,0 +1,75 @@
+%YAML:1.0
+---
+SGBM:
+# must define for opencv check
+    name: StereoMatcher.SGBM
+
+# Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct.
+# Normally, a value within the 5-15 range is good enough.
+    uniquenessRatio: 10
+
+# Maximum size of smooth disparity regions to consider their noise speckles and invalidate.
+# Set it to 0 to disable speckle filtering.
+# Otherwise, set it somewhere in the 50-200 range.
+    speckleWindowSize: 100
+
+# Maximum disparity variation within each connected component.
+# If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
+# Normally, 1 or 2 is good enough.
+    speckleRange: 32
+
+# Minimum possible disparity value.
+# Normally, it is zero but sometimes rectification algorithms
+# can shift images, so this parameter needs to be adjusted accordingly.
+    minDisparity: 0
+
+# Maximum allowed difference (in integer pixel units) in the left-right disparity check.
+# Set it to a non-positive value to disable the check.
+    disp12MaxDiff: 1
+
+# Truncation value for the prefiltered image pixels.
+# The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
+# The result values are passed to the Birchfield-Tomasi pixel cost function.
+    preFilterCap: 63
+
+# Maximum disparity minus minimum disparity.
+# The value is always greater than zero.
+# In the current implementation, this parameter must be divisible by 16.
+    numDisparities: 64
+
+# Matched block size. It must be an odd number >=1 .
+# Normally, it should be somewhere in the 3..11 range.
+    blockSize: 3
+
+# The first parameter controlling the disparity smoothness. See below.
+    P1: 72
+
+# The second parameter controlling the disparity smoothness.
+# The larger the values are, the smoother the disparity is.
+# P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels.
+# P2 is the penalty on the disparity change by more than 1 between neighbor pixels.
+# The algorithm requires P2 > P1 .
+    P2: 188
+
+BM:
+# must define for opencv check
+    name: StereoMatcher.BM
+    uniquenessRatio: 60
+    speckleWindowSize: 100
+    speckleRange: 4
+    minDisparity: 0
+    disp12MaxDiff: 1
+    preFilterCap: 31
+# the disparity search range.
+# For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities.
+# The search range can then be shifted by changing the minimum disparity.
+    numDisparities: 64
+
+# the linear size of the blocks compared by the algorithm.
+# The size should be odd (as the block is centered at the current pixel).
+# Larger block size implies smoother, though less accurate disparity map.
+# Smaller block size gives more detailed disparity map,
+# but there is higher chance for algorithm to find a wrong correspondence.
+    blockSize: 15
+    preFilterSize: 9
+    textureThreshold: 10

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

@@ -1,27 +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 |
-| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
-| 亮度 | brightness | 2 | 192 | 0 | 255 | √ | 0x14 | 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 | 通道地址 | 说明 |
-| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
-| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
-| 最大增益 | max_gain | 2 | 8 | 0 | 255 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
-| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
-| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | - | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 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 | |
-| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
-| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | 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 | 404 |
-| 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

@@ -1,21 +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 | 1 us | 8 | uint64_t |
-| 曝光时间 | exposure_time | 1 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 | FrameID | Timestamp | ExposureTime | Checksum |
-| :--- | :----- | :--- | :------ | :-------- | :----------- | :------- |
-| 字节数 | 1 | 1 | 2 | 8 | 2 | 1 |
-| 类型 | uint8_t | uint8_t | uint16_t | uint64_t | uint16_t | uint8_t |
-| 描述 | 0x3B | 0x10 （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。
-* 时间的单位精度为： 1 us 。
-* 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1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 | Count | IMU Datas |
-| :--- | :-----| :-------- |
-| 字节数 | 2 | ... |
-| 类型 | uint16_t | - |
-| 描述 | IMU 段数量 | 所包含的 IMU 段 |
-
-### IMU 段
-
-| Name | Serial Number | Timestamp | flag |  Temperature | Accelerometer or Gyroscope |
-| :--- | :------------ | :-------- | :----| :----------- | :------------------------- |
-| 字节数 | 4 | 8 | 1 | 2 | 6 |
-| 类型 | uint32_t | uint64_t | int8_t | int16_t | int16_t * 3 |
-| Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 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 **12 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/Doxyfile

@@ -38,27 +38,27 @@ 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         = 2.3.5
 
 # 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
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = http://www.myntai.com/mynteye/standard
+PROJECT_BRIEF          = https://www.myntai.com/mynteye/standard
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = ../static/images/icon.png
+PROJECT_LOGO           =
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       = ../_output/en
+OUTPUT_DIRECTORY       = _doxygen
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and
@@ -791,17 +791,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = mainpage.md \
+INPUT                  = ../include/mynteye
-                         specs_data.md \
-                         spec_hardware_info.md \
-                         spec_image_params.md \
-                         spec_imu_params.md \
-                         spec_image_data.md \
-                         spec_imu_data.md \
-                         specs_ctrl.md \
-                         spec_control_api.md \
-                         spec_control_channel.md \
-                         /usr/local/include/mynteye
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -938,7 +928,7 @@ EXAMPLE_RECURSIVE      = NO
 # that contain images that are to be included in the documentation (see the
 # \image command).
 
-IMAGE_PATH             = ../static/images
+IMAGE_PATH             =
 
 # The INPUT_FILTER tag can be used to specify a program that doxygen should
 # invoke to filter for each input file. Doxygen will invoke the filter program
@@ -1115,7 +1105,7 @@ IGNORE_PREFIX          =
 # If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
 # The default value is: YES.
 
-GENERATE_HTML          = YES
+GENERATE_HTML          = NO
 
 # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@@ -1185,7 +1175,7 @@ HTML_STYLESHEET        =
 # list). For an example see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_STYLESHEET  = ../static/custom.css
+HTML_EXTRA_STYLESHEET  =
 
 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note
@@ -1667,7 +1657,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.
 
-GENERATE_LATEX         = YES
+GENERATE_LATEX         = NO
 
 # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@@ -1947,7 +1937,7 @@ MAN_LINKS              = NO
 # captures the structure of the code including all documentation.
 # The default value is: NO.
 
-GENERATE_XML           = NO
+GENERATE_XML           = YES
 
 # The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@@ -2102,7 +2092,8 @@ INCLUDE_FILE_PATTERNS  =
 
 PREDEFINED             = DOXYGEN_WORKING \
                          "MYNTEYE_BEGIN_NAMESPACE=namespace mynteye {" \
-                         "MYNTEYE_END_NAMESPACE=}"
+                         "MYNTEYE_END_NAMESPACE=}" \
+                         "MYNTEYE_API=" "LAST="
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The

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 +1,23 @@
+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 +1,12 @@
+.. _api:
+
+API DOC
+=========
+
+.. toctree::
+
+   api
+   device
+   enums
+   types
+   utils

docs/api/device.rst

@@ -0,0 +1,30 @@
+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 +1,67 @@
+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 +1,75 @@
+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 +1,32 @@
+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 = '2018, MYNTAI'
+author = 'MYNTAI'
+
+# The short X.Y version
+version = '2.3.5'
+# 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

docs/index.rst

@@ -0,0 +1,30 @@
+.. MYNT® EYE S SDK documentation master file, created by
+   sphinx-quickstart on Mon Mar 11 08:59:35 2019.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+MYNT® EYE S SDK
+===============
+
+.. toctree::
+   :maxdepth: 2
+   :titlesonly:
+
+   src/mynteye/contents
+   src/sdk/contents
+   src/firmware/contents
+   src/data/contents
+   src/control/contents
+   src/log/contents
+   src/wrapper/contents
+   src/analytics/contents
+   src/slam/contents
+   api/contents
+
+..
+  Indices and tables
+  ==================
+
+  * :ref:`genindex`
+  * :ref:`modindex`
+  * :ref:`search`

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+
+:end
+popd

docs/requirements.txt

@@ -0,0 +1,5 @@
+breathe>=4.11.1
+restructuredtext-lint>=1.1.3
+Sphinx>=1.8.1
+sphinx-intl>=0.9.11
+sphinx-rtd-theme>=0.4.2

docs/src/analytics/analytics_imu.rst

@@ -0,0 +1,38 @@
+.. _analytics_imu:
+
+Analyzing IMU
+==============
+
+The SDK provides the script ``imu_analytics.py`` for IMU analysis. The tool details can be seen in `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
+Refer to run commands and results on Linux:
+
+.. code-block:: 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 ...
+    input: dataset
+    outdir: dataset
+    gyro_limits: None
+    accel_limits: [(-1.2, 1.2), (-1.2, 1.2), (-1.2, 1.2), (-1.2, 1.2)]
+    time_unit: None
+    time_limits: None
+    auto: False
+    gyro_show_unit: d
+    gyro_data_unit: d
+    temp_limits: None
+  open dataset ...
+    imu: 20040, temp: 20040
+    timebeg: 4.384450, timeend: 44.615550, duration: 40.231100
+  save figure to:
+    dataset/imu_analytics.png
+  imu analytics done
+
+The analysis result graph will be saved in the data set directory, as follows:
+
+.. image:: ../../images/imu_analytics.png
+
+In addition, the script specific options can be executed ``-h``:
+
+.. code-block:: bash
+
+  $ python tools/analytics/imu_analytics.py -h

docs/src/analytics/analytics_stamp.rst

@@ -0,0 +1,55 @@
+.. _analytics_stamp:
+
+Analyze time stamps
+====================
+
+SDK provides a script for timestamp analysis ``stamp_analytics.py`` . Tool details are visible in `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
+
+Reference run commands and results on Linux:
+
+.. code-block:: bash
+
+  $ python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
+  stamp analytics ...
+    input: dataset
+    outdir: dataset
+  open dataset ...
+  save to binary files ...
+    binimg: dataset/stamp_analytics_img.bin
+    binimu: dataset/stamp_analytics_imu.bin
+    img: 1007, imu: 20040
+
+  rate (Hz)
+    img: 25, imu: 500
+  sample period (s)
+    img: 0.04, imu: 0.002
+
+  diff count
+    imgs: 1007, imus: 20040
+    imgs_t_diff: 1006, imus_t_diff: 20039
+
+  diff where (factor=0.1)
+    imgs where diff > 0.04*1.1 (0)
+    imgs where diff < 0.04*0.9 (0)
+    imus where diff > 0.002*1.1 (0)
+    imus where diff < 0.002*0.9 (0)
+
+  image timestamp duplicates: 0
+
+  save figure to:
+    dataset/stamp_analytics.png
+  stamp analytics done
+
+The analysis result graph will be saved in the dataset directory, as follows:
+
+.. image:: ../../images/stamp_analytics.png
+
+In addition, the script specific options can be executed ``-h`` to understand:
+
+.. code-block:: bash
+
+  $ python tools/analytics/stamp_analytics.py -h
+
+.. tip::
+
+  Suggestions when recording data sets ``record.cc`` annotation display image inside ``cv::imshow()``, ``dataset.cc`` annotation display image inside ``cv::imwrite()`` . Because these operations are time-consuming, they can cause images to be discarded. In other words, consumption can't keep up with production, so some images are discarded. ``GetStreamDatas()`` used in ``record.cc`` only caches the latest 4 images.

docs/src/analytics/contents.rst

@@ -0,0 +1,10 @@
+.. _analytics:
+
+Data Analytics
+===============
+
+.. toctree::
+
+   dataset
+   analytics_imu
+   analytics_stamp

docs/src/analytics/dataset.rst

@@ -0,0 +1,58 @@
+.. _dataset:
+
+Recording data sets
+====================
+
+The SDK provides the tool ``record`` for recording data sets. Tool details can be seen in `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
+
+Reference run command:
+
+.. code-block:: bash
+
+  ./tools/_output/bin/dataset/record2
+
+  # Windows
+  .\tools\_output\bin\dataset\record2.bat
+
+Reference run results on Linux:
+
+.. code-block:: bash
+
+  $ ./tools/_output/bin/dataset/record
+  I0513 21:28:57.128947 11487 utils.cc:26] Detecting MYNT EYE devices
+  I0513 21:28:57.807116 11487 utils.cc:33] MYNT EYE devices:
+  I0513 21:28:57.807155 11487 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
+  I0513 21:28:57.807163 11487 utils.cc:43] Only one MYNT EYE device, select index: 0
+  I0513 21:28:57.808437 11487 channels.cc:114] Option::GAIN: min=0, max=48, def=24, cur=24
+  I0513 21:28:57.809999 11487 channels.cc:114] Option::BRIGHTNESS: min=0, max=240, def=120, cur=120
+  I0513 21:28:57.818678 11487 channels.cc:114] Option::CONTRAST: min=0, max=255, def=127, cur=127
+  I0513 21:28:57.831529 11487 channels.cc:114] Option::FRAME_RATE: min=10, max=60, def=25, cur=25
+  I0513 21:28:57.848914 11487 channels.cc:114] Option::IMU_FREQUENCY: min=100, max=500, def=200, cur=500
+  I0513 21:28:57.865185 11487 channels.cc:114] Option::EXPOSURE_MODE: min=0, max=1, def=0, cur=0
+  I0513 21:28:57.881434 11487 channels.cc:114] Option::MAX_GAIN: min=0, max=48, def=48, cur=48
+  I0513 21:28:57.897598 11487 channels.cc:114] Option::MAX_EXPOSURE_TIME: min=0, max=240, def=240, cur=240
+  I0513 21:28:57.913918 11487 channels.cc:114] Option::DESIRED_BRIGHTNESS: min=0, max=255, def=192, cur=192
+  I0513 21:28:57.930177 11487 channels.cc:114] Option::IR_CONTROL: min=0, max=160, def=0, cur=0
+  I0513 21:28:57.946341 11487 channels.cc:114] Option::HDR_MODE: min=0, max=1, def=0, cur=0
+  Saved 1007 imgs, 20040 imus to ./dataset
+  I0513 21:29:38.608772 11487 record.cc:118] Time beg: 2018-05-13 21:28:58.255395, end: 2018-05-13 21:29:38.578696, cost: 40323.3ms
+  I0513 21:29:38.608853 11487 record.cc:121] Img count: 1007, fps: 24.9732
+  I0513 21:29:38.608873 11487 record.cc:123] Imu count: 20040, hz: 496.983
+
+Results save into ``<workdir>/dataset`` by default. You can also add parameter, select other directory to save.
+
+Record contents:
+
+.. code-block:: none
+
+  <workdir>/
+  └─dataset/
+     ├─left/
+     │  ├─stream.txt  # Image infomation
+     │  ├─000000.png  # Image，index 0
+     │  └─...
+     ├─right/
+     │  ├─stream.txt  # Image information
+     │  ├─000000.png  # Image，index 0
+     │  └─...
+     └─motion.txt  # IMU information

docs/src/control/auto_exposure.rst

@@ -0,0 +1,129 @@
+.. _auto_exposure:
+
+Enable auto exposure and its adjustment function
+=================================================
+
+Using the ``SetOptionValue()`` function of the API, you can set various control values of the current open device.
+
+To enable auto exposure, set ``Option::EXPOSURE_MODE`` to ``0`` .
+
+For mynteye s1030, the settings available for adjustment during auto exposure are:
+
+* ``Option::MAX_GAIN`` Maximum gain.
+* ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time.
+* ``Option::DESIRED_BRIGHTNESS`` Expected brightness.
+
+For mynteye s2100/s210a, the settings available for adjustment during auto exposure are:
+
+* ``Option::MAX_GAIN`` Maximum gain.
+* ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time.
+* ``Option::DESIRED_BRIGHTNESS`` Expected brightness.
+* ``Option::MIN_EXPOSURE_TIME`` Minimum exposure time.
+
+Reference Code:
+
+s1030：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  // auto-exposure: 0
+  api->SetOptionValue(Option::EXPOSURE_MODE, 0);
+
+  // max_gain: range [0,48], default 48
+  api->SetOptionValue(Option::MAX_GAIN, 48);
+  // max_exposure_time: range [0,240], default 240
+  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
+  // desired_brightness: range [0,255], default 192
+  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
+
+  LOG(INFO) << "Enable auto-exposure";
+  LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
+  LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
+            << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
+  LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
+            << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
+
+s2100/s210a：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  // auto-exposure: 0
+  api->SetOptionValue(Option::EXPOSURE_MODE, 0);
+
+  // max_gain: range [0,255], default 8
+  api->SetOptionValue(Option::MAX_GAIN, 8);
+  // max_exposure_time: range [0,1000], default 333
+  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333);
+  // desired_brightness: range [1,255], default 122
+  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122);
+  // min_exposure_time: range [0,1000], default 0
+  api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0);
+
+  LOG(INFO) << "Enable auto-exposure";
+  LOG(INFO) << "Set EXPOSURE_MODE to "
+            << api->GetOptionValue(Option::EXPOSURE_MODE);
+  LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
+  LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
+            << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
+  LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
+            << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
+  LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
+            << api->GetOptionValue(Option::MIN_EXPOSURE_TIME);
+
+
+Reference running results on Linux:
+
+s1030：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_auto_exposure
+  I0513 14:07:57.963943 31845 utils.cc:26] Detecting MYNT EYE devices
+  I0513 14:07:58.457536 31845 utils.cc:33] MYNT EYE devices:
+  I0513 14:07:58.457563 31845 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
+  I0513 14:07:58.457567 31845 utils.cc:43] Only one MYNT EYE device, select index: 0
+  I0513 14:07:58.474916 31845 auto_exposure.cc:37] Enable auto-exposure
+  I0513 14:07:58.491058 31845 auto_exposure.cc:38] Set MAX_GAIN to 48
+  I0513 14:07:58.505131 31845 auto_exposure.cc:39] Set MAX_EXPOSURE_TIME to 240
+  I0513 14:07:58.521375 31845 auto_exposure.cc:41] Set DESIRED_BRIGHTNESS to 192
+
+
+s2100/s210a：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_auto_exposure 
+  I/utils.cc:30 Detecting MYNT EYE devices
+  I/utils.cc:40 MYNT EYE devices:
+  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
+  I/utils.cc:51 Only one MYNT EYE device, select index: 0
+  I/utils.cc:79 MYNT EYE devices:
+  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
+  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
+  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
+  I/utils.cc:93 There are 7 stream requests, select index: 
+  3
+  I/auto_exposure.cc:72 Enable auto-exposure
+  I/auto_exposure.cc:73 Set EXPOSURE_MODE to 0
+  I/auto_exposure.cc:75 Set MAX_GAIN to 8
+  I/auto_exposure.cc:76 Set MAX_EXPOSURE_TIME to 333
+  I/auto_exposure.cc:78 Set DESIRED_BRIGHTNESS to 122
+  I/auto_exposure.cc:80 Set MIN_EXPOSURE_TIME to 0
+
+
+The sample program displays an image with a real exposure time in the upper left corner, in milliseconds.
+
+Complete code examples, see `auto_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/auto_exposure.cc>`_ .

docs/src/control/contents.rst

@@ -0,0 +1,14 @@
+.. _ctrl:
+
+MYNT® EYE Control
+=================
+
+.. toctree::
+
+   framerate
+   imu_range
+   auto_exposure
+   manual_exposure
+   infrared
+   imu_low_pass_filter
+   iic_address

docs/src/control/framerate.rst

@@ -0,0 +1,108 @@
+.. _framerate:
+
+Set the frame rate of image & IMU frequency
+============================================
+
+Using the ``SetOptionValue()`` function in the API, you can set various control values​for the current device.
+
+For mynteye s1030, to set the image frame rate and IMU frequency, set ``Option::FRAME_RATE`` and ``Option::IMU_FREQUENCY``.
+
+.. Attention::
+
+  * The effective fps of the image: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60.
+  * The effective frequency of IMU: 100, 200, 250, 333, 500.
+
+For mynteye s2100/s210a, the image frame rate should be selected when running the sample, and the frame rate and resolution are combined as follows:
+
+.. code-block:: bash
+
+  index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
+  index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
+  index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
+  index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
+  index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
+  index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
+  index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
+
+
+Reference Code:
+
+s1030：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, 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
+  api->SetOptionValue(Option::FRAME_RATE, 25);
+  // IMU_FREQUENCY values: 100, 200, 250, 333, 500
+  api->SetOptionValue(Option::IMU_FREQUENCY, 500);
+
+  LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE);
+  LOG(INFO) << "Set IMU_FREQUENCY to "
+            << api->GetOptionValue(Option::IMU_FREQUENCY);
+
+s2100/s210a：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+  
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  LOG(INFO) << "Please set frame rate by 'SelectStreamRequest()'";
+
+
+
+Reference running results on Linux:
+
+s1030：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_framerate
+  I0513 14:05:57.218222 31813 utils.cc:26] Detecting MYNT EYE devices
+  I0513 14:05:57.899404 31813 utils.cc:33] MYNT EYE devices:
+  I0513 14:05:57.899430 31813 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
+  I0513 14:05:57.899435 31813 utils.cc:43] Only one MYNT EYE device, select index: 0
+  I0513 14:05:58.076257 31813 framerate.cc:36] Set FRAME_RATE to 25
+  I0513 14:05:58.076836 31813 framerate.cc:37] Set IMU_FREQUENCY to 500
+  I0513 14:06:21.702361 31813 framerate.cc:82] Time beg: 2018-05-13 14:05:58.384967, end: 2018-05-13 14:06:21.666115, cost: 23281.1ms
+  I0513 14:06:21.702388 31813 framerate.cc:85] Img count: 573, fps: 24.6122
+  I0513 14:06:21.702404 31813 framerate.cc:87] Imu count: 11509, hz: 494.348
+
+s2100/s210a：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_framerate 
+  I/utils.cc:30 Detecting MYNT EYE devices
+  I/utils.cc:40 MYNT EYE devices:
+  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
+  I/utils.cc:51 Only one MYNT EYE device, select index: 0
+  I/utils.cc:79 MYNT EYE devices:
+  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
+  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
+  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
+  I/utils.cc:93 There are 7 stream requests, select index: 
+  2
+  I/framerate.cc:54 Please set frame rate by 'SelectStreamRequest()'
+  I/framerate.cc:99 Time beg: 2018-12-29 10:05:08.203095, end: 2018-12-29 10:08:20.074969, cost: 191872ms
+  I/framerate.cc:102 Img count: 5759, fps: 30.0148
+  I/framerate.cc:104 Imu count: 77163, hz: 402.159
+
+
+After the sample program finishes running with ``ESC/Q``, it will output the calculated value of the frame rate of image & IMU frequency.
+
+Complete code samples，please see `framerate.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/framerate.cc>`_ .

docs/src/control/iic_address.rst

@@ -0,0 +1,58 @@
+.. _iic_address:
+
+Set IIC Address
+================
+
+Using the ``SetOptionValue()`` function in the API, you can set various control values for the current device.
+
+To set the IIC address, set ``Option::IIC_ADDRESS_SETTING``.
+
+
+.. Attention::
+  Only support S210A
+
+Reference Code:
+
+s210a：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+  Model model = api->GetModel();
+  if (model == Model::STANDARD210A) {
+    api->SetOptionValue(Option::IIC_ADDRESS_SETTING, 0x31);
+    LOG(INFO) << "Set iic address to " << std::hex << "0x"
+              << api->GetOptionValue(Option::IIC_ADDRESS_SETTING);
+  }
+
+
+Reference running results on Linux:
+
+s210a：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_iic_adress
+  I/utils.cc:30 Detecting MYNT EYE devices
+  I/utils.cc:40 MYNT EYE devices:
+  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
+  I/utils.cc:51 Only one MYNT EYE device, select index: 0
+  I/utils.cc:79 MYNT EYE devices:
+  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
+  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
+  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
+  I/utils.cc:93 There are 7 stream requests, select index:
+  3
+  I/imu_range.cc:51 Set iic address to 0x31
+
+After the sample program finishes running with ``ESC/Q``.
+Complete code samples，please see `iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/iic_address.cc>`_.

docs/src/control/imu_low_pass_filter.rst

@@ -0,0 +1,63 @@
+.. _imu_low_pass_filter:
+
+Low-pass Filter
+===============
+
+Using the ``SetOptionValue()`` function in the API, you can set various control values ​​for the current device.
+
+To set the value of accelerometer low-pass filter and gyroscope low-pass filter, set ``Option::ACCELEROMETER_LOW_PASS_FILTER`` and ``Option::GYROSCOPE_LOW_PASS_FILTER``.
+
+.. Attention::
+  * s1030 doesn't support this feature
+
+Reference Code:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  // ACCELEROMETER_RANGE values: 0, 1, 2
+  api->SetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER, 2);
+  // GYROSCOPE_RANGE values: 23, 64
+  api->SetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER, 64);
+
+  LOG(INFO) << "Set ACCELEROMETER_LOW_PASS_FILTER to "
+            << api->GetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER);
+  LOG(INFO) << "Set GYROSCOPE_LOW_PASS_FILTER to "
+            << api->GetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER);
+
+
+Reference running results on Linux:
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_imu_low_pass_filter 
+  I/utils.cc:30 Detecting MYNT EYE devices
+  I/utils.cc:40 MYNT EYE devices:
+  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
+  I/utils.cc:51 Only one MYNT EYE device, select index: 0
+  I/utils.cc:79 MYNT EYE devices:
+  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
+  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
+  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
+  I/utils.cc:93 There are 7 stream requests, select index: 
+  1
+  I/imu_low_pass_filter.cc:48 Set ACCELEROMETER_LOW_PASS_FILTER to 2
+  I/imu_low_pass_filter.cc:50 Set GYROSCOPE_LOW_PASS_FILTER to 64
+  I/imu_low_pass_filter.cc:96 Time beg: 2018-12-29 13:53:42.296299, end: 2018-12-29 14:06:33.295960, cost: 771000ms
+  I/imu_low_pass_filter.cc:99 Img count: 15412, fps: 19.9896
+  I/imu_low_pass_filter.cc:101 Imu count: 309891, hz: 401.934
+
+After the sample program finishes running with ``ESC/Q``, the low-pass filter of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.
+
+Complete code samples，please see `imu_low_pass_filter.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/imu_low_pass_filter.cc>`_ 。

docs/src/control/imu_range.rst

@@ -0,0 +1,108 @@
+.. _imu_range:
+
+Set the range of accelerometer & gyroscope
+==========================================
+
+Using the ``SetOptionValue()`` function in the API, you can set various control values for the current device.
+
+To set the range of accelerometer and gyroscope, set ``Option::ACCELEROMETER_RANGE`` and ``Option::GYROSCOPE_RANGE``.
+
+.. Attention::
+  For mynteye s1030, the available settings are:
+  
+  * The effective range of accelerometer(unit:g): 4, 8, 16, 32.
+  * Gyroscope Range Valid value (unit: DEG/S): 500, 1000, 2000, 4000.
+
+  For mynteye s2100/s210a, the available settings are:
+  
+  * The effective range of accelerometer(unit:g): 6, 12, 24, 32.
+  * The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000.
+
+Reference Code:
+
+s1030：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
+
+  // ACCELEROMETER_RANGE values: 4, 8, 16, 32
+  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
+  // GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
+  api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
+
+  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
+            << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
+  LOG(INFO) << "Set GYROSCOPE_RANGE to "
+            << api->GetOptionValue(Option::GYROSCOPE_RANGE);
+
+s2100/s210a：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  // ACCELEROMETER_RANGE values: 6, 12, 24, 32
+  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
+  // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
+  api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
+
+  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
+            << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
+  LOG(INFO) << "Set GYROSCOPE_RANGE to "
+            << api->GetOptionValue(Option::GYROSCOPE_RANGE);
+
+
+Reference running results on Linux:
+
+s1030：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_imu_range
+  I/utils.cc:28 Detecting MYNT EYE devices
+  I/utils.cc:38 MYNT EYE devices:
+  I/utils.cc:41   index: 0, name: MYNT-EYE-S1030, sn: 4B4C1F1100090712
+  I/utils.cc:49 Only one MYNT EYE device, select index: 0
+  I/imu_range.cc:34 Set ACCELEROMETER_RANGE to 8
+  I/imu_range.cc:36 Set GYROSCOPE_RANGE to 1000
+  I/imu_range.cc:81 Time beg: 2018-11-21 15:34:57.726428, end: 2018-11-21 15:35:12.190478, cost: 14464ms
+  I/imu_range.cc:84 Img count: 363, fps: 25.0967
+  I/imu_range.cc:86 Imu count: 2825, hz: 195.312
+
+s2100/s210a：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_imu_range 
+  I/utils.cc:30 Detecting MYNT EYE devices
+  I/utils.cc:40 MYNT EYE devices:
+  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
+  I/utils.cc:51 Only one MYNT EYE device, select index: 0
+  I/utils.cc:79 MYNT EYE devices:
+  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
+  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
+  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
+  I/utils.cc:93 There are 7 stream requests, select index: 
+  3
+  I/imu_range.cc:51 Set ACCELEROMETER_RANGE to 6
+  I/imu_range.cc:53 Set GYROSCOPE_RANGE to 1000
+  I/imu_range.cc:98 Time beg: 2018-12-29 10:03:10.706211, end: 2018-12-29 10:04:12.497427, cost: 61791.2ms
+  I/imu_range.cc:101 Img count: 3706, fps: 59.9762
+  I/imu_range.cc:103 Imu count: 24873, hz: 402.533
+
+After the sample program finishes running with ``ESC/Q``, the ranges of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.
+
+Complete code samples，please see `imu_range.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/imu_range.cc>`_.

docs/src/control/infrared.rst

@@ -0,0 +1,54 @@
+.. _infrared:
+
+Enable IR and its adjustments function
+=======================================
+
+Using the ``SetOptionValue()`` function of the API, you can set various control values for the current open device.
+
+Enabling IR is setting ``Option::IR_CONTROL`` greater than 0. The greater the value, the greater the IR's intensity.
+
+.. Attention::
+  * mynteye s2100/s210a doesn't support this feature.
+
+Reference Code:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  // Detect infrared add-ons
+  LOG(INFO) << "Support infrared: " << std::boolalpha
+            << api->Supports(AddOns::INFRARED);
+  LOG(INFO) << "Support infrared2: " << std::boolalpha
+            << api->Supports(AddOns::INFRARED2);
+
+  // Get infrared intensity range
+  auto &&info = api->GetOptionInfo(Option::IR_CONTROL);
+  LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}";
+
+  // Set infrared intensity value
+  api->SetOptionValue(Option::IR_CONTROL, 80);
+
+Reference running results on Linux:
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_infrared
+  I0504 16:16:28.016624 25848 utils.cc:13] Detecting MYNT EYE devices
+  I0504 16:16:28.512462 25848 utils.cc:20] MYNT EYE devices:
+  I0504 16:16:28.512473 25848 utils.cc:24]   index: 0, name: MYNT-EYE-S1000
+  I0504 16:16:28.512477 25848 utils.cc:30] Only one MYNT EYE device, select index: 0
+  I0504 16:16:28.520848 25848 infrared.cc:13] Support infrared: true
+  I0504 16:16:28.520869 25848 infrared.cc:15] Support infrared2: true
+  I0504 16:16:28.520889 25848 infrared.cc:20] Option::IR_CONTROL: {min: 0, max: 160, def: 0}
+
+At this point, if the image is displayed, you can see IR speckle on the image, as below:
+
+.. image:: ../../images/ir.png
+
+
+.. attention::
+
+  The hardware will not record the IR value after being turned off. In order to keep IR enabled, you must set the IR value after turning on the device.
+
+Complete code samples，see `infrared.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/infrared.cc>`_ .

docs/src/control/manual_exposure.rst

@@ -0,0 +1,110 @@
+.. _manual_exposure:
+
+Enable manual exposure and its adjustment function
+===================================================
+
+Using the ``SetOptionValue()`` function of the API, you can set various control values for the current open device.
+
+To enabling manual exposure, set ``Option::EXPOSURE_MODE`` to ``1``.
+
+For mynteye s1030, during manual exposure, the settings available for adjustment are:
+
+* ``Option::GAIN`` Gain.
+* ``Option::BRIGHTNESS`` Brightness (Exposure time).
+* ``Option::CONTRAST`` Contrast (Black level calibration).
+
+For mynteye s2100/s210a, during manual exposure, the settings available for adjustment are:
+
+* ``Option::BRIGHTNESS`` Brightness (Exposure time).
+
+
+Reference Code:
+
+s1030：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  // manual-exposure: 1
+  api->SetOptionValue(Option::EXPOSURE_MODE, 1);
+
+  // gain: range [0,48], default 24
+  api->SetOptionValue(Option::GAIN, 24);
+  // brightness/exposure_time: range [0,240], default 120
+  api->SetOptionValue(Option::BRIGHTNESS, 120);
+  // contrast/black_level_calibration: range [0,255], default 127
+  api->SetOptionValue(Option::CONTRAST, 127);
+
+  LOG(INFO) << "Enable manual-exposure";
+  LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
+  LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS);
+  LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);
+
+s2100/s210a：
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  // manual-exposure: 1
+  api->SetOptionValue(Option::EXPOSURE_MODE, 1);
+
+  // brightness/exposure_time: range [0,240], default 120
+  api->SetOptionValue(Option::BRIGHTNESS, 120);
+
+  LOG(INFO) << "Enable manual-exposure";
+  LOG(INFO) << "Set EXPOSURE_MODE to "
+            << api->GetOptionValue(Option::EXPOSURE_MODE);
+  LOG(INFO) << "Set BRIGHTNESS to "
+            << api->GetOptionValue(Option::BRIGHTNESS);
+
+
+Reference running results on Linux:
+
+s1030：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_manual_exposure
+  I0513 14:09:17.104431 31908 utils.cc:26] Detecting MYNT EYE devices
+  I0513 14:09:17.501519 31908 utils.cc:33] MYNT EYE devices:
+  I0513 14:09:17.501551 31908 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
+  I0513 14:09:17.501562 31908 utils.cc:43] Only one MYNT EYE device, select index: 0
+  I0513 14:09:17.552918 31908 manual_exposure.cc:37] Enable manual-exposure
+  I0513 14:09:17.552953 31908 manual_exposure.cc:38] Set GAIN to 24
+  I0513 14:09:17.552958 31908 manual_exposure.cc:39] Set BRIGHTNESS to 120
+  I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 127
+
+s2100/s210a：
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/ctrl_manual_exposure 
+  I/utils.cc:30 Detecting MYNT EYE devices
+  I/utils.cc:40 MYNT EYE devices:
+  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
+  I/utils.cc:51 Only one MYNT EYE device, select index: 0
+  I/utils.cc:79 MYNT EYE devices:
+  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
+  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
+  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
+  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
+  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
+  I/utils.cc:93 There are 7 stream requests, select index: 
+  3
+  I/manual_exposure.cc:62 Enable manual-exposure
+  I/manual_exposure.cc:63 Set EXPOSURE_MODE to 1
+  I/manual_exposure.cc:65 Set BRIGHTNESS to 120
+
+
+The sample program displays an image with a real exposure time in the upper left corner, in milliseconds.
+
+Complete code samples，see `manual_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/manual_exposure.cc>`_ .

docs/src/data/contents.rst

@@ -0,0 +1,22 @@
+.. _data:
+
+MYNT® EYE Data
+==============
+
+.. toctree::
+
+   get_device_info
+   get_img_params
+   get_imu_params
+   get_stereo
+   get_stereo_rectified
+   get_disparity
+   get_depth
+   get_points
+   get_imu
+   get_imu_correspondence
+   get_from_callbacks
+   get_with_plugin
+   save_params
+   write_img_params
+   write_imu_params

docs/src/data/get_depth.rst

@@ -0,0 +1,54 @@
+.. _get_depth:
+
+Get depth image
+===============
+
+Depth images belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. The depth image type is CV_16UC1. In addition, it should be check not be empty before use.
+
+For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified`.
+
+In addition, it is recommended to use plugins to calculate depth: Depth images work better and operate faster. Please refer to :ref:`get_with_plugin`.
+
+Reference code snippet:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  api->EnableStreamData(Stream::DEPTH);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    cv::imshow("frame", img);
+
+    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
+    if (!depth_data.frame.empty()) {
+      cv::imshow("depth", depth_data.frame);  // CV_16UC1
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+
+The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.
+
+Complete code examples, see `get_depth.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_depth.cc>`_ .
+
+.. tip::
+
+Preview the value of a region of the depth image, see `get_depth_with_region.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/api/get_depth_with_region.cc>`_ .

docs/src/data/get_device_info.rst

@@ -0,0 +1,41 @@
+.. _get_device_info:
+
+Get device information
+======================
+
+Use ``GetInfo()`` function to get various current information values.
+
+Reference code snippet:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  LOG(INFO) << "Device name: " << api->GetInfo(Info::DEVICE_NAME);
+  LOG(INFO) << "Serial number: " << api->GetInfo(Info::SERIAL_NUMBER);
+  LOG(INFO) << "Firmware version: " << api->GetInfo(Info::FIRMWARE_VERSION);
+  LOG(INFO) << "Hardware version: " << api->GetInfo(Info::HARDWARE_VERSION);
+  LOG(INFO) << "Spec version: " << api->GetInfo(Info::SPEC_VERSION);
+  LOG(INFO) << "Lens type: " << api->GetInfo(Info::LENS_TYPE);
+  LOG(INFO) << "IMU type: " << api->GetInfo(Info::IMU_TYPE);
+  LOG(INFO) << "Nominal baseline: " << api->GetInfo(Info::NOMINAL_BASELINE);
+
+Reference result on Linux:
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/get_device_info
+  I0503 16:40:21.109391 32106 utils.cc:13] Detecting MYNT EYE devices
+  I0503 16:40:21.604116 32106 utils.cc:20] MYNT EYE devices:
+  I0503 16:40:21.604127 32106 utils.cc:24]   index: 0, name: MYNT-EYE-S1000
+  I0503 16:40:21.604142 32106 utils.cc:30] Only one MYNT EYE device, select index: 0
+  I0503 16:40:21.615054 32106 get_device_info.cc:10] Device name: MYNT-EYE-S1000
+  I0503 16:40:21.615113 32106 get_device_info.cc:11] Serial number: 0610243700090720
+  I0503 16:40:21.615129 32106 get_device_info.cc:12] Firmware version: 2.0
+  I0503 16:40:21.615139 32106 get_device_info.cc:13] Hardware version: 2.0
+  I0503 16:40:21.615146 32106 get_device_info.cc:14] Spec version: 1.0
+  I0503 16:40:21.615155 32106 get_device_info.cc:15] Lens type: 0000
+  I0503 16:40:21.615164 32106 get_device_info.cc:16] IMU type: 0000
+  I0503 16:40:21.615171 32106 get_device_info.cc:17] Nominal baseline: 120
+
+Complete code examples, see `get_device_info.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_device_info.cc>`_ .

docs/src/data/get_disparity.rst

@@ -0,0 +1,62 @@
+.. _get_disparity:
+
+Get disparity image
+===================
+
+Disparity image belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. In addition, it should be check not be empty before use.
+
+For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` .
+
+It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` .
+
+.. tip::
+  The SetDisparityComputingMethodType method is used to change disparity computing method. Currently, BM and SGBM are available.
+
+Reference code snippet:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  // api->EnableStreamData(Stream::DISPARITY);
+  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
+
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+  // cv::namedWindow("disparity");
+  cv::namedWindow("disparity_normalized");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    cv::imshow("frame", img);
+
+    // auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
+    // if (!disp_data.frame.empty()) {
+    //   cv::imshow("disparity", disp_data.frame);
+    // }
+
+    auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
+    if (!disp_norm_data.frame.empty()) {
+      cv::imshow("disparity_normalized", disp_norm_data.frame);  // CV_8UC1
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+
+The above code uses OpenCV to display the image. Select the display window, press ``ESC/Q`` to exit in the program.
+
+Complete code examples, see `get_disparity.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_disparity.cc>`_ .

docs/src/data/get_from_callbacks.rst

@@ -0,0 +1,119 @@
+.. _get_from_callbacks:
+
+Get data from callbacks
+========================
+
+API offers function ``SetStreamCallback()`` and ``SetMotionCallback()`` to set callbacks for various data.
+
+.. attention::
+
+  Make sure to not block callback. If the data processing time is too long, use the callback as a data producer.
+
+Reference code snippet:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  // Attention: must not block the callbacks.
+
+  // Get left image from callback
+  std::atomic_uint left_count(0);
+  api->SetStreamCallback(
+      Stream::LEFT, [&left_count](const api::StreamData &data) {
+        CHECK_NOTNULL(data.img);
+        ++left_count;
+      });
+
+  // Get depth image from callback
+  api->EnableStreamData(Stream::DEPTH);
+  std::atomic_uint depth_count(0);
+  cv::Mat depth;
+  std::mutex depth_mtx;
+  api->SetStreamCallback(
+      Stream::DEPTH,
+      [&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
+        UNUSED(data)
+        ++depth_count;
+        {
+          std::lock_guard<std::mutex> _(depth_mtx);
+          depth = data.frame;
+        }
+      });
+
+  // Get motion data from callback
+  std::atomic_uint imu_count(0);
+  std::shared_ptr<mynteye::ImuData> imu;
+  std::mutex imu_mtx;
+  api->SetMotionCallback(
+      [&imu_count, &imu, &imu_mtx](const api::MotionData &data) {
+        CHECK_NOTNULL(data.imu);
+        ++imu_count;
+        {
+          std::lock_guard<std::mutex> _(imu_mtx);
+          imu = data.imu;
+        }
+      });
+
+  api->Start(Source::ALL);
+
+  CVPainter painter;
+
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+
+  unsigned int depth_num = 0;
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    // Concat left and right as img
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+
+    // Draw img data and size
+    painter.DrawImgData(img, *left_data.img);
+
+    // Draw imu data
+    if (imu) {
+      std::lock_guard<std::mutex> _(imu_mtx);
+      painter.DrawImuData(img, *imu);
+    }
+
+    // Draw counts
+    std::ostringstream ss;
+    ss << "left: " << left_count << ", depth: " << depth_count
+       << ", imu: " << imu_count;
+    painter.DrawText(img, ss.str(), CVPainter::BOTTOM_RIGHT);
+
+    // Show img
+    cv::imshow("frame", img);
+
+    // Show depth
+    if (!depth.empty()) {
+      // Is the depth a new one?
+      if (depth_num != depth_count || depth_num == 0) {
+        std::lock_guard<std::mutex> _(depth_mtx);
+        depth_num = depth_count;
+        // LOG(INFO) << "depth_num: " << depth_num;
+        ss.str("");
+        ss.clear();
+        ss << "depth: " << depth_count;
+        painter.DrawText(depth, ss.str());
+        cv::imshow("depth", depth);  // CV_16UC1
+      }
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::ALL);
+
+OpenCV is used to display images and data above. When the window is selected, pressing ``ESC/Q`` will exit program.
+
+Complete code examples, see `get_from_callbacks.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_from_callbacks.cc>`_ .

docs/src/data/get_img_params.rst

@@ -0,0 +1,39 @@
+.. _get_img_params:
+
+Get image calibration parameters
+================================
+
+Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameters.
+
+.. tip::
+  The detailed meaning of parameters can reference the files in ``tools/writer/config`` , of these
+  the image calibration parameters of S2100/S210A are in  ``tools/writer/config/S210A``
+  the image calibration parameters of S1030 are in   ``tools/writer/config/S1030``
+
+Reference code snippet:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  LOG(INFO) << "Intrinsics left: {" << *api->GetIntrinsicsBase(Stream::LEFT)
+            << "}";
+  LOG(INFO) << "Intrinsics right: {" << *api->GetIntrinsicsBase(Stream::RIGHT)
+            << "}";
+  LOG(INFO) << "Extrinsics right to left: {"
+            << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
+
+Reference result on Linux:
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/get_img_params
+  I0510 15:00:22.643263  6980 utils.cc:26] Detecting MYNT EYE devices
+  I0510 15:00:23.138811  6980 utils.cc:33] MYNT EYE devices:
+  I0510 15:00:23.138849  6980 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
+  I0510 15:00:23.138855  6980 utils.cc:43] Only one MYNT EYE device, select index: 0
+  I0510 15:00:23.210491  6980 get_img_params.cc:23] Intrinsics left: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 356.91961817119693023, cy: 217.27271340923883258, model: 0, coeffs: [-0.54898645145016478, 0.52837141203888638, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]}
+  I0510 15:00:23.210551  6980 get_img_params.cc:24] Intrinsics right: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 456.68367112303980093, cy: 250.70083335536796199, model: 0, coeffs: [-0.51012886039889305, 0.38764476500996770, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]}
+  I0510 15:00:23.210577  6980 get_img_params.cc:26] Extrinsics left to right: {rotation: [0.99701893306553813, -0.00095378124886237, -0.07715139279485062, 0.00144939967628305, 0.99997867219985104, 0.00636823256494144, 0.07714367342455503, -0.00646107164115277, 0.99699905125522237], translation: [-118.88991734400046596, -0.04560580387053091, -3.95313736911933855]}
+
+Complete code examples, see `get_img_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_img_params.cc>`_ .

docs/src/data/get_imu.rst

@@ -0,0 +1,66 @@
+.. _get_imu_data:
+
+Get IMU data
+=============
+
+The API offers ``Start()`` / ``Stop()`` function to start/stop capturing data. You can set the argument to``Source::MOTION_TRACKING`` to capture IMU data only, or set it to ``Source::ALL`` to capture both image and IMU data.
+
+During capturing data, you need ``EnableMotionDatas()`` to enable caching in order to get IMU data from ``GetMotionDatas()`` . Otherwise, IMU data is only available through the callback interface, see :ref:`get_from_callbacks` .
+
+Sample code snippet:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  // Enable this will cache the motion datas until you get them.
+  api->EnableMotionDatas();
+
+  api->Start(Source::ALL);
+
+  CVPainter painter;
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+
+    auto &&motion_datas = api->GetMotionDatas();
+    /*
+    for (auto &&data : motion_datas) {
+      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
+                << ", timestamp: " << data.imu->timestamp
+                << ", accel_x: " << data.imu->accel[0]
+                << ", accel_y: " << data.imu->accel[1]
+                << ", accel_z: " << data.imu->accel[2]
+                << ", gyro_x: " << data.imu->gyro[0]
+                << ", gyro_y: " << data.imu->gyro[1]
+                << ", gyro_z: " << data.imu->gyro[2]
+                << ", temperature: " << data.imu->temperature;
+    }
+    */
+
+    painter.DrawImgData(img, *left_data.img);
+    if (!motion_datas.empty()) {
+      painter.DrawImuData(img, *motion_datas[0].imu);
+    }
+
+    cv::imshow("frame", img);
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::ALL);
+
+OpenCV is used to display image and data. When window is selected, press ``ESC/Q`` to exit program.
+
+Complete code examples, see `get_imu.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu.cc>`_ .

docs/src/data/get_imu_correspondence.rst

@@ -0,0 +1,109 @@
+.. _get_imu_correspondence:
+
+Get IMU data with timestamp correspondence
+===========================================
+
+If wanna get image with timestamp in the middle of IMU datas, you could call `EnableTimestampCorrespondence()`` to enable this feature.
+
+Reference code snippet:
+
+.. code-block:: c++
+
+
+  auto &&api = API::Create(argc, argv);
+
+  // Enable motion datas with timestamp correspondence of some stream
+  api->EnableTimestampCorrespondence(Stream::LEFT);
+
+  api->Start(Source::ALL);
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    auto img_stamp = left_data.img->timestamp;
+    LOG(INFO) << "Img timestamp: " << img_stamp
+        << ", diff_prev=" << (img_stamp - prev_img_stamp);
+    prev_img_stamp = img_stamp;
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+
+    auto &&motion_datas = api->GetMotionDatas();
+    LOG(INFO) << "Imu count: " << motion_datas.size();
+    for (auto &&data : motion_datas) {
+      auto imu_stamp = data.imu->timestamp;
+      LOG(INFO) << "Imu timestamp: " << imu_stamp
+          << ", diff_prev=" << (imu_stamp - prev_imu_stamp)
+          << ", diff_img=" << (1.f + imu_stamp - img_stamp);
+      prev_imu_stamp = imu_stamp;
+    }
+    LOG(INFO);
+
+    cv::imshow("frame", img);
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::ALL);
+
+Reference result on Linux:
+
+.. code-block:: bash
+
+  $ ./samples/_output/bin/tutorials/get_imu_correspondence
+  I/utils.cc:30 Detecting MYNT EYE devices
+  I/utils.cc:40 MYNT EYE devices:
+  I/utils.cc:43   index: 0, name: MYNT-EYE-S1030, sn: 0281351000090807
+  I/utils.cc:51 Only one MYNT EYE device, select index: 0
+  I/synthetic.cc:126 camera calib model: kannala_brandt
+  I/utils.cc:79 MYNT EYE devices:
+  I/utils.cc:82   index: 0, request: width: 752, height: 480, format: Format::YUYV, fps: 60
+  I/utils.cc:87 Only one stream request, select index: 0
+  I/get_imu_correspondence.cc:50 Img timestamp: 171323050, diff_prev=39990
+  I/get_imu_correspondence.cc:58 Imu count: 13
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171318710, diff_prev=171318710, diff_img=-4352
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171320730, diff_prev=2020, diff_img=-2320
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171322750, diff_prev=2020, diff_img=-304
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171324770, diff_prev=2020, diff_img=1712
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171326790, diff_prev=2020, diff_img=3728
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171328800, diff_prev=2010, diff_img=5744
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171330810, diff_prev=2010, diff_img=7760
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171332840, diff_prev=2030, diff_img=9776
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171334860, diff_prev=2020, diff_img=11808
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171336880, diff_prev=2020, diff_img=13824
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171338900, diff_prev=2020, diff_img=15840
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171340920, diff_prev=2020, diff_img=17872
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171342930, diff_prev=2010, diff_img=19872
+  I/get_imu_correspondence.cc:66
+  I/get_imu_correspondence.cc:50 Img timestamp: 171403040, diff_prev=79990
+  I/get_imu_correspondence.cc:58 Imu count: 20
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171383310, diff_prev=40380, diff_img=-19728
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171385330, diff_prev=2020, diff_img=-17712
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171387350, diff_prev=2020, diff_img=-15696
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171389370, diff_prev=2020, diff_img=-13664
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171391380, diff_prev=2010, diff_img=-11664
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171393390, diff_prev=2010, diff_img=-9648
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171395420, diff_prev=2030, diff_img=-7616
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171397440, diff_prev=2020, diff_img=-5600
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171399460, diff_prev=2020, diff_img=-3584
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171401480, diff_prev=2020, diff_img=-1568
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171403500, diff_prev=2020, diff_img=464
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171405510, diff_prev=2010, diff_img=2464
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171407520, diff_prev=2010, diff_img=4480
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171409540, diff_prev=2020, diff_img=6496
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171411570, diff_prev=2030, diff_img=8528
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171413590, diff_prev=2020, diff_img=10544
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171415610, diff_prev=2020, diff_img=12576
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171417630, diff_prev=2020, diff_img=14592
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171419650, diff_prev=2020, diff_img=16608
+  I/get_imu_correspondence.cc:61 Imu timestamp: 171421660, diff_prev=2010, diff_img=18624
+
+Complete code examples, see `get_imu_correspondence.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu_correspondence.cc>`_ .

docs/src/data/get_imu_params.rst

@@ -0,0 +1,18 @@
+.. _get_imu_params:
+
+Get IMU calibration parameters
+==============================
+
+Use ``GetMotionIntrinsics()`` & ``GetMotionExtrinsics()`` to get current IMU calibration parameters.
+
+Reference commands:
+
+.. code-block:: c++
+
+  auto &&api = API::Create(argc, argv);
+
+  LOG(INFO) << "Motion intrinsics: {" << api->GetMotionIntrinsics() << "}";
+  LOG(INFO) << "Motion extrinsics left to imu: {"
+            << api->GetMotionExtrinsics(Stream::LEFT) << "}";
+
+Complete code examples, see `get_imu_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu_params.cc>`_ .