fix(*): frame id in ros node.

n

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.3.5 LANGUAGES C CXX)
+project(mynteye VERSION 2.4.2 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -22,6 +22,8 @@ if(NOT CMAKE_DEBUG_POSTFIX)
   set(CMAKE_DEBUG_POSTFIX d)
 endif()
 
+LIST(APPEND CMAKE_MODULE_PATH cmake)
+
 # options
 
 include(cmake/Option.cmake)
@@ -59,8 +61,6 @@ macro(target_link_threads NAME)
   endif()
 endmacro()
 
-LIST(APPEND CMAKE_MODULE_PATH cmake)
-
 include(CMakePackageConfigHelpers)
 
 # config
@@ -128,22 +128,25 @@ if(WITH_GLOG)
   )
 endif()
 
-## camodocal
+## camera_models
 
 if(WITH_CAM_MODELS)
   set(EIGEN_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty)
   message(STATUS "EIGEN_INCLUDE_DIR: ${EIGEN_INCLUDE_DIR}")
 
   include_directories(
+    include
+    ${CMAKE_CURRENT_BINARY_DIR}/include
     ${EIGEN_INCLUDE_DIR}
-    src/mynteye/api/camodocal/include
+    src/mynteye/api/camera_models
   )
 
-  add_library(camodocal STATIC
+  add_library(camera_models STATIC
-    src/mynteye/api/camodocal/src/camera_models/Camera.cc
+    src/mynteye/api/camera_models/camera.cc
-    src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc
+    src/mynteye/api/camera_models/equidistant_camera.cc
-    src/mynteye/api/camodocal/src/gpl/gpl.cc
+    src/mynteye/api/camera_models/gpl.cc
   )
+
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
 endif()
 
@@ -215,7 +218,6 @@ if(WITH_API)
     src/mynteye/api/processor/points_processor_ocv.cc
     src/mynteye/api/processor/depth_processor_ocv.cc
     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
@@ -252,7 +254,7 @@ if(OS_MAC)
   target_link_libraries(${MYNTEYE_NAME} PUBLIC ${OSX_EXTRA_LIBS} )
 endif()
 if(WITH_CAM_MODELS)
-  target_link_libraries(${MYNTEYE_NAME} PRIVATE camodocal)
+  target_link_libraries(${MYNTEYE_NAME} PRIVATE camera_models)
 endif()
 target_link_threads(${MYNTEYE_NAME})
 

Jenkinsfile

@@ -16,7 +16,10 @@ pipeline {
       steps {
         echo "WORKSPACE: ${env.WORKSPACE}"
         echo 'apt-get ..'
-        sh 'apt-get update'
+        sh '''
+			apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+			apt-get update
+		'''
       }
     }
     stage('Init') {
@@ -39,12 +42,7 @@ pipeline {
         sh '. /opt/ros/kinetic/setup.sh; make install SUDO='
       }
     }
-    stage('Test') {
+
-      steps {
-        echo 'make test ..'
-        sh '. /opt/ros/kinetic/setup.sh; make test SUDO='
-      }
-    }
     stage('Samples') {
       steps {
         echo 'make samples ..'
@@ -82,22 +80,36 @@ pipeline {
   post {
     always {
       echo 'This will always run'
+	  /*
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
+                    imageUrl: 'http://icon-park.com/imagefiles/loading7_gray.gif',
+                    message: '开始构建',
+                    jenkinsUrl: "${JENKINS_URL}"
+					*/
+
     }
     success {
       echo 'This will run only if successful'
+	  /*
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
+                    imageUrl: 'http://icons.iconarchive.com/icons/paomedia/small-n-flat/1024/sign-check-icon.png',
+                    message: '构建成功',
+                    jenkinsUrl: "${JENKINS_URL}"
+*/
     }
     failure {
       echo 'This will run only if failed'
-      mail to: 'mynteye-ci@slightech.com',
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
-      subject: "Failed Pipeline: ${currentBuild.fullDisplayName}",
+                    imageUrl: 'http://www.iconsdb.com/icons/preview/soylent-red/x-mark-3-xxl.png',
-      body: "Something is wrong with ${env.BUILD_URL}"
+                    message: '构建失败',
+                    jenkinsUrl: "${JENKINS_URL}"
     }
     unstable {
       echo 'This will run only if the run was marked as unstable'
     }
     changed {
       echo 'This will run only if the state of the Pipeline has changed'
-      echo 'For example, if the Pipeline was previously failing but is now successful'
+      echo 'For example, if the Pipeline was previously failing but is now successful11'
     }
   }
 }

Makefile

@@ -25,16 +25,11 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 # Options
 #
 #   SUDO: sudo command
-#   CAM_MODELS: cmake build with -DWITH_CAM_MODELS=ON
 #
 # e.g. make [TARGET] SUDO=
-# e.g. make [TARGET] CAM_MODELS=1
 
 SUDO ?= sudo
-
+CMAKE_BUILD_EXTRA_OPTIONS ?=
-CAM_MODELS ?=
-
-CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
 
 .DEFAULT_GOAL := all
 
@@ -48,7 +43,6 @@ help:
 	@echo "  make install         install project"
 	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
-	@echo "  make tools           build tools"
 	@echo "  make pkg             package sdk"
 	@echo "  make ros             build ros wrapper"
 	@echo "  make py              build python wrapper"
@@ -56,7 +50,7 @@ help:
 
 .PHONY: help
 
-all: init samples tools ros
+all: init samples ros
 
 .PHONY: all
 
@@ -164,20 +158,6 @@ samples: install
 
 .PHONY: samples
 
-# tools
-
-tools: install
-	@$(call echo,Make $@)
-ifeq ($(HOST_OS),Mac)
-	$(error "Can't make tools on $(HOST_OS)")
-else
-	@$(call cmake_build,./tools/_build)
-endif
-
-
-
-.PHONY: tools
-
 # pkg
 
 pkg: clean
@@ -267,8 +247,6 @@ clean:
 	@$(call rm,./_install/)
 	@$(call rm,./samples/_build/)
 	@$(call rm,./samples/_output/)
-	@$(call rm,./tools/_build/)
-	@$(call rm,./tools/_output/)
 	@$(call rm,./test/_build/)
 	@$(call rm,./test/_output/)
 	@$(MAKE) cleanlog

README.md

@@ -1,6 +1,6 @@
 # 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)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.4.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
@@ -18,7 +18,7 @@ Please follow the guide doc to install the SDK on different platforms.
 
 * [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://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-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/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/pdf/latest/) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk-docs-zh-cn.readthedocs.io/zh_CN/latest/)
 
 > Supported languages: `en`, `zh-Hans`.
 
@@ -53,7 +53,7 @@ Init project, build samples and run someone.
 ```bash
 make init
 make samples
-./samples/_output/bin/device/camera_d
+./samples/_output/bin/camera_with_junior_device_api
 ```
 
 ## Mirrors

cmake/Option.cmake

@@ -23,7 +23,7 @@ include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
 option(WITH_API "Build with API layer, need OpenCV" ON)
 option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
 
-option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" OFF)
+option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" ON)
 
 # 3rdparty components
 

config/disparity_config.yaml

@@ -1,75 +0,0 @@
-%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

docs/Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.3.5
+PROJECT_NUMBER         = 2.4.2
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

docs/api/api.rst

@@ -1,3 +1,5 @@
+.. _api:
+
 API
 ===
 

docs/api/contents.rst

@@ -1,7 +1,5 @@
-.. _api:
+API DOCS
-
+==============
-API DOC
-=========
 
 .. toctree::
 
@@ -9,4 +7,4 @@ API DOC
    device
    enums
    types
-   utils
+   utils

docs/api/device.rst

@@ -1,3 +1,5 @@
+.. _device:
+
 Device
 ======
 

docs/api/enums.rst

@@ -1,3 +1,5 @@
+.. _enums:
+
 Enums
 =====
 

docs/api/types.rst

@@ -1,3 +1,5 @@
+.. _types:
+
 Types
 =====
 

docs/api/utils.rst

@@ -1,3 +1,5 @@
+.. _utils:
+
 Utils
 =====
 

docs/conf.py

@@ -20,11 +20,11 @@
 # -- Project information -----------------------------------------------------
 
 project = 'MYNT® EYE S SDK'
-copyright = '2018, MYNTAI'
+copyright = '2019, MYNTAI'
 author = 'MYNTAI'
 
 # The short X.Y version
-version = '2.3.5'
+version = '2.4.2'
 # The full version, including alpha/beta/rc tags
 release = version
 

docs/index.rst

@@ -7,19 +7,16 @@ MYNT® EYE S SDK
 ===============
 
 .. toctree::
-   :maxdepth: 2
    :titlesonly:
+   :maxdepth: 2
 
-   src/mynteye/contents
+   src/product/contents
    src/sdk/contents
    src/firmware/contents
-   src/data/contents
+   src/tools/contents
-   src/control/contents
-   src/log/contents
-   src/wrapper/contents
-   src/analytics/contents
    src/slam/contents
    api/contents
+   src/support/contents
 
 ..
   Indices and tables

docs/requirements.txt

@@ -1,5 +1,5 @@
-breathe>=4.11.1
+breathe>=4.13
-restructuredtext-lint>=1.1.3
+restructuredtext-lint>=1.3.0
-Sphinx>=1.8.1
+Sphinx>=2.0.1
 sphinx-intl>=0.9.11
-sphinx-rtd-theme>=0.4.2
+sphinx-rtd-theme>=0.4.2

docs/src/analytics/analytics_imu.rst

@@ -1,38 +0,0 @@
-.. _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

@@ -1,55 +0,0 @@
-.. _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

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

docs/src/analytics/dataset.rst

@@ -1,58 +0,0 @@
-.. _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/data/write_img_params.rst

@@ -1,33 +0,0 @@
-.. _write_img_params:
-
-Write image parameters
-=======================
-
-The SDK provides a tool ``img_params_writer`` for writing image parameters. For details, read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
-
-For getting image parameters, please read :ref:`get_img_params`. This is used to calculate the deviation.
-
-Reference commands:
-
-.. code-block:: bash
-
-  ./tools/_output/bin/writer/img_params_writer tools/writer/config/img.params
-
-  # Windows
-  .\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params
-
-.. warning::
-
-  Please don't override parameters, you can use ``save_all_infos`` to backup parameters.
-
-And, `tools/writer/config/S1030/img.params.pinhole <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/tools/writer/config/S1030/img.params.pinhole>`_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices.
-
-.. tip::
-
-  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``
-
-.. tip::
-
-  You can also write into devices with ``SN*.conf`` provided by old SDK.
-

docs/src/data/write_imu_params.rst

@@ -1,23 +0,0 @@
-.. _write_imu_params:
-
-Write IMU parameters
-=====================
-
-SDK provides the tool ``imu_params_writer`` to write IMU parameters. For deltail, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
-
-Information about how to get IMU parameters, please read :ref:`get_imu_params` .
-
-Reference commands:
-
-.. code-block:: bash
-
-  ./tools/_output/bin/writer/imu_params_writer tools/writer/config/imu.params
-
-  # Windows
-  .\tools\_output\bin\writer\imu_params_writer.bat tools\writer\config\imu.params
-
-The path of parameters file can be found in `tools/writer/config/img.params <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/tools/writer/config/img.params>`_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device.
-
-.. warning::
-
-  Please don't override parameters, you can use ``save_all_infos`` to backup parameters.

docs/src/firmware/applicable.rst

@@ -6,6 +6,10 @@ Firmware and SDK compatibility
 ============================ ========================
 S1030 Firmwares                    SDK Version
 ============================ ========================
+MYNTEYE-S1030-2.5.0.img      2.4.0 (2.4.0 ~ latest)
+MYNTEYE_S_2.4.0.img          2.3.4 (2.3.4 ~ 2.3.9)
+MYNTEYE_S_2.3.0.img          2.3.0 (2.2.2-rc1 ~ 2.3.3)
+MYNTEYE_S_2.2.2.img          2.3.0 (2.2.2-rc1 ~ 2.3.0)
 MYNTEYE_S_2.0.0_rc.img       2.0.0-rc (2.0.0-rc ~ 2.0.0-rc2)
 MYNTEYE_S_2.0.0_rc2.img      2.0.0-rc2 (2.0.0-rc ~ 2.0.0-rc2)
 MYNTEYE_S_2.0.0_rc1.img      2.0.0-rc1
@@ -13,18 +17,16 @@ MYNTEYE_S_2.0.0_rc0.img      2.0.0-rc0 (2.0.0-rc1 ~ 2.0.0-alpha1)
 MYNTEYE_S_2.0.0_alpha1.1.img 2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1)
 MYNTEYE_S_2.0.0_alpha1.img   2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1)
 MYNTEYE_S_2.0.0_alpha0.img   2.0.0-alpha0
-MYNTEYE_S_2.2.2.img          2.3.0 (2.2.2-rc1 ~ 2.3.0)
-MYNTEYE_S_2.3.0.img          2.3.0 (2.2.2-rc1 ~ 2.3.3)
-MYNTEYE_S_2.4.0.img          2.3.4 (2.3.4 ~ 2.3.5)
 ============================ ========================
 
-============================ ========================
+============================ ===========================
 S2100 Firmwares                    SDK Version
-============================ ========================
+============================ ===========================
-MYNTEYE_S2100_1.1.img            2.3.4
+MYNTEYE-S21X0-1.4.0.img      2.4.2(2.4.2 ~ latest)
-MYNTEYE_S2100_1.2.img            2.3.5
+MYNTEYE-S2100-1.3.2.img      2.4.0(2.4.0 ~ 2.4.1)
-============================ ========================
+MYNTEYE_S2100_1.2.img        2.3.5(2.3.5 ~ 2.3.9)
-
+MYNTEYE_S2100_1.1.img        2.3.4
+============================ ===========================
 
 .. attention::
   Please CONFIRM your device model and use CORRECT firmware.

docs/src/firmware/contents.rst

@@ -1,11 +1,9 @@
-.. _firmware:
+FIRMWARE
-
-MYNT® EYE Firmware
 ==================
 
 .. toctree::
+   :maxdepth: 2
 
-   applicable
+   fw_info
-   upgrade
+   fw_update
-   stm_update
+   fw_changelog
-   from_v1.rst

docs/src/firmware/fw_changelog.rst

@@ -0,0 +1,38 @@
+Change Log
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+2019-09-09
+-------------------
+
+S21X0 Main Chip Firmware: MYNTEYE-S21X0-1.4.0.img
+
+1. Support 2110 device.
+
+2019-08-09
+-------------------
+
+S1030 Main Chip Firmware: MYNTEYE-S1030-2.5.0.img
+
+1. Optimize the synchronization of image and imu
+2. Not save the camera control parameters
+3. Fix the overexplosion problem at low resolution
+4. Fix USB 2.0 first open failure problem
+5. Add automatic recovery function when updating wrong firmware
+
+S2100 Main Chip Firmware: MYNTEYE-S2100-1.3.2.img
+
+1. Optimize the synchronization of image and imu
+2. Not save the camera control parameters
+3. Optimize IMU low-pass filter default values
+4. Optimize the exposure time calculation method, the maximum exposure time is limited to 66.5ms
+5. Add automatic recovery function when updating wrong firmware
+6. Fix and optimize some other issues
+
+S2100 Auxiliary Chip Firmware: MYNTEYE-S2100-auxiliary-chip-1.4.2.bin
+
+1. Time synchronization adds uart interface, io interruption judgement
+2. Time synchronization i2c interface adds whoami, read timestamp and median filter open state interface
+3. Fix and optimize some other issues

docs/src/firmware/fw_info.rst

@@ -0,0 +1,9 @@
+.. _fw_info:
+
+Firmware Description
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   applicable

docs/src/firmware/fw_update.rst

@@ -0,0 +1,10 @@
+.. _fw_update:
+
+Firmware Update
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   update_main_chip
+   update_auxiliary_chip

docs/src/firmware/stm_update.rst

@@ -1,28 +0,0 @@
-.. _firmware_stm_update:
-
-How to upgrade the auxiliary chip
-==================================
-
-Update auxiliary chip(Only Support S2100/S210A)
------------------------------------------------
-
-* Plug in the MYNT® EYE camera into a USB3.0 port
-
-* Open MYNT EYE TOOL and select ``Options/BoardUpdate`` .
-
-.. image:: ../../images/boardupdate.png
-
-* Click ``StmUpdate`` .
-
-.. image:: ../../images/stmupdate.png
-
-* In the open file selection box, select the firmware ``MYNTEYE-S210x-auxiliary-chip-v1.0.bin``  and start upgrading.
-
-* Once the upgrade is complete, it will display update finished.
-
-.. image:: ../../images/stmsuccess.png
-
-
-
-
-

docs/src/firmware/update_auxiliary_chip.rst

@@ -0,0 +1,23 @@
+.. _fw_update_auxiliary_chip:
+
+Update Auxiliary Chip Firmware
+==================================
+
+Update auxiliary chip (Only Support S21XX)
+------------------------------------------------
+
+* Plug in the MYNT® EYE camera into a USB3.0 port
+
+* Open MYNT EYE TOOL and select ``Options/BoardUpdate`` .
+
+.. image:: ../../images/firmware/boardupdate.png
+
+* Click ``StmUpdate`` .
+
+.. image:: ../../images/firmware/stmupdate.png
+
+* In the open file selection box, select the firmware ``MYNTEYE-S2100-auxiliary-chip-1.4.2.bin`` and start upgrading.
+
+* Once the upgrade is complete, it will display update finished.
+
+.. image:: ../../images/firmware/stmsuccess.png

docs/src/firmware/update_main_chip.rst

@@ -1,34 +1,30 @@
-.. _firmware_upgrade:
+.. _fw_update_main_chip:
 
-How to upgrade the firmware
+Update Main Chip Firmware
-============================
+====================================
 
-Please use the MYNT EYE TOOL to upgrade the firmware.
+Please use the MYNT EYE TOOL to update main processing chip.
 
-You can download the firmware and MYNT EYE TOOL installation package in the ``Firmwares`` folder of `MYNTEYE_BOX(Download Link) <http://www.myntai.com/mynteye/s/download>`_ . The file structure is as follows:
+You can download the firmware and MYNT EYE TOOL installation package in the ``Firmwares`` folder of `MYNTEYE_BOX(Download Link) <http://doc.myntai.com/mynteye/s/download>`_ . The file structure is as follows:
 
 .. code-block:: none
 
   Firmwares/
-  ├─Checksum.txt                 # file checksum
+  ├─Checksum.txt             # File checksum
-  ├─MYNTEYE_S_2.4.0.img          # S1030 firmware
+  ├─MYNTEYE-S1030-2.5.0.img  # S1030 firmware
-  ├─MYNTEYE_S2100_1.2.img        # S2100 firmware
+  ├─MYNTEYE-S21x0-1.4.0.img  # S21X0 firmware
   ├─...
-  └─setup.zip                    # MYNTEYE TOOL zip
+  └─mynt-eye-tool-setup.zip  # MYNT EYE TOOL zip
 
 The firmware upgrade program currently only supports Windows, so you need to operate under Windows. Proceed as follows:
 
 Download preparation
 ---------------------
 
-* Download and unzip ``setup.zip``
+* Download and unzip ``mynt-eye-tool-setup.zip``
-* Find firmware, such as ``MYNTEYE_S_2.4.0.img``
+* Find firmware, such as ``MYNTEYE-S1030-2.5.0.img``
 
   * Please refer to :ref:`firmware_applicable` to select the firmware suitable for the SDK version
-  * Please refer to ``Checksum.txt`` to find the firmware check code as follows:
-
-    * Run the command in CMD ``certutil -hashfile <*.img> MD5`` .
-    * If the check code is incorrect, it means that the download went wrong. Please download it again!
 
 Install MYNT EYE TOOL
 ---------------------
@@ -42,11 +38,11 @@ Update Firmware
 
 * Open MYNT EYE TOOL and select ``Options/FirmwareUpdate`` .
 
-.. image:: ../../images/firmware_update_option.png
+.. image:: ../../images/firmware/firmware_update_option.png
 
 * Click ``Update`` .
 
-.. image:: ../../images/firmware_update.png
+.. image:: ../../images/firmware/firmware_update.png
    :width: 60%
 
 * A warning dialog box will pop up, click ``yes`` .
@@ -56,19 +52,19 @@ Update Firmware
     * Usually, the MYNT EYE TOOL automatically installs the driver during the upgrade process.
     * If the upgrade fails, refer to README.
 
-.. image:: ../../images/firmware_update_warning.png
+.. image:: ../../images/firmware/firmware_update_warning.png
    :width: 60%
 
-.. image:: ../../images/firmware_update_dir.png
+.. image:: ../../images/firmware/firmware_update_dir.png
    :width: 60%
 
 * In the open file selection box, select the firmware you want to upgrade and start upgrading.
 
-.. image:: ../../images/firmware_update_select.png
+.. image:: ../../images/firmware/firmware_update_select.png
 
 * Once the upgrade is complete, the status will changes to ``Succeeded``.
 
-.. image:: ../../images/firmware_update_success.png
+.. image:: ../../images/firmware/firmware_update_success.png
    :width: 60%
 
 * Close the MYNT EYE TOOL，finish.
@@ -85,13 +81,13 @@ Manually update drivers
 
 * Open device manager, locate ``WestBridge_driver`` device, and right click Update Driver,select ``[application directory]WestBridge_driver\\[corresponding system folders](If it is more than win7, choose wlh)\\[system bits]`` .
 
-.. image:: ../../images/firmware_update_westbridge.png
+.. image:: ../../images/firmware/firmware_update_westbridge.png
 
 * For example,if it is the win10 64 bit system computer,and the application is installed under the default path,you should select ``C:\Program Files (x86)\slightech\MYNT EYE TOOL 2.0\WestBridge_driver\wlh\x64``.
 
 * After the installation driver is successful, you can find the ``Cypress USB BootLoader`` device in the device manager.
 
-.. image:: ../../images/firmware_update_cypressUSB.png
+.. image:: ../../images/firmware/firmware_update_cypressUSB.png
 
 * Then plug in the camera and open the application again to update.
 
@@ -101,5 +97,5 @@ Manually update drivers
 
 .. ::
 
-  .. image:: ../../images/firmware_update_driver.png
+  .. image:: ../../images/firmware/firmware_update_driver.png
-  .. image:: ../../images/firmware_update_driver_install.png
+  .. image:: ../../images/firmware/firmware_update_driver_install.png

docs/src/mynteye/contents.rst

@@ -1,14 +0,0 @@
-.. _mynteye:
-
-MYNT® EYE product introduction
-==============================
-
-.. toctree::
-
-   intro
-   surface_s1030
-   imu_coord_s1030
-   spec_s1030
-   surface_s2100
-   imu_coord_s2100
-   spec_s2100

docs/src/mynteye/imu_coord_s2100.rst

@@ -1,8 +0,0 @@
-.. _mynteye_imu_coord_s2100:
-
-MYNTEYE-S2100 IMU coordinata system
-====================================
-
-IMU coordinate system is right-handed,the axis directions are as follows:
-
-.. image:: ../../images/mynteye_avatar_imu_coord.jpg

docs/src/mynteye/spec_s1030.rst

@@ -1,87 +0,0 @@
-.. _mynteye_spec_s1030:
-
-S1030-IR-120/Mono Product Specification
-=========================================
-
-Product Specification:
------------------------
-
-
-==========================  =======================================
-  Model                        S1030-IR-120/Mono
---------------------------  ---------------------------------------
-  Size                         PCB dimension:149x24mm,
-                               Total dimension:165x31.5x29.6mm
---------------------------  ---------------------------------------
-  Frame Rate                   10/15/20/25/30/35/40/45/50/55/60FPS
---------------------------  ---------------------------------------
-  Resolution                    752*480,376*240
---------------------------  ---------------------------------------
-  Depth Resolution             Base on CPU/GPU Up to  752*480@60FPS
---------------------------  ---------------------------------------
-  Pixel Size                    6.0*6.0μm
---------------------------  ---------------------------------------
-  Baseline                      120.0mm
---------------------------  ---------------------------------------
-  Camera Lens                    Replacable Standard M12
---------------------------  ---------------------------------------
-  Visual Angle                     D:146° H:122° V:76°
---------------------------  ---------------------------------------
-  Focal Length                      2.1mm
---------------------------  ---------------------------------------
-  IR Support                       Yes
---------------------------  ---------------------------------------
-  IR detectable range           3m
---------------------------  ---------------------------------------
-  Color Mode                     Monochrome
---------------------------  ---------------------------------------
-  Working Distance                 0.7-2m
---------------------------  ---------------------------------------
-  Scanning Mode                    Global Shutter
---------------------------  ---------------------------------------
-  Power                        1~2.7W@5V DC from USB
---------------------------  ---------------------------------------
-  Output data format             Raw data
---------------------------  ---------------------------------------
-  Data transfer Interface       USB3.0
---------------------------  ---------------------------------------
-  Weight                        184g
---------------------------  ---------------------------------------
-  UVC MODE                      Yes
-==========================  =======================================
-
-
-
-Work Environment
------------------
-
-
-=========================  ================
-  Operating Temperature            50°C
--------------------------  ----------------
-  Storage Temperature             -20°C
-=========================  ================
-
-
-Package:
----------
-
-===================  =======================================
-  Package Contents      MYNT EYE x1   USB Micro-B Cable x1
-===================  =======================================
-
-Warranty：
-----------
-
-====================  ============================================
-  Product Warranty     12 Months Limited Manufacturer's Warranty
-====================  ============================================
-
-Accuracy
----------
-
-============================  ============================================
-  Depth Distance Deviation            Less than 4%
-============================  ============================================
-
-

docs/src/product/contents.rst

@@ -0,0 +1,10 @@
+PRODUCT
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   product_desc
+   product_surface
+   product_spec
+   imu_coord

docs/src/product/imu_coord.rst

@@ -0,0 +1,11 @@
+.. _product_imu_coord:
+
+IMU Coordinate System
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   imu_coord_s1030
+   imu_coord_s2100
+   imu_coord_s2110

docs/src/product/imu_coord_s1030.rst

@@ -1,8 +1,8 @@
-.. _mynteye_imu_coord_s1030:
+.. _product_imu_coord_s1030:
 
-MYNTEYE-S1030 IMU coordinata system
+S1030 Coordinate System
 ====================================
 
 IMU coordinate system is right-handed,the axis directions are as follows:
 
-.. image:: ../../images/mynteye_imu_coord.jpg
+.. image:: ../../images/product/mynteye_imu_coord.jpg

docs/src/product/imu_coord_s2100.rst

@@ -0,0 +1,8 @@
+.. _product_imu_coord_s2100:
+
+S2100 Coordinate System
+====================================
+
+IMU coordinate system is right-handed,the axis directions are as follows:
+
+.. image:: ../../images/product/mynteye_s2_imu_coord.jpg

docs/src/product/imu_coord_s2110.rst

@@ -0,0 +1,8 @@
+.. _product_imu_coord_s2110:
+
+S2110 Coordinate System
+====================================
+
+IMU coordinate system is right-handed,the axis directions are as follows:
+
+.. image:: ../../images/product/mynteye_s2110_imu_coord.jpg

docs/src/product/product_desc.rst

@@ -1,11 +1,11 @@
-.. _mynteye_intro:
+.. _product_desc:
 
-Product description
+Product Description
 ====================
 
 MYNT® EYE S Series includes MYNT EYE S, MYNT EYE SE and MYNT EYE SC. The “Binocular + IMU” inertial navigation solution for MYNT® EYE S Series provides accurate six-axis complementary data for vSLAM applications and is more accurate and robust than other single solutions.
 
-Combined with self-developed camera synchronization, auto exposure, and white balance control camera technology, MYNT® EYE S Series provides a CUDA-based GPU real-time acceleration solution that outputs high-precision, synchronized image sources to help reduce the difficulty of algorithm development and speed up the efficiency of algorithm research and development. At the same time, MYNT EYE S is equipped with a six-axis sensor (IMU) and an infrared active light (IR). Among them, six-axis sensor (IMU) can provide data complementation and correction for the research of visual positioning algorithm, suitable for algorithm research of visual inertial odometer (VIO), help improve positioning accuracy; infrared active light (IR) can help solve the problem of identifying indoor white walls and non-textured objects, and improve the recognition accuracy of image sources. The difference between MYNT EYE SE and MYNT EYE S is that MYNT EYE SE does not include IR and offers customers with lower cost hardware. MYNT EYE SC provides 8cm/12cm optional baseline solution, super wide angle 146°FOV, providing a wider depth recognition range and accuracy level, with color image sensor, upgraded brand new BMI088 six-axis IMU, IR active light, I2C time synchronization Chip, global shutter, etc., with resolutions up to 1280x800/60fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation.
+Combined with self-developed camera synchronization, auto exposure, and white balance control camera technology, MYNT® EYE S Series provides a CUDA-based GPU real-time acceleration solution that outputs high-precision, synchronized image sources to help reduce the difficulty of algorithm development and speed up the efficiency of algorithm research and development. At the same time, MYNT EYE S is equipped with a six-axis sensor (IMU) and an infrared active light (IR). Among them, six-axis sensor (IMU) can provide data complementation and correction for the research of visual positioning algorithm, suitable for algorithm research of visual inertial odometer (VIO), help improve positioning accuracy; infrared active light (IR) can help solve the problem of identifying indoor white walls and non-textured objects, and improve the recognition accuracy of image sources. The difference between MYNT EYE SE and MYNT EYE S is that MYNT EYE SE does not include IR and offers customers with lower cost hardware. MYNT EYE SC provides 8cm/12cm optional baseline solution, super wide angle 146°FOV, providing a wider depth recognition range and accuracy level, with color image sensor, upgraded brand new BMI088 six-axis IMU, IR active light, I2C time synchronization Chip, global shutter, etc., with resolutions up to 2560x800\@30fps and accuracy is up to centimeters. In addition, MYNT EYE S Series also provides a rich SDK interface and VSLAM open source project support, which can help customers quickly integrate solutions, accelerate the product development process, and achieve rapid productization and implementation.
 
 As a hardware product for research and development of stereo vision computing applications, MYNT® EYE S Series can be widely used in a field of visual positioning navigation (vSLAM), including visual real-time positioning navigation system of driverless vehicle and robots, visual positioning system of UAV, obstacle avoidance navigation system for driverless Vehicle, Augmented Reality (AR), Virtual Reality (VR), etc. At the same time, it can be used in a field of visual recognition, including Stereoscopic face recognition, three-dimensional object recognition, space motion tracking, three-dimensional gestures, and somatosensory recognition. And of course, you can use it for measurement which includes assisted driving system (ADAS), binocular volume calculation, industrial visual screening, etc. At present, MYNTAI has carried out service and cooperation with more than 500 domestic and foreign enterprise clients.
 

docs/src/product/product_spec.rst

@@ -0,0 +1,12 @@
+.. _product_spec:
+
+Product Specification
+==============================
+
+.. toctree::
+   :maxdepth: 2
+
+   spec_s1030
+   spec_s1030_ir
+   spec_s2100
+   spec_s2110

docs/src/product/product_surface.rst

@@ -0,0 +1,11 @@
+.. _product_surface:
+
+Product Surface
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   surface_s1030
+   surface_s2100
+   surface_s2110

docs/src/product/spec_s1030.rst

@@ -0,0 +1,106 @@
+.. _mynteye_spec_s1030:
+
+S1030-120/Mono Product Specification
+=========================================
+
+Product Specification
+-----------------------
+
+
+==========================  =======================================
+  Model                       S1030-120/Mono
+--------------------------  ---------------------------------------
+  Size                        165x31.5x31.23mm
+--------------------------  ---------------------------------------
+  Frame Rate                  10/15/20/25/30/35/40/45/50/55/60FPS
+--------------------------  ---------------------------------------
+  Resolution                  752*480; 376*240
+--------------------------  ---------------------------------------
+  Depth Resolution           Based on CPU/GPU Up to  752*480\@60FPS
+--------------------------  ---------------------------------------
+  Pixel Size                  6.0*6.0μm
+--------------------------  ---------------------------------------
+  Baseline                    120.0mm
+--------------------------  ---------------------------------------
+  Visual Angle                D:146° H:122° V:76°
+--------------------------  ---------------------------------------
+  Focal Length                2.1mm
+--------------------------  ---------------------------------------
+  Filter                     Dual Pass Filter
+--------------------------  ---------------------------------------
+  IR Support                  No
+--------------------------  ---------------------------------------
+  IR detectable range         \-
+--------------------------  ---------------------------------------
+  Color Mode                  Monochrome
+--------------------------  ---------------------------------------
+  Depth Working Distance     0.8-5m+
+--------------------------  ---------------------------------------
+  Scanning Mode               Global Shutter
+--------------------------  ---------------------------------------
+  Power                       1W\@5V DC from USB
+--------------------------  ---------------------------------------
+Synchronization Precision      <1ms (up to 0.05ms)
+--------------------------  ---------------------------------------
+  IMU Frequency                 100/200/250/333/500Hz
+--------------------------  ---------------------------------------
+  Output data format          Raw data
+--------------------------  ---------------------------------------
+  Data transfer Interface     USB3.0
+--------------------------  ---------------------------------------
+  Weight                      160g
+--------------------------  ---------------------------------------
+  UVC MODE                    Yes
+==========================  =======================================
+
+
+
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  ==================================================================================
+
+
+
+Work Environment
+-----------------
+
+
+===========================  ================================
+  Operating Temperature        10°C~50°C
+---------------------------  --------------------------------
+  Storage Temperature          -20°C~60°C
+---------------------------  --------------------------------
+  Humidity                     10% to 90% non-condensing
+===========================  ================================
+
+
+Package
+---------
+
+===================  =======================================
+  Package Contents      MYNT EYE x1   USB Micro-B Cable x1
+===================  =======================================
+
+Warranty
+----------
+
+====================  ============================================
+  Product Warranty     12 Months Limited Manufacturer's Warranty
+====================  ============================================
+
+Accuracy
+---------
+
+============================  ============================================
+  Depth Distance Deviation            Less than 4%
+============================  ============================================
+
+

docs/src/product/spec_s1030_ir.rst

@@ -0,0 +1,108 @@
+.. _mynteye_spec_s1030_ir:
+
+S1030-IR-120/Mono Product Specification
+=========================================
+
+Product Specification
+-----------------------
+
+
+==========================  =======================================
+  Model                       S1030-IR-120/Mono
+--------------------------  ---------------------------------------
+  Size                        165x31.5x31.23mm
+--------------------------  ---------------------------------------
+  Frame Rate                  10/15/20/25/30/35/40/45/50/55/60FPS
+--------------------------  ---------------------------------------
+  Resolution                  752*480; 376*240
+--------------------------  ---------------------------------------
+  Depth Resolution           Based on CPU/GPU Up to  752*480\@60FPS
+--------------------------  ---------------------------------------
+  Pixel Size                  6.0*6.0μm
+--------------------------  ---------------------------------------
+  Baseline                    120.0mm
+--------------------------  ---------------------------------------
+  Camera Lens                 Replacable Standard M12
+--------------------------  ---------------------------------------
+  Visual Angle                D:146° H:122° V:76°
+--------------------------  ---------------------------------------
+  Focal Length                2.1mm
+--------------------------  ---------------------------------------
+  Filter                     Dual Pass Filter
+--------------------------  ---------------------------------------
+  IR Support                  Yes
+--------------------------  ---------------------------------------
+  IR detectable range         Up to 3m
+--------------------------  ---------------------------------------
+  Color Mode                  Monochrome
+--------------------------  ---------------------------------------
+ Depth Working Distance       0.8-5m+
+--------------------------  ---------------------------------------
+  Scanning Mode               Global Shutter
+--------------------------  ---------------------------------------
+  Power                       1~2.7W\@5V DC from USB
+--------------------------  ---------------------------------------
+Synchronization Precision     <1ms (up to 0.05ms)
+--------------------------  ---------------------------------------
+  IMU Frequency                 100/200/250/333/500Hz
+--------------------------  ---------------------------------------
+  Output data format          Raw data
+--------------------------  ---------------------------------------
+  Data transfer Interface     USB3.0
+--------------------------  ---------------------------------------
+  Weight                      184g
+--------------------------  ---------------------------------------
+  UVC MODE                    Yes
+==========================  =======================================
+
+
+
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  ==================================================================================
+
+
+
+Work Environment
+-----------------
+
+
+===========================  ================================
+  Operating Temperature        10°C~50°C
+---------------------------  --------------------------------
+  Storage Temperature          -20°C~60°C
+---------------------------  --------------------------------
+  Humidity                     10% to 90% non-condensing
+===========================  ================================
+
+
+Package
+---------
+
+===================  =======================================
+  Package Contents      MYNT EYE x1   USB Micro-B Cable x1
+===================  =======================================
+
+Warranty
+----------
+
+====================  ============================================
+  Product Warranty     12 Months Limited Manufacturer's Warranty
+====================  ============================================
+
+Accuracy
+---------
+
+============================  ============================================
+  Depth Distance Deviation            Less than 4%
+============================  ============================================
+
+

docs/src/product/spec_s2100.rst

@@ -4,7 +4,7 @@
 S2100-146/Color Product Specification
 ========================================
 
-Product Specification:
+Product Specification
 -----------------------
 
 
@@ -14,31 +14,39 @@ Product Specification:
   Size                         PCB dimension:15x100mm
                                Total dimension:125x47x26.6mm
 --------------------------  -----------------------------------------------------
-  Frame Rate                   1280x400@10/20/30/60fps   2560x800@10/20/30fps
+  Frame Rate                   1280x400\@10/20/30/60fps   2560x800\@10/20/30fps
 --------------------------  -----------------------------------------------------
   Resolution                    1280x400; 2560x800
+--------------------------  -----------------------------------------------------
+  Depth Resolution             Based on CPU/GPU Up to  1280*400\@60FPS
 --------------------------  -----------------------------------------------------
   Pixel Size                    3.0*3.0μm
 --------------------------  -----------------------------------------------------
   Baseline                      80.0mm
---------------------------  -----------------------------------------------------
-  Camera Lens                    Replacable Standard M7
 --------------------------  -----------------------------------------------------
   Visual Angle                     D:141° H:124° V:87°
 --------------------------  -----------------------------------------------------
   Focal Length                      0.95mm
+--------------------------  -----------------------------------------------------
+  IR Support                     No
 --------------------------  -----------------------------------------------------
   Color Mode                     Color
 --------------------------  -----------------------------------------------------
-  Working Distance                0.26-1m
+  Depth Working Distance         0.26-3m+
 --------------------------  -----------------------------------------------------
   Scanning Mode                    Global Shutter
 --------------------------  -----------------------------------------------------
-  Power                        1.1W@5V DC from USB
+  Power                        1.1W\@5V DC from USB
+--------------------------  -----------------------------------------------------
+Synchronization Precision       <1ms (up to 0.02ms)
+--------------------------  -----------------------------------------------------
+  IMU Frequency                 200Hz
 --------------------------  -----------------------------------------------------
   Output data format             YUYV
 --------------------------  -----------------------------------------------------
   Data transfer Interface       USB3.0
+--------------------------  -----------------------------------------------------
+   Time Sync interface          DF50A
 --------------------------  -----------------------------------------------------
   Weight                       62g
 --------------------------  -----------------------------------------------------
@@ -46,26 +54,41 @@ Product Specification:
 ==========================  =====================================================
 
 
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  =================================================================================
+
+
 
 Work Environment
 -----------------
 
 
-=========================  ================
+=========================  ==============================
-  Operating Temperature       -15°C~60°C
+  Operating Temperature       -15°C~55°C
--------------------------  ----------------
+-------------------------  ------------------------------
-  Storage Temperature         -20°C~80°C
+  Storage Temperature         -20°C~75°C
-=========================  ================
+-------------------------  ------------------------------
+  Humidity                    0% to 95% non-condensing
+=========================  ==============================
 
 
-Package:
+Package
 ---------
 
 ===================  =======================================
   Package Contents      MYNT EYE x1   USB Micro-B Cable x1
 ===================  =======================================
 
-Warranty：
+Warranty
 ----------
 
 ====================  ============================================

docs/src/product/spec_s2110.rst

@@ -0,0 +1,105 @@
+.. _mynteye_spec_s2110:
+
+
+S2110-95/Color Product Specification
+========================================
+
+Product Specification
+-----------------------
+
+
+==========================  =====================================================
+  Model                        S2110-95/Color
+--------------------------  -----------------------------------------------------
+  Size                         PCB dimension:17.74x100mm
+                               Total dimension:125x47x26.6mm
+--------------------------  -----------------------------------------------------
+  Frame Rate                   1280x400\@10/20/30/60fps   2560x800\@10/20/30fps
+--------------------------  -----------------------------------------------------
+  Resolution                    1280x400; 2560x800
+--------------------------  -----------------------------------------------------
+  Depth Resolution             Based on CPU/GPU Up to  1280*400\@60FPS
+--------------------------  -----------------------------------------------------
+  Pixel Size                    3.0*3.0μm
+--------------------------  -----------------------------------------------------
+  Baseline                      80.0mm
+--------------------------  -----------------------------------------------------
+  Visual Angle                     D:112° H:95° V:50°
+--------------------------  -----------------------------------------------------
+  Focal Length                      2.63mm
+--------------------------  -----------------------------------------------------
+  IR Support                     No
+--------------------------  -----------------------------------------------------
+  Color Mode                     Color
+--------------------------  -----------------------------------------------------
+  Depth Working Distance         0.60-7m+
+--------------------------  -----------------------------------------------------
+  Scanning Mode                    Global Shutter
+--------------------------  -----------------------------------------------------
+  Power                        1.1W\@5V DC from USB
+--------------------------  -----------------------------------------------------
+Synchronization Precision       <1ms (up to 0.02ms)
+--------------------------  -----------------------------------------------------
+  IMU Frequency                 200Hz
+--------------------------  -----------------------------------------------------
+  Output data format             YUYV
+--------------------------  -----------------------------------------------------
+  Data transfer Interface       USB3.0
+--------------------------  -----------------------------------------------------
+   Time Sync interface          DF50A
+--------------------------  -----------------------------------------------------
+  Weight                       100.8g
+--------------------------  -----------------------------------------------------
+  UVC MODE                      Yes
+==========================  =====================================================
+
+
+Software
+--------
+
+
+================  =================================================================================
+ Support system     Windows 10、Ubuntu 14.04/16.04/18.04、ROS indigo/kinetic/melodic、Android 7.0+
+----------------  ---------------------------------------------------------------------------------
+ SDK                http://www.myntai.com/dev/mynteye
+----------------  ---------------------------------------------------------------------------------
+ Support            ORB_SLAM2、OKVIS、Vins-Mono、Vins-Fusion、VIORB
+================  =================================================================================
+
+
+
+Work Environment
+-----------------
+
+
+=========================  ==============================
+  Operating Temperature       -15°C~55°C
+-------------------------  ------------------------------
+  Storage Temperature         -20°C~75°C
+-------------------------  ------------------------------
+  Humidity                    0% to 95% non-condensing
+=========================  ==============================
+
+
+Package
+---------
+
+===================  =======================================
+  Package Contents      MYNT EYE x1   USB Micro-B Cable x1
+===================  =======================================
+
+Warranty
+----------
+
+====================  ============================================
+  Product Warranty     12 Months Limited Manufacturer's Warranty
+====================  ============================================
+
+Accuracy
+---------
+
+============================  ============================================
+  Depth Distance Deviation            Less than 4%
+============================  ============================================
+
+

docs/src/product/surface_s1030.rst

@@ -1,6 +1,6 @@
 .. _mynteye_surface_s1030:
 
-MYNTEYE-S1030 Size and structure
+S1030 Size and Structure
 =================================
 
 ============= ==============
@@ -9,7 +9,7 @@ Shell(mm)     PCBA board(mm)
 165x31.5x29.6 149x24
 ============= ==============
 
-.. image:: ../../images/mynteye_surface_zh-Hans.jpg
+.. image:: ../../images/product/mynteye_surface_zh-Hans.jpg
 
 A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation.
 B. Infrared structured-light transmitter and outlet: the infrared structured-light can effectively solve the problem associated with the visual positioning calculations of white wall non-textured object(For non-IR version, the outlet is reserved but there is no internal structured-light emitter).

docs/src/product/surface_s2100.rst

@@ -1,6 +1,6 @@
 .. _mynteye_surface_s2100:
 
-MYNTEYE-S2100 Size and structure
+S2100 Size and Structure
 ================================
 
 ============= ==============
@@ -9,7 +9,7 @@ Shell(mm)     PCBA board(mm)
 125x47x40     100x15
 ============= ==============
 
-.. image:: ../../images/mynteye_avatar_surface_zh-Hans.jpg
+.. image:: ../../images/product/mynteye_s2_surface_zh-Hans.jpg
 
 A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation.
 B. USB Micro-B interface and set screw holes: during usage, plug in the USB Micro-B cable and secure it by fastening the set screws to avoid damage to the interface and to ensure stability in connection.

docs/src/product/surface_s2110.rst

@@ -0,0 +1,15 @@
+.. _mynteye_surface_s2110:
+
+S2110 Size and Structure
+================================
+
+============= ==============
+Shell(mm)     PCBA board(mm)
+============= ==============
+125x47x40     100x15
+============= ==============
+
+.. image:: ../../images/product/mynteye_s2_surface_zh-Hans.jpg
+
+A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation.
+B. USB Micro-B interface and set screw holes: during usage, plug in the USB Micro-B cable and secure it by fastening the set screws to avoid damage to the interface and to ensure stability in connection.

docs/src/sdk/changelog.rst

@@ -1,41 +0,0 @@
-.. _sdk_changelog:
-
-Changelog
-=========
-
-2019-04-01(v2.3.5)
--------------------
-
-1. Improve camera info.
-
-2. Modify SGBM/BM parameters by yaml file.
-
-3. Add opening multi devices launch file in ROS.
-
-4. Add setting IIC address API of S210A.
-
-5. Add image/imu flag of external time source.
-
-6. Add LaserScan sample for S1030.
-
-7. Modify default orientation of point in ROS.
-
-
-
-2019-03-18(v2.3.4)
--------------------
-
-
-1. Add API to get subsidiary chip&ISP's version(Depend on S2100/S210A 1.1 firmware & 1.0 subsidiary chip firmware).
-
-2. Fix point fragment issue in BM algorithm.
-
-3. Add 376*240 resolution support to S1030(Depend on 2.4.0 firmware of S1030).
-
-4. Add API to handle imu temperature drift.(Depend on imu calibration)
-
-5. Add version check feature.
-
-6. Fix depth image crash issue when use CUDA plugin.
-
-7. Documents update.

docs/src/sdk/contents.rst

@@ -1,16 +1,12 @@
-.. _sdk:
+SDK
-
+==================
-MYNT® EYE SDK
-=============
 
 .. toctree::
+   :maxdepth: 5
 
-   changelog
+   sdk_info
-   platform
+   sdk_install
-   ppa_install_ubuntu
+   data/contents
-   exe_install_windows
+   control/contents
-   source_install_ubuntu
+   project/contents
-   source_install_windows
+   sdk_changelog
-   install_macos
-   install_ros
-   without_opencv

docs/src/sdk/control/auto_exposure.rst

@@ -13,7 +13,7 @@ For mynteye s1030, the settings available for adjustment during auto exposure ar
 * ``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:
+For mynteye s21XX, the settings available for adjustment during auto exposure are:
 
 * ``Option::MAX_GAIN`` Maximum gain.
 * ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time.
@@ -45,7 +45,7 @@ s1030：
   LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
             << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
 
-s2100/s210a：
+s21XX：
 
 .. code-block:: c++
 
@@ -86,7 +86,7 @@ s1030：
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_auto_exposure
+  $ ./samples/_output/bin/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
@@ -97,11 +97,11 @@ s1030：
   I0513 14:07:58.521375 31845 auto_exposure.cc:41] Set DESIRED_BRIGHTNESS to 192
 
 
-s2100/s210a：
+s21XX：
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_auto_exposure 
+  $ ./samples/_output/bin/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
@@ -126,4 +126,4 @@ s2100/s210a：
 
 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>`_ .
+Complete code examples, see `ctrl_auto_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_auto_exposure.cc>`_ .

docs/src/sdk/control/contents.rst

@@ -1,6 +1,6 @@
 .. _ctrl:
 
-MYNT® EYE Control
+SDK Control Samples
 =================
 
 .. toctree::
@@ -11,4 +11,4 @@ MYNT® EYE Control
    manual_exposure
    infrared
    imu_low_pass_filter
-   iic_address
+   iic_address

docs/src/sdk/control/framerate.rst

@@ -12,7 +12,7 @@ For mynteye s1030, to set the image frame rate and IMU frequency, set ``Option::
   * 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:
+For mynteye s21XX, the image frame rate should be selected when running the sample, and the frame rate and resolution are combined as follows:
 
 .. code-block:: bash
 
@@ -45,7 +45,7 @@ s1030：
   LOG(INFO) << "Set IMU_FREQUENCY to "
             << api->GetOptionValue(Option::IMU_FREQUENCY);
 
-s2100/s210a：
+s21XX：
 
 .. code-block:: c++
 
@@ -67,7 +67,7 @@ s1030：
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_framerate
+  $ ./samples/_output/bin/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
@@ -78,11 +78,11 @@ s1030：
   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：
+s21XX：
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_framerate 
+  $ ./samples/_output/bin/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
@@ -105,4 +105,4 @@ s2100/s210a：
 
 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>`_ .
+Complete code samples，please see `ctrl_framerate.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_framerate.cc>`_ .

docs/src/sdk/control/iic_address.rst

@@ -9,11 +9,11 @@ To set the IIC address, set ``Option::IIC_ADDRESS_SETTING``.
 
 
 .. Attention::
-  Only support S210A
+  Only support S21XX
 
 Reference Code:
 
-s210a：
+s2XX：
 
 .. code-block:: c++
 
@@ -24,7 +24,7 @@ s210a：
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
   Model model = api->GetModel();
-  if (model == Model::STANDARD210A) {
+  if (model == Model::STANDARD210A || model == Model::STANDARD2) {
     api->SetOptionValue(Option::IIC_ADDRESS_SETTING, 0x31);
     LOG(INFO) << "Set iic address to " << std::hex << "0x"
               << api->GetOptionValue(Option::IIC_ADDRESS_SETTING);
@@ -33,11 +33,11 @@ s210a：
 
 Reference running results on Linux:
 
-s210a：
+s21XX：
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_iic_adress
+  $ ./samples/_output/bin/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
@@ -55,4 +55,4 @@ s210a：
   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>`_.
+Complete code samples，please see `ctrl_iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_iic_address.cc>`_ .

docs/src/sdk/control/imu_low_pass_filter.rst

@@ -37,7 +37,7 @@ Reference running results on Linux:
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_imu_low_pass_filter 
+  $ ./samples/_output/bin/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
@@ -60,4 +60,4 @@ Reference running results on Linux:
 
 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>`_ 。
+Complete code samples，please see `ctrl_imu_low_pass_filter.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_imu_low_pass_filter.cc>`_ 。

docs/src/sdk/control/imu_range.rst

@@ -13,9 +13,9 @@ To set the range of accelerometer and gyroscope, set ``Option::ACCELEROMETER_RAN
   * 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:
+  For mynteye s21XX, the available settings are:
   
-  * The effective range of accelerometer(unit:g): 6, 12, 24, 32.
+  * The effective range of accelerometer(unit:g): 6, 12, 24, 48.
   * The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000.
 
 Reference Code:
@@ -38,7 +38,7 @@ s1030：
   LOG(INFO) << "Set GYROSCOPE_RANGE to "
             << api->GetOptionValue(Option::GYROSCOPE_RANGE);
 
-s2100/s210a：
+s21XX：
 
 .. code-block:: c++
 
@@ -50,7 +50,7 @@ s2100/s210a：
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
-  // ACCELEROMETER_RANGE values: 6, 12, 24, 32
+  // ACCELEROMETER_RANGE values: 6, 12, 24, 48
   api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
   // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
   api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
@@ -67,7 +67,7 @@ s1030：
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_imu_range
+  $ ./samples/_output/bin/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
@@ -78,11 +78,11 @@ s1030：
   I/imu_range.cc:84 Img count: 363, fps: 25.0967
   I/imu_range.cc:86 Imu count: 2825, hz: 195.312
 
-s2100/s210a：
+s21XX：
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_imu_range 
+  $ ./samples/_output/bin/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
@@ -105,4 +105,4 @@ s2100/s210a：
 
 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>`_.
+Complete code samples，please see `ctrl_imu_range.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_imu_range.cc>`_.

docs/src/sdk/control/infrared.rst

@@ -8,7 +8,7 @@ Using the ``SetOptionValue()`` function of the API, you can set various control
 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.
+  * mynteye s21XX doesn't support this feature.
 
 Reference Code:
 
@@ -33,7 +33,7 @@ Reference running results on Linux:
 
 .. code-block:: bash
 
-  $ ./samples/_output/bin/tutorials/ctrl_infrared
+  $ ./samples/_output/bin/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
@@ -44,11 +44,11 @@ Reference running results on Linux:
 
 At this point, if the image is displayed, you can see IR speckle on the image, as below:
 
-.. image:: ../../images/ir.png
+.. image:: ../../../images/sdk/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.
+  The hardware will not record the IR value after being turned off and will reset to 0. 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>`_ .
+Complete code samples，see `ctrl_infrared.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_infrared.cc>`_ .