docs(*): update docs v2.3.8

fix(imu params default): value default fix. 3
fix(imu params default): value default fix. 2
2019-05-22 11:18:25 +08:00 · 2019-05-21 18:11:36 +08:00 · 2019-05-21 18:09:37 +08:00 · 2019-05-21 17:55:02 +08:00 · 2019-05-21 17:38:35 +08:00 · 2019-05-21 17:25:48 +08:00
43 changed files with 9892 additions and 436 deletions
--- a/3rdparty/easyloggingpp/.gitignore
+++ b/3rdparty/easyloggingpp/.gitignore
@@ -0,0 +1,7 @@
+build-*
+*.pro.user
+.DS_Store
+release.info
+bin/*
+logs/*
+experiments/*
--- a/3rdparty/easyloggingpp/CMakeLists.txt
+++ b/3rdparty/easyloggingpp/CMakeLists.txt
--- a/3rdparty/easyloggingpp/LICENSE
+++ b/3rdparty/easyloggingpp/LICENSE
@@ -0,0 +1,25 @@
+The MIT License (MIT)
+
+Copyright (c) 2012-2018 Zuhd Web Services
+Copyright (c) 2012-2018 @abumusamq
+
+https://github.com/zuhd-org/
+https://zuhd.org
+https://muflihun.com
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
--- a/3rdparty/easyloggingpp/README.md
+++ b/3rdparty/easyloggingpp/README.md
--- a/3rdparty/easyloggingpp/src/easylogging++.cc
+++ b/3rdparty/easyloggingpp/src/easylogging++.cc
--- a/3rdparty/easyloggingpp/src/easylogging++.h
+++ b/3rdparty/easyloggingpp/src/easylogging++.h
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@

 cmake_minimum_required(VERSION 3.0)

-project(mynteye VERSION 2.3.6 LANGUAGES C CXX)
+project(mynteye VERSION 2.3.8 LANGUAGES C CXX)

 include(cmake/Common.cmake)

--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK

-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.6-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.8-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)

 ## Overview

--- a/docs/Doxyfile
+++ b/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         = 2.3.8

 # 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
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -24,7 +24,7 @@ copyright = '2018, MYNTAI'
 author = 'MYNTAI'

 # The short X.Y version
-version = '2.3.6'
+version = '2.3.8'
 # The full version, including alpha/beta/rc tags
 release = version

--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1,5 +1,5 @@
-breathe>=4.11.1
-restructuredtext-lint>=1.1.3
-Sphinx>=1.8.1
+breathe>=4.13
+restructuredtext-lint>=1.3.0
+Sphinx>=2.0.1
 sphinx-intl>=0.9.11
 sphinx-rtd-theme>=0.4.2
--- a/docs/src/control/imu_range.rst
+++ b/docs/src/control/imu_range.rst
@@ -15,7 +15,7 @@ To set the range of accelerometer and gyroscope, set ``Option::ACCELEROMETER_RAN

  For mynteye s2100/s210a, 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:
@@ -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);
--- a/docs/src/firmware/auxiliary_chip_update.rst
+++ b/docs/src/firmware/auxiliary_chip_update.rst
@@ -1,6 +1,6 @@
 .. _firmware_stm_update:

-How to upgrade the auxiliary chip
+How to update the Auxiliary Chip
 ==================================

 Update auxiliary chip(Only Support S2100/S210A)
--- a/docs/src/firmware/upgrade.rst
+++ b/docs/src/firmware/upgrade.rst
@@ -1,9 +1,9 @@
 .. _firmware_upgrade:

-How to upgrade the firmware
-============================
+How to update Main Processing Chip
+====================================

-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:

--- a/docs/src/sdk/changelog.rst
+++ b/docs/src/sdk/changelog.rst
@@ -3,6 +3,18 @@
 Changelog
 =========

+2019-05-20(v2.3.8)
+-------------------
+1. Improve VINS-Fusion supporting
+2. Improve VINS-MONO supporting
+3. Fix left/right rect image order error
+
+2019-04-19(v2.3.7)
+-------------------
+1. Improve VINS-Fusion supporting
+2. Improve ORB-SLAM2 supporting
+
+
 2019-04-15(v2.3.6)
 -------------------

@@ -15,7 +27,7 @@ Changelog

 1. Improve camera info.

-2. Modify SGBM/BM parameters by yaml file.
+2. Modify image algorithm parameters by yaml file.

 3. Add opening multi devices launch file in ROS.

@@ -31,9 +43,9 @@ Changelog
 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).
+1. Add API to get auxiliary chip&ISP's version(Depend on S2100/S210A 1.1 firmware & 1.0 subsidiary chip firmware).

-2. Fix point fragment issue in BM algorithm.
+2. Fix point fragment issue in image algorithm.

 3. Add 376*240 resolution support to S1030(Depend on 2.4.0 firmware of S1030).

--- a/docs/src/sdk/platform.rst
+++ b/docs/src/sdk/platform.rst
@@ -8,7 +8,7 @@ SDK is built on CMake and can be used cross multiple platforms such as "Linux, W
 These are the platforms that can be used:

 * Windows 10
-* Ubuntu 18.04 / 16.04 / 14.04
+* Ubuntu 18.04.1 / 16.04.6 / 14.04.5
 * Jetson TX1/TX2 / Xavier
 * firefly RK3399

--- a/docs/src/slam/contents.rst
+++ b/docs/src/slam/contents.rst
@@ -5,7 +5,6 @@ Open Source project Support

 .. toctree::

-   how_to_use_kalibr
   vins
   vins_fusion
   orb_slam2
--- a/docs/src/slam/how_to_use_kalibr.rst
+++ b/docs/src/slam/how_to_use_kalibr.rst
@@ -1,300 +0,0 @@
-.. _how_to_use_kalibr:
-
-How to calibrate MYNTEYE by kalibr
-===================================
-
-Target
------------
-
-* Calibrate the pose relationship between left and right camera
-
-* Calibrate the pose relationship left camera between and IMU
-
-
-Preparation
------------
-
-* **Install kalibr**:Refer to `kalibr wiki <https://github.com/ethz-asl/kalibr/wiki/installation>`_ and follow the steps to install
-
-* **Calibration board**： kalibr supports ``chessbord`` , ``circlegrid`` , ``aprilgrid`` ,choose ``aprilgrid`` here Calibration board file can be directly `download <https://github.com/ethz-asl/kalibr/wiki/downloads>`_ , Or you can also generate calibration board by Kalibr tool.
-
-.. code-block:: bash
-
-  $ kalibr_create_target_pdf --type 'apriltag' --nx 6 --ny 6 --tsize 0.08 --tspace 0.3
-
-View parameters' meanings by kalibr_create)target_pdf command:
-
-.. code-block:: bash
-
-  $ kalibr_create_target_pdf --h
-  usage:
-      Example Aprilgrid:
-          kalibr_create_target_pdf --type apriltag --nx 6 --ny 6 --tsize 0.08 --tspace 0.3
-      Example Checkerboard:
-          kalibr_create_target_pdf --type checkerboard --nx 6 --ny 6 -csx 0.05 --csy 0.1
-
-
-  Generate PDFs of calibration patterns.
-
-  optional arguments:
-    -h, --help           show this help message and exit
-
-  Output options:
-    output               Output filename
-    --eps                Also output an EPS file
-
-  Generic grid options:
-    --type GRIDTYPE      The grid pattern type. ('apriltag' or 'checkerboard')
-    --nx N_COLS          The number of tags in x direction (default: 6)
-    --ny N_ROWS          The number of tags in y direction (default: 7)
-
-  Apriltag arguments:
-    --tsize TSIZE        The size of one tag [m] (default: 0.08)
-    --tspace TAGSPACING  The space between the tags in fraction of the edge size
-                        [0..1] (default: 0.3)
-    --tfam TAGFAMILIY    Familiy of April tags ['t16h5', 't25h9', 't25h7',
-                        't36h11'] (default: t36h11)
-
-  Checkerboard arguments:
-    --csx CHESSSZX       The size of one chessboard square in x direction [m]
-                        (default: 0.05)
-    --csy CHESSSZY       The size of one chessboard square in y direction [m]
-                        (default: 0.05)
-
-* **Calibrate the intrinsic IMU parameters** ：kalibr requires imu data to be calibrated by intrinsic parameters by default.The intrinsic parameters calibration tool uses `imu-tk <https://github.com/Kyle-ak/imu_tk.git>`_ .
-
-* **Count imu data parameter**：
-    * noise density
-    * bias random walk
-
-Using Allan analyzing tool `imu_utils <https://github.com/gaowenliang/imu_utils>`_, We can get the characteristics of above imu data,and to format the output as ``imu.yaml``
-
-.. code-block:: bash
-
-  #Accelerometers
-  accelerometer_noise_density: 0.02680146180736048   #Noise density (continuous-time)
-  accelerometer_random_walk:   0.0026296086159332804   #Bias random walk
-
-  #Gyroscopes
-  gyroscope_noise_density:     0.008882328296710996   #Noise density (continuous-time)
-  gyroscope_random_walk:       0.00037956578292701033   #Bias random walk
-
-  rostopic:                    /mynteye/imu/data_raw      #the IMU ROS topic
-  update_rate:                 200.0      #Hz (for discretization of the values above)
-
-Calibrate the pose relationship between left and right camera
--------------------------------------------------------------
-
-* Collect calibration images: kalibr supports the collection of the required calibration images through two ways:by ``rosbag`` or collect offline images . Using ``rosbag`` here for convenience,Reference `link <https://github.com/ethz-asl/kalibr/wiki/bag-format>`_ for collecting images.
-* Method of collecting images by ``rosbag`` :fix mynteye camera,move ``aprilgrid`` calibration board in the camera field of view.
-* To increase the calibration time,try to use image acquisition data with lower frame rate,kalibr recommends using ``4Hz`` frame rate,here uses ``10hz`` .
-* MYNTEYE S series camera offers images at least 10Hz,You can use `topic_tools <http://wiki.ros.org/topic_tools/throttle>`_ to modify frequency,because using 10Hz requires more calibration time.
-* Record ``static.bag`` : After fix the mynteye camera,start `wrapper <https://github.com/slightech/MYNT-EYE-S-SDK>`_, record the topic of the left and right images to ``static.bag`` .
-
-.. code-block:: bash
-
-  $ source wrappers/ros/devel/setup.bash
-  $ roslaunch mynt_eye_ros_wrapper display.launch
-  $ cd ~
-  $ mkdir -p bag
-  $ cd bag
-  $ rosbag record -O static_10hz /mynteye/left/image_raw /mynteye/right/image_raw #recommand use 10hz,you can also use topic_tools to publish 4hz.
-
-* kalibr calibration:
-
-.. code-block:: bash
-
-  $ kalibr_calibrate_cameras --target aprilgrid.yaml --bag ~/bag/static_10hz.bag --models pinhole-radtan pinhole-radtan --topics /mynteye/left/image_raw /mynteye/right/image_raw
-
-View parameters' meanings by kalibr_calibrate_cameras command:
-
-.. code-block:: bash
-
-  $ kalibr_calibrate_cameras --h
-
-  Calibrate the intrinsics and extrinsics of a camera system with non-shared
-  overlapping field of view.
-
-  usage:
-    Example usage to calibrate a camera system with two cameras using an aprilgrid.
-
-    cam0: omnidirection model with radial-tangential distortion
-    cam1: pinhole model with equidistant distortion
-
-    kalibr_calibrate_cameras --models omni-radtan pinhole-equi --target aprilgrid.yaml \
-              --bag MYROSBAG.bag --topics /cam0/image_raw /cam1/image_raw
-
-    example aprilgrid.yaml:
-        target_type: 'aprilgrid'
-        tagCols: 6
-        tagRows: 6
-        tagSize: 0.088  #m
-        tagSpacing: 0.3 #percent of tagSize
-
-  optional arguments:
-  -h, --help            show this help message and exit
-  --models MODELS [MODELS ...]
-                        The camera model ['pinhole-radtan', 'pinhole-equi',
-                        'omni-radtan', 'pinhole-fov'] to estimate
-
-  Data source:
-  --bag BAGFILE         The bag file with the data
-  --topics TOPICS [TOPICS ...]
-                        The list of image topics
-  --bag-from-to bag_from_to bag_from_to
-                        Use the bag data starting from up to this time [s]
-
-  Calibration target configuration:
-  --target TARGETYAML   Calibration target configuration as yaml file
-
-  Image synchronization:
-  --approx-sync MAX_DELTA_APPROXSYNC
-                        Time tolerance for approximate image synchronization
-                        [s] (default: 0.02)
-
-  Calibrator settings:
-  --qr-tol QRTOL        The tolerance on the factors of the QR decomposition
-                        (default: 0.02)
-  --mi-tol MITOL        The tolerance on the mutual information for adding an
-                        image. Higher means fewer images will be added. Use -1
-                        to force all images. (default: 0.2)
-  --no-shuffle          Do not shuffle the dataset processing order
-
-  Outlier filtering options:
-  --no-outliers-removal
-                        Disable corner outlier filtering
-  --no-final-filtering  Disable filtering after all views have been processed.
-  --min-views-outlier MINVIEWOUTLIER
-                        Number of raw views to initialize statistics (default:
-                        20)
-  --use-blakezisserman  Enable the Blake-Zisserman m-estimator
-  --plot-outliers       Plot the detect outliers during extraction (this could
-                        be slow)
-
-  Output options:
-  --verbose             Enable (really) verbose output (disables plots)
-  --show-extraction     Show the calibration target extraction. (disables
-                        plots)
-  --plot                Plot during calibration (this could be slow).
-  --dont-show-report    Do not show the report on screen after calibration.
-
-Output the following three files after finish calibration:
-
-  * ``camchain-homezhangsbagstatic_10hz.yaml``
-  * ``report-cam-homezhangsbagstatic_10hz.pdf``
-  * ``results-cam-homezhangsbagstatic_10hz.txt``
-
-.. tip::
-
-  If you use camera parameters in Vins,it would be better to choose the pinhole-equi model or the omni-radtan model.If you use camera parameters in Maplab,please choose pinhole-equi model
-
-Calibrate the pose relationship between camera and IMU coordinate system
-------------------------------------------------------------------------
-
-* **Collect calibration data**：as calibrate the pose relationship of camera,Kalibr supports two ways to collect data,we still use ``rosbag`` here.
-    * Method of collecting image: fix ``apilgrid`` calibration board, move camera
-    * Make sure that the data collected is good:the brightness of the calibration board should be appropriate,too bright or too dark can't guarantee the quality of data,meanwhile do not shake too fast to avoid blurring of the image.
-    * Set the imu publishing frequency to 200Hz,image to 20Hz(recommended by kalibr)
-    * Fully motivate each axis of the imu,for example ,3 actions on each axis,then in the \"8-shaped\" motion
-
-* Record camera and imu as ``dynamic.bag``.
-
-.. code-block:: bash
-
-  $ roslaunch mynt_eye_ros_wrapper display.launch
-  $ cd bag
-  $ rosbag record -O dynamic /mynteye/left/image_raw /mynteye/right/image_raw /mynteye/imu/data_raw #remember set image hz to 20hz, imu hz to 200hz
-
-* kalibr calibration:
-
-.. code-block:: bash
-
-  $ kalibr_calibrate_imu_camera --cam camchain-homezhangsbagstatic_10hz.yaml --target aprilgrid.yaml --imu imu.yaml --time-calibration　--bag ~/bag/dynamic.bag
-
-View the parameters' meanings by kalibr_calibrate_imu_camera command
-
-.. code-block:: bash
-
-  $ kalibr_calibrate_imu_camera --h
-
-  Calibrate the spatial and temporal parameters of an IMU to a camera chain.
-
-  usage:
-      Example usage to calibrate a camera system against an IMU using an aprilgrid
-      with temporal calibration enabled.
-
-      kalibr_calibrate_imu_camera --bag MYROSBAG.bag --cam camchain.yaml --imu imu.yaml \
-              --target aprilgrid.yaml --time-calibration
-
-      camchain.yaml: is the camera-system calibration output of the multiple-camera
-                    calibratin tool (kalibr_calibrate_cameras)
-
-      example aprilgrid.yaml:       |  example imu.yaml: (ADIS16448)
-          target_type: 'aprilgrid'  |      accelerometer_noise_density: 0.006
-          tagCols: 6                |      accelerometer_random_walk: 0.0002
-          tagRows: 6                |      gyroscope_noise_density: 0.0004
-          tagSize: 0.088            |      gyroscope_random_walk: 4.0e-06
-          tagSpacing: 0.3           |      update_rate: 200.0
-
-  optional arguments:
-    -h, --help            show this help message and exit
-
-  Dataset source:
-    --bag BAGFILE         Ros bag file containing image and imu data (rostopics
-                          specified in the yamls)
-    --bag-from-to bag_from_to bag_from_to
-                          Use the bag data starting from up to this time [s]
-    --perform-synchronization
-                          Perform a clock synchronization according to 'Clock
-                          synchronization algorithms for network measurements'
-                          by Zhang et al. (2002).
-
-  Camera system configuration:
-    --cams CHAIN_YAML     Camera system configuration as yaml file
-    --recompute-camera-chain-extrinsics
-                          Recompute the camera chain extrinsics. This option is
-                          exclusively recommended for debugging purposes in
-                          order to identify problems with the camera chain
-                          extrinsics.
-    --reprojection-sigma REPROJECTION_SIGMA
-                          Standard deviation of the distribution of reprojected
-                          corner points [px]. (default: 1.0)
-
-  IMU configuration:
-    --imu IMU_YAMLS [IMU_YAMLS ...]
-                          Yaml files holding the IMU noise parameters. The first
-                          IMU will be the reference IMU.
-    --imu-delay-by-correlation
-                          Estimate the delay between multiple IMUs by
-                          correlation. By default, no temporal calibration
-                          between IMUs will be performed.
-    --imu-models IMU_MODELS [IMU_MODELS ...]
-                          The IMU models to estimate. Currently supported are
-                          'calibrated', 'scale-misalignment' and 'scale-
-                          misalignment-size-effect'.
-
-  Calibration target:
-    --target TARGET_YAML  Calibration target configuration as yaml file
-
-  Optimization options:
-    --time-calibration    Enable the temporal calibration
-    --max-iter MAX_ITER   Max. iterations (default: 30)
-    --recover-covariance  Recover the covariance of the design variables.
-    --timeoffset-padding TIMEOFFSET_PADDING
-                          Maximum range in which the timeoffset may change
-                          during estimation [s] (default: 0.01)
-
-  Output options:
-    --show-extraction     Show the calibration target extraction. (disables
-                          plots)
-    --extraction-stepping
-                          Show each image during calibration target extraction
-                          (disables plots)
-    --verbose             Verbose output (disables plots)
-    --dont-show-report    Do not show the report on screen after calibration.
-
-Output the follwing 4 files after finish calibration:
-  * ``camchain-imucam-homezhangsbagdynamic.yaml``
-  * ``imu-homezhangsbagdynamatic.yaml``
-  * ``report-imucam-homezhangsbagdynamic.pdf``
-  * ``results-imucam-homezhangsbagdynamic.yaml``
--- a/docs/src/slam/orb_slam2.rst
+++ b/docs/src/slam/orb_slam2.rst
@@ -9,41 +9,38 @@ If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:

 1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and follow steps to install.
 2. Follow the normal procedure to install ORB_SLAM2.
-3. Update ``distortion_parameters`` and ``projection_parameters`` to ``<ORB_SLAM2>/config/mynteye_*.yaml``.
-4. Run examples by MYNT® EYE.
+3. Run examples by MYNT® EYE.

-Binocular camera sample
------------------------
-
-* Calibrate a stereo camera with `ROS-StereoCalibration <http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration>`_ or OpenCV, and then update parameters to ``<ORB_SLAM2>/config/mynteye_s_stereo.yaml``.
-
-* Execute ``build.sh``:
+Prerequisites
+--------------

 .. code-block:: bash

-  chmod +x build.sh
-  ./build.sh
-
-* Run stereo sample using the follow type:
-
-.. code-block:: bash
-
-  ./Examples/Stereo/stereo_mynt_s ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
-
+  sudo apt-get -y install libglew-dev cmake
+  cd ~
+  git clone https://github.com/stevenlovegrove/Pangolin.git
+  cd Pangolin
+  mkdir build
+  cd build
+  cmake ..
+  cmake --build .
+  sudo make install

 Building the nodes for mono and stereo (ROS)
 --------------------------------------------

-* Add the path including ``Examples/ROS/ORB_SLAM2`` to the ``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line. Replace ``PATH`` by the folder where you cloned ORB_SLAM2:
+* Add the path including ``Examples/ROS/ORB_SLAM2`` to the ``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line.

 .. code-block:: bash

-  export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
+  export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/MYNT-EYE-ORB-SLAM2-Sample

 * Execute `build_ros.sh`:

 .. code-block:: bash

+  chmod +x build.sh
+  ./build.sh
  chmod +x build_ros.sh
  ./build_ros.sh

@@ -51,8 +48,6 @@ Building the nodes for mono and stereo (ROS)
 Stereo_ROS Example
 ~~~~~~~~~~~~~~~~~~~

-  * Reference ``Get camera calibration parameters`` in :ref:`slam_okvis` to get ``distortion_parameters`` and ``projection_parameters`` , and update ``<ORB_SLAM2>/config/mynteye_s_stereo.yaml`` .
-
  * Launch ORB_SLAM2 ``Stereo_ROS``

 1. Launch mynteye node
@@ -68,4 +63,4 @@ Stereo_ROS Example

 .. code-block:: bash

-  rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
+  rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml false /mynteye/left_rect/image_rect /mynteye/right_rect/image_rect
--- a/docs/src/slam/vins.rst
+++ b/docs/src/slam/vins.rst
@@ -9,8 +9,7 @@ If you wanna run VINS-Mono with MYNT EYE camera, please follow the steps:

 1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and install mynt_eye_ros_wrapper.
 2. Follow the normal procedure to install VINS-Mono.
-3. Update ``distortion_parameters`` and ``projection_parameters`` to `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye/config/mynteye/mynteye_s_config.yaml>`_ .
-4. Run mynt_eye_ros_wrapper and VINS-Mono.
+3. Run mynt_eye_ros_wrapper and VINS-Mono.

 Install ROS Kinetic conveniently (if already installed, please ignore)
 ----------------------------------------------------------------------
@@ -21,35 +20,40 @@ Install ROS Kinetic conveniently (if already installed, please ignore)
  wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
  chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic

+Install Docker
+---------------
+
+.. code-block:: bash
+
+  sudo apt-get update
+  sudo apt-get install \
+      apt-transport-https \
+      ca-certificates \
+      curl \
+      gnupg-agent \
+      software-properties-common
+  curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
+  sudo add-apt-repository \
+     "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
+     $(lsb_release -cs) \
+     stable"
+  sudo apt-get update
+  sudo apt-get install docker-ce docker-ce-cli containerd.io
+
+Then add your account to ``docker`` group by ``sudo usermod -aG docker $YOUR_USER_NAME`` . Relaunch the terminal or logout and re-login if you get ``Permission denied`` error.
+
+To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and virtual memory space is greater than 16G.
+
 Install MYNT-EYE-VINS-Sample
 ------------------------------

 .. code-block:: bash

-  mkdir -p ~/catkin_ws/src
-  cd ~/catkin_ws/src
-  git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-Sample.git
-  cd ..
-  catkin_make
-  source devel/setup.bash
-  echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
-  source ~/.bashrc
+  git clone -b docker_feat https://github.com/slightech/MYNT-EYE-VINS-Sample.git
+  cd MYNT-EYE-VINS-Sample/docker
+  make build

-Get image calibration parameters
---------------------------------
-
-Use MYNT® EYE's left eye camera and IMU. By `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ API ``GetIntrinsics()`` function and ``GetExtrinsics()`` function, you can "get the image calibration parameters of the current working device:
-
-.. code-block:: bash
-
-  cd MYNT-EYE-S-SDK
-  ./samples/_output/bin/tutorials/get_img_params
-
-After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained , and then update to `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye-s/config/mynteye/mynteye_config.yaml>`_ .
-
-.. tip::
-
-  You can get the camera model of device when get camera calibration parameters, if model is equidistant you need calibrate pinhole model by yourself or reference :ref:`write_img_params` to write a default pinhole config file to your device.
+Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result. If you need modify the code, simply run ``./run.sh LAUNCH_FILE_NAME`` after your changes.

 Run VINS-Mono with MYNT® EYE
 -----------------------------
@@ -60,15 +64,12 @@ Run VINS-Mono with MYNT® EYE

  cd (local path of MYNT-EYE-S-SDK)
  source ./wrappers/ros/devel/setup.bash
-  roslaunch mynt_eye_ros_wrapper mynteye.launch
+  roslaunch mynt_eye_ros_wrapper vins_mono.launch

 2. Open another terminal and run vins

 .. code-block:: bash

-  cd ~/catkin_ws
-  roslaunch vins_estimator mynteye_s.launch
-
-.. note::
-
-  If you want to use a fish-eye camera model, please click `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/tree/mynteye-s/calibration_images>`_ .
+  cd path/to/VINS-Mono/docker
+  ./run.sh mynteye_s.launch
+  # ./run.sh mynteye_s2100.launch  # mono with s2100
--- a/docs/src/slam/vins_fusion.rst
+++ b/docs/src/slam/vins_fusion.rst
@@ -11,12 +11,38 @@ If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:
 2. Follow the normal procedure to install VINS-Fusion.
 3. Run mynt_eye_ros_wrapper and VINS-Fusion.

+Install ROS Kinetic conveniently (if already installed, please ignore)
+----------------------------------------------------------------------

-Prerequisites
--------------
+.. code-block:: bash

-1. Install Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic.(if already installed, please ignore). `ROS Installation <http://wiki.ros.org/ROS/Installation>`_
-2. Install `Ceres <http://ceres-solver.org/installation.html>`_
+  cd ~
+  wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
+  chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
+
+Install Docker
+---------------
+
+.. code-block:: bash
+
+  sudo apt-get update
+  sudo apt-get install \
+      apt-transport-https \
+      ca-certificates \
+      curl \
+      gnupg-agent \
+      software-properties-common
+  curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
+  sudo add-apt-repository \
+     "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
+     $(lsb_release -cs) \
+     stable"
+  sudo apt-get update
+  sudo apt-get install docker-ce docker-ce-cli containerd.io
+
+Then add your account to ``docker`` group by ``sudo usermod -aG docker $YOUR_USER_NAME`` . Relaunch the terminal or logout and re-login if you get ``Permission denied`` error.
+
+To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and virtual memory space is greater than 16G.


 Install MYNT-EYE-VINS-FUSION-Samples
@@ -24,14 +50,11 @@ Install MYNT-EYE-VINS-FUSION-Samples

 .. code-block:: bash

-  mkdir -p ~/catkin_ws/src
-  cd ~/catkin_ws/src
-  git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
-  cd ..
-  catkin_make
-  source ~/catkin_ws/devel/setup.bash
+  git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
+  cd MYNT-EYE-VINS-FUSION-Samples/docker
+  make build

-(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
+Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result. If you need modify the code, simply run ``./run.sh LAUNCH_FILE_NAME`` after your changes.

 Run VINS-FUSION with MYNT® EYE
 -------------------------------
@@ -42,14 +65,13 @@ Run VINS-FUSION with MYNT® EYE

  cd (local path of MYNT-EYE-S-SDK)
  source ./wrappers/ros/devel/setup.bash
-  roslaunch mynt_eye_ros_wrapper mynteye.launch
+  roslaunch mynt_eye_ros_wrapper vins_fusion.launch

 2. Open another terminal and run vins

 .. code-block:: bash

-  cd ~/catkin_ws
-  roslaunch vins mynteye-s-mono-imu.launch  # mono+imu fusion
-  # roslaunch vins mynteye-s-stereo.launch  # Stereo fusion / Stereo+imu fusion
-  # roslaunch vins mynteye-avarta-mono-imu.launch  # mono+imu fusion with mynteye-avarta
-  # roslaunch vins mynteye-avarta-stereo.launch  # Stereo fusion / Stereo+imu fusion with mynteye-avarta
+  cd path/to/this_repo/docker
+  ./run.sh mynteye-s/mynt_stereo_imu_config.yaml  # Stereo fusion
+  # ./run.sh mynteye-s2100/mynt_stereo_config.yaml # Stereo fusion with mynteye-s2100
+  # ./run.sh mynteye-s2100/mynt_stereo_imu_config.yaml # Stereo+imu fusion with mynteye-s2100
--- a/docs/src/wrapper/ros.rst
+++ b/docs/src/wrapper/ros.rst
@@ -51,9 +51,17 @@ The ROS file is structured like follows:
  <sdk>/wrappers/ros/
  ├─src/
  │  └─mynt_eye_ros_wrapper/
+  │     ├─config/
+  │     │  ├─device/
+  │     │     ├─standard.yaml   # S1030
+  │     │     └─standard2.yaml  # S2100/S210A
+  │     │  ├─laserscan/
+  │     │  ├─process/
+  │     │  └─...
  │     ├─launch/
  │     │  ├─display.launch
  │     │  └─mynteye.launch
+  │     │  └─...
  │     ├─msg/
  │     ├─rviz/
  │     ├─src/
@@ -64,35 +72,41 @@ The ROS file is structured like follows:
  │     └─package.xml
  └─README.md

-In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, and set the control options. Please set ``gravity`` to the local gravity acceleration.
+In ``mynteye.launch``, you can configure the topics and frame_ids, decide which data to enable, ``standard.yaml`` (standard2.yaml is S2100/S210A config file) can set parameters for device. Please set ``gravity`` to the local gravity acceleration.
+
+
+standard.yaml/standard2.yaml:

 .. code-block:: xml

  # s2100/s210a modify frame/resolution
-  <arg name="request_index" default="$(arg index_s2_2)" />
+  standard2/request_index: 2

  # s1030 modify frame/imu hz
-  <!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
-  <arg name="standard/frame_rate" default="-1" />
-  <!-- <arg name="standard/frame_rate" default="25" /> -->
+  # standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
+  standard/frame_rate: -1
+  # standard/frame_rate: 25

-  <!-- standard/imu_frequency range: {100,200,250,333,500} -->
-  <arg name="standard/imu_frequency" default="-1" />
-  <!-- <arg name="standard/imu_frequency" default="200" /> -->
+  # standard/imu_frequency range: {100,200,250,333,500}
+  standard/imu_frequency: -1
+  # standard/imu_frequency: 200
  ...

  # s2100 modify brightness
-  <!-- standard2/brightness range: [0,240] -->
-  <arg name="standard2/brightness" default="-1" />
-  <!-- <arg name="standard2/brightness" default="120" /> -->
+  # standard2/brightness range: [0,240]
+  standard2/brightness: -1
+  # standard2/brightness: 120
  ...

  # s210a modify brightness
-  <!-- standard210a/brightness range: [0,240] -->
-  <arg name="standard210a/brightness" default="-1" />
-  <!-- <arg name="standard210a/brightness" default="120" /> -->
+  # standard210a/brightness range: [0,240]
+  standard210a/brightness: -1
+  # standard210a/brightness: 120
  ...

+
+mynteye.launch:
+
 .. code-block:: xml

  <arg name="gravity" default="9.8" />
--- a/platforms/projects/cmake/CMakeLists.txt
+++ b/platforms/projects/cmake/CMakeLists.txt
@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 3.0)
+
+project(mynteye_demo VERSION 1.0.0 LANGUAGES C CXX)
+
+# flags
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c++11 -march=native")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -march=native")
+
+# packages
+
+if(MSVC)
+  set(SDK_ROOT "$ENV{MYNTEYES_SDK_ROOT}")
+  if(SDK_ROOT)
+    message(STATUS "MYNTEYES_SDK_ROOT: ${SDK_ROOT}")
+    list(APPEND CMAKE_PREFIX_PATH
+      "${SDK_ROOT}/lib/cmake"
+      "${SDK_ROOT}/3rdparty/opencv/build"
+    )
+  else()
+    message(FATAL_ERROR "MYNTEYES_SDK_ROOT not found, please install SDK firstly")
+  endif()
+endif()
+
+## mynteye
+
+find_package(mynteye REQUIRED)
+message(STATUS "Found mynteye: ${mynteye_VERSION}")
+
+# When SDK build with OpenCV, we can add WITH_OPENCV macro to enable some
+# features depending on OpenCV, such as ToMat().
+if(mynteye_WITH_OPENCV)
+  add_definitions(-DWITH_OPENCV)
+endif()
+
+## OpenCV
+
+# Set where to find OpenCV
+#set(OpenCV_DIR "/usr/share/OpenCV")
+
+# When SDK build with OpenCV, we must find the same version here.
+find_package(OpenCV REQUIRED)
+message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+
+# targets
+
+include_directories(
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+## mynteye_demo
+
+add_executable(mynteye_demo mynteye_demo.cc)
+target_link_libraries(mynteye_demo mynteye ${OpenCV_LIBS})
+
+
+# Build
+#   mkdir _build
+#   cd _build
+#
+#   # win 
+#   cmake -G "Visual Studio 15 2017 Win64" ..
+#   msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
+#
+#   .\Release\mynteye_demo.exe
+#   
+#   # unix
+#   cmake ..
+#   make
+#
+#   ./mynteye_demo
--- a/platforms/projects/cmake/mynteye_demo.cc
+++ b/platforms/projects/cmake/mynteye_demo.cc
@@ -0,0 +1,61 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include <stdio.h>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char const *argv[]) {
+  auto &&api = API::Create(0, nullptr);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+  api->Start(Source::VIDEO_STREAMING);
+
+  double fps;
+  double t = 0.01;
+  std::cout << "fps:" << std::endl;
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      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::VIDEO_STREAMING);
+  return 0;
+}
--- a/samples/tutorials/CMakeLists.txt
+++ b/samples/tutorials/CMakeLists.txt
@@ -99,6 +99,8 @@ make_executable2(get_stereo SRCS data/get_stereo.cc WITH_OPENCV)
 make_executable2(get_stereo_rectified SRCS data/get_stereo_rectified.cc WITH_OPENCV)
 make_executable2(get_disparity SRCS data/get_disparity.cc WITH_OPENCV)
 make_executable2(get_depth SRCS data/get_depth.cc WITH_OPENCV)
+
+make_executable2(get_data_without_select SRCS data/get_data_without_select.cc WITH_OPENCV)
 if(PCL_FOUND)
  make_executable2(get_points
    SRCS data/get_points.cc util/pc_viewer.cc
--- a/samples/tutorials/control/imu_range.cc
+++ b/samples/tutorials/control/imu_range.cc
@@ -42,7 +42,7 @@ int main(int argc, char *argv[]) {

  // Set imu range for S2000/S2100/S210A
  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
-    // 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);
--- a/samples/tutorials/data/get_data_without_select.cc
+++ b/samples/tutorials/data/get_data_without_select.cc
@@ -0,0 +1,74 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include <string>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  auto request = api->GetStreamRequest();
+
+//   struct StreamRequest {
+//   /** Stream width in pixels */
+//   std::uint16_t width;
+//   /** Stream height in pixels */
+//   std::uint16_t height;
+//   /** Stream pixel format */
+//   Format format;
+//   /** Stream frames per second */
+//   std::uint16_t fps;
+//   }
+
+  request.fps = 10;
+  api->ConfigStreamRequest(request);
+
+  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);
+
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      cv::Mat img;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
+    }
+
+    // this code is for real depth data
+    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);
+  return 0;
+}
--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.cc
@@ -11,6 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#include <stdio.h>
 #include <string>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
@@ -28,7 +29,10 @@ int main(int argc, char *argv[]) {
  if (!ok) return 1;
  api->ConfigStreamRequest(request);

-  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
+  double fps;
+  double t = 0.01;
+  std::cout << "depth fps:" << std::endl;
+
  api->EnableStreamData(Stream::DEPTH);
  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);

@@ -52,6 +56,10 @@ int main(int argc, char *argv[]) {
    // this code is for real depth data
    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
    if (!depth_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
      cv::imshow("depth_real", depth_data.frame);  // CV_16UC1
    }

--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@@ -11,6 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#include <stdio.h>
 #include <opencv2/highgui/highgui.hpp>

 #include "mynteye/api/api.h"
@@ -27,7 +28,7 @@ int main(int argc, char *argv[]) {
  if (!ok) return 1;
  api->ConfigStreamRequest(request);

-  // api->EnableStreamData(Stream::DISPARITY);
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::SGBM);
  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);

  if (argc == 2) {
@@ -45,14 +46,16 @@ int main(int argc, char *argv[]) {
    }
  }

-  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
-
  api->Start(Source::VIDEO_STREAMING);

  cv::namedWindow("frame");
  // cv::namedWindow("disparity");
  cv::namedWindow("disparity_normalized");

+  double fps;
+  double t = 0.01;
+  std::cout << "disparity fps:" << std::endl;
+
  while (true) {
    api->WaitForStreams();

@@ -72,6 +75,10 @@ int main(int argc, char *argv[]) {

    auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
    if (!disp_norm_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
      cv::imshow("disparity_normalized", disp_norm_data.frame);  // CV_8UC1
    }

--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@@ -11,6 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#include <stdio.h>
 #include <opencv2/highgui/highgui.hpp>

 #include "mynteye/api/api.h"
@@ -28,12 +29,14 @@ int main(int argc, char *argv[]) {
  if (!ok) return 1;
  api->ConfigStreamRequest(request);

-  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
-
  api->EnableStreamData(Stream::POINTS);

  api->Start(Source::VIDEO_STREAMING);

+  double fps;
+  double t = 0.01;
+  std::cout << "points cloud fps:" << std::endl;
+
  cv::namedWindow("frame");
  PCViewer pcviewer;

@@ -50,6 +53,10 @@ int main(int argc, char *argv[]) {

    auto &&points_data = api->GetStreamData(Stream::POINTS);
    if (!points_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
      pcviewer.Update(points_data.frame);
    }

--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.cc
@@ -11,6 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#include <stdio.h>
 #include <opencv2/highgui/highgui.hpp>

 #include "mynteye/api/api.h"
@@ -25,9 +26,12 @@ int main(int argc, char *argv[]) {
  auto &&request = api->SelectStreamRequest(&ok);
  if (!ok) return 1;
  api->ConfigStreamRequest(request);
-  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
  api->Start(Source::VIDEO_STREAMING);

+  double fps;
+  double t = 0.01;
+  std::cout << "fps:" << std::endl;
+
  cv::namedWindow("frame");

  while (true) {
@@ -38,6 +42,10 @@ int main(int argc, char *argv[]) {

    cv::Mat img;
    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
      cv::hconcat(left_data.frame, right_data.frame, img);
      cv::imshow("frame", img);
    }
--- a/samples/tutorials/data/get_stereo_rectified.cc
+++ b/samples/tutorials/data/get_stereo_rectified.cc
@@ -11,6 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#include <stdio.h>
 #include <opencv2/highgui/highgui.hpp>

 #include "mynteye/api/api.h"
@@ -25,13 +26,16 @@ int main(int argc, char *argv[]) {
  auto &&request = api->SelectStreamRequest(&ok);
  if (!ok) return 1;
  api->ConfigStreamRequest(request);
-  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);

  api->EnableStreamData(Stream::LEFT_RECTIFIED);
  api->EnableStreamData(Stream::RIGHT_RECTIFIED);

  api->Start(Source::VIDEO_STREAMING);

+  double fps;
+  double t = 0.01;
+  std::cout << "fps:" << std::endl;
+
  cv::namedWindow("frame");

  while (true) {
@@ -41,6 +45,11 @@ int main(int argc, char *argv[]) {
    auto &&right_data = api->GetStreamData(Stream::RIGHT_RECTIFIED);

    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
+
      cv::Mat img;
      cv::hconcat(left_data.frame, right_data.frame, img);
      cv::imshow("frame", img);
--- a/samples/tutorials/data/get_with_plugin.cc
+++ b/samples/tutorials/data/get_with_plugin.cc
@@ -11,6 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#include <stdio.h>
 #include <opencv2/highgui/highgui.hpp>

 #include "mynteye/api/api.h"
@@ -28,7 +29,7 @@ int main(int argc, char *argv[]) {

  api->setDuplicate(true);

-  api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so");
+  api->EnablePlugin("plugins/libplugin_g_cuda9.2_opencv3.3.1.so");

  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);

@@ -36,7 +37,9 @@ int main(int argc, char *argv[]) {

  cv::namedWindow("frame");
  cv::namedWindow("disparity");
-
+  double fps;
+  double t = 0.01;
+  std::cout << "fps:" << std::endl;
  while (true) {
    api->WaitForStreams();

@@ -44,6 +47,10 @@ int main(int argc, char *argv[]) {
    auto &&right_data = api->GetStreamData(Stream::RIGHT);

    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
      cv::Mat img;
      cv::hconcat(left_data.frame, right_data.frame, img);
      cv::imshow("frame", img);
--- a/src/mynteye/api/processor.cc
+++ b/src/mynteye/api/processor.cc
@@ -300,10 +300,10 @@ api::StreamData Processor::GetStreamData(const Stream &stream) {
      }
      auto streams = getTargetStreams();
      if (output != nullptr) {
-        int num = 0;
        for (auto it : streams) {
          if (it.stream == stream) {
-            if (num == 1) {
+            if (it.stream == Stream::LEFT ||
+                it.stream == Stream::LEFT_RECTIFIED) {
              if (!is_enable_cd) {
                if (output->first_data &&
                  last_frame_id_cd == output->first_data->frame_id) {
@@ -313,7 +313,8 @@ api::StreamData Processor::GetStreamData(const Stream &stream) {
                last_frame_id_cd = output->first_data->frame_id;
              }
              return obj_data_first(output);
-            } else {
+            } else if (it.stream == Stream::RIGHT ||
+                       it.stream == Stream::RIGHT_RECTIFIED) {
              // last_frame_id_cd = output->second_data->frame_id;
              if (!is_enable_cd) {
                if (output->second_data &&
@@ -325,7 +326,6 @@ api::StreamData Processor::GetStreamData(const Stream &stream) {
              return obj_data_second(output);
            }
          }
-          num++;
        }
      }
      VLOG(2) << "Frame not ready now";
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -326,7 +326,7 @@ void Synthetic::InitProcessors() {
  std::shared_ptr<Processor> depth_processor = nullptr;

  auto &&disparity_processor =
-      std::make_shared<DisparityProcessor>(DisparityComputingMethod::SGBM,
+      std::make_shared<DisparityProcessor>(DisparityComputingMethod::BM,
                                           DISPARITY_PROC_PERIOD);
  auto &&disparitynormalized_processor =
      std::make_shared<DisparityNormalizedProcessor>(
--- a/src/mynteye/device/channel/bytes.cc
+++ b/src/mynteye/device/channel/bytes.cc
@@ -122,6 +122,13 @@ std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data,
      }
    }
    i += 72;
+  } else {
+    // assembly
+    for (std::size_t j = 0; j < 3; j++) {
+      for (std::size_t k = 0; k < 3; k++) {
+        in->assembly[j][k] = 0.0;
+      }
+    }
  }
  // drift
  for (std::size_t j = 0; j < 3; j++) {
@@ -155,6 +162,20 @@ std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data,
      in->z[j] = _from_data<double>(data + i + j * 8);
    }
    i += 16;
+  } else {
+    // temperature drift
+    // x
+    for (std::size_t j = 0; j < 2; j++) {
+      in->x[j] = 0.0;
+    }
+    // y
+    for (std::size_t j = 0; j < 2; j++) {
+      in->y[j] = 0.0;
+    }
+    // z
+    for (std::size_t j = 0; j < 2; j++) {
+      in->z[j] = 0.0;
+    }
  }

  return i;
--- a/src/mynteye/types.cc
+++ b/src/mynteye/types.cc
@@ -340,14 +340,6 @@ std::ostream &operator<<(std::ostream &os, const CameraROSMsgInfo &info) {
 std::ostream &operator<<(std::ostream &os, const CameraROSMsgInfoPair &info) {
  os << "left:\n" << info.left << std::endl;
  os << "right:\n" << info.right << std::endl;
-  os << "base R:";
-  for (size_t i = 0; i < 9; i++)
-    os << info.R[i] << ",";
-  os << std::endl << "base P:";
-  for (size_t i = 0; i < 12; i++)
-    os << info.P[i] << ",";
-  os << std::endl;
-
  return os;
 }

--- a/wrappers/ros/src/mynt_eye_ros_wrapper/config/slam/vins_fusion.yaml
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/config/slam/vins_fusion.yaml
@@ -19,4 +19,4 @@
 standard2/request_index: 1

 # standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
-standard/frame_rate: 20
+standard/frame_rate: 15
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -48,7 +48,7 @@
  <group ns="$(arg mynteye)">

    <!-- mynteye_wrapper_node -->
-    <node name="mynteye_wrapper_node" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
+    <node name="mynteye_wrapper_node" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="10">

      <!-- node params -->

@@ -103,6 +103,16 @@
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>
+    <group ns="/mynteye/right_rect_mono">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="/mynteye/left_rect_mono">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
    <group ns="$(arg left_mono_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_mono.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_mono.launch
@@ -0,0 +1,129 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="mynteye" default="mynteye" />
+
+  <!-- node params -->
+
+  <arg name="left_topic" default="left/image_raw" />
+  <arg name="right_topic" default="right/image_raw" />
+  <arg name="left_rect_topic" default="left_rect/image_rect" />
+  <arg name="right_rect_topic" default="right_rect/image_rect" />
+  <arg name="disparity_topic" default="disparity/image_raw" />
+  <arg name="disparity_norm_topic" default="disparity/image_norm" />
+  <arg name="depth_topic" default="depth/image_raw" />
+  <arg name="points_topic" default="points/data_raw" />
+
+  <arg name="left_mono_topic" default="left/image_mono" />
+  <arg name="right_mono_topic" default="right/image_mono" />
+
+  <arg name="imu_topic" default="imu/data_raw" />
+  <arg name="temperature_topic" default="temperature/data_raw" />
+
+  <arg name="base_frame_id" default="$(arg mynteye)_link" />
+  <arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
+  <arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
+  <arg name="left_rect_frame_id" default="$(arg mynteye)_left_rect_frame" />
+  <arg name="right_rect_frame_id" default="$(arg mynteye)_right_rect_frame" />
+  <arg name="disparity_frame_id" default="$(arg mynteye)_disparity_frame" />
+  <arg name="disparity_norm_frame_id" default="$(arg mynteye)_disparity_norm_frame" />
+  <arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
+  <arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
+
+  <arg name="temperature_frame_id" default="$(arg mynteye)_temperature_frame" />
+
+  <arg name="gravity" default="9.8" />
+
+  <arg name="mesh_file" default="S1030-0315.obj" />
+
+  <!-- Push down all topics/nodelets into "mynteye" namespace -->
+  <group ns="$(arg mynteye)">
+
+    <!-- mynteye_wrapper_node -->
+    <node name="mynteye_wrapper_node" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
+
+      <!-- node params -->
+
+      <param name="left_topic" value="$(arg left_topic)" />
+      <param name="right_topic" value="$(arg right_topic)" />
+      <param name="left_rect_topic" value="$(arg left_rect_topic)" />
+      <param name="right_rect_topic" value="$(arg right_rect_topic)" />
+      <param name="disparity_topic" value="$(arg disparity_topic)" />
+      <param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
+      <param name="points_topic" value="$(arg points_topic)" />
+      <param name="depth_topic" value="$(arg depth_topic)" />
+      <param name="mesh_file" value="$(arg mesh_file)" />
+
+      <param name="left_mono_topic" value="$(arg left_mono_topic)" />
+      <param name="right_mono_topic" value="$(arg right_mono_topic)" />
+
+      <param name="imu_topic" value="$(arg imu_topic)" />
+      <param name="temperature_topic" value="$(arg temperature_topic)" />
+
+      <param name="base_frame_id" value="$(arg base_frame_id)" />
+      <param name="left_frame_id" value="$(arg left_frame_id)" />
+      <param name="right_frame_id" value="$(arg right_frame_id)" />
+      <param name="left_rect_frame_id" value="$(arg left_rect_frame_id)" />
+      <param name="right_rect_frame_id" value="$(arg right_rect_frame_id)" />
+      <param name="disparity_frame_id" value="$(arg disparity_frame_id)" />
+      <param name="disparity_norm_frame_id" value="$(arg disparity_norm_frame_id)" />
+      <param name="points_frame_id" value="$(arg points_frame_id)" />
+      <param name="depth_frame_id" value="$(arg depth_frame_id)" />
+
+      <param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
+
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/slam/vins_fusion.yaml" command="load" />
+
+      <param name="gravity" value="$(arg gravity)" />
+    </node>
+
+    <!-- disable compressed depth plugin for image topics -->
+    <group ns="$(arg left_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg left_rect_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg left_mono_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg right_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg right_mono_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg right_rect_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg disparity_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg disparity_norm_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg depth_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+  </group> <!-- mynteye -->
+</launch>
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch
@@ -103,6 +103,16 @@
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>
+    <group ns="/mynteye/right_rect_mono">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="/mynteye/left_rect_mono">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
    <group ns="$(arg left_mono_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch
@@ -103,6 +103,16 @@
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>
+    <group ns="/mynteye/right_rect_mono">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="/mynteye/left_rect_mono">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
    <group ns="$(arg left_mono_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -104,7 +104,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {

  ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {
    static bool isInited = false;
-    static double soft_time_begin(0);
+    static std::uint32_t soft_time_begin(0);
    static std::uint64_t hard_time_begin(0);

    if (false == isInited) {
@@ -113,11 +113,31 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      isInited = true;
    }

+    std::uint64_t time_ns_detal = (_hard_time - hard_time_begin);
+    std::uint64_t time_ns_detal_s = time_ns_detal / 1000000;
+    std::uint64_t time_ns_detal_ns = time_ns_detal % 1000000;
+
    return ros::Time(
-        static_cast<double>(soft_time_begin +
-        static_cast<double>(_hard_time - hard_time_begin) * 0.000001f));
+                     soft_time_begin + time_ns_detal_s,
+                     time_ns_detal_ns * 1000);
  }

+  // ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {
+  //   static bool isInited = false;
+  //   static double soft_time_begin(0);
+  //   static std::uint64_t hard_time_begin(0);
+
+  //   if (false == isInited) {
+  //     soft_time_begin = ros::Time::now().toSec();
+  //     hard_time_begin = _hard_time;
+  //     isInited = true;
+  //   }
+
+  //   return ros::Time(
+  //       static_cast<double>(soft_time_begin +
+  //       static_cast<double>(_hard_time - hard_time_begin) * 0.000001f));
+  // }
+
  inline bool is_overflow(std::uint64_t now,
      std::uint64_t pre) {
    static std::uint64_t unit =
@@ -204,7 +224,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    is_started_ = false;

    std::map<Stream, std::string> mono_names{{Stream::LEFT, "left_mono"},
-                                             {Stream::RIGHT, "right_mono"}};
+                                             {Stream::RIGHT, "right_mono"},
+                                             {Stream::LEFT_RECTIFIED, "left_rect_mono"},
+                                             {Stream::RIGHT_RECTIFIED, "right_rect_mono"}};

    std::map<Stream, std::string> mono_topics{};
    for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) {
@@ -319,7 +341,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
      for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
        auto &&topic = mono_topics[it->first];
-        if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {
+        if (it->first == Stream::LEFT ||
+            it->first == Stream::RIGHT ||
+            it->first == Stream::RIGHT_RECTIFIED ||
+            it->first == Stream::LEFT_RECTIFIED) {
          mono_publishers_[it->first] = it_mynteye.advertise(topic, 1);
        }
        NODELET_INFO_STREAM("Advertized on topic " << topic);
@@ -594,6 +619,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      return;
    } else if (stream == Stream::POINTS) {
      publishPoints(data, seq, stamp);
+    } else if (stream == Stream::LEFT_RECTIFIED ||
+        stream == Stream::RIGHT_RECTIFIED) {
+      publishMono(stream, data, seq, stamp);
+      publishCamera(stream, data, seq, stamp);
    } else {
      publishCamera(stream, data, seq, stamp);
    }
@@ -610,7 +639,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  }

  void publishOthers(const Stream &stream) {
-    if (getStreamSubscribers(stream) > 0 && !is_published_[stream]) {
+    if ((getStreamSubscribers(stream) > 0 && !is_published_[stream]) ||
+        mono_publishers_[stream].getNumSubscribers() > 0) {
      api_->EnableStreamData(stream);
      api_->SetStreamCallback(
          stream, [this, stream](const api::StreamData &data) {
@@ -1292,6 +1322,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    sensor_msgs::CameraInfo *camera_info = new sensor_msgs::CameraInfo();
    camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info);
    auto info_pair = api_->GetCameraROSMsgInfoPair();
+    camera_info->width = info_pair->left.width;
+    camera_info->height = info_pair->left.height;
    if (is_intrinsics_enable_) {
      if (stream == Stream::RIGHT ||
          stream == Stream::RIGHT_RECTIFIED) {
Author	SHA1	Message	Date
harjeb	9b346ff33a	docs(*): update docs v2.3.8	2019-05-22 11:18:25 +08:00
TinyO	36c5491c93	fix(imu params default): value default fix. 3	2019-05-21 18:11:36 +08:00
TinyO	e32a323e57	fix(imu params default): value default fix. 2	2019-05-21 18:09:37 +08:00
TinyO	7e07b7772e	fix(imu params default): value default fix.	2019-05-21 17:55:02 +08:00
TinyO	0d0bb1d2ad	fix(ros): rosbag record -a bug 2.	2019-05-21 17:38:35 +08:00
TinyO	380e19fa94	fix(ros): rosbag record -a bug.	2019-05-21 17:25:48 +08:00
TinyO	535778ef76	fix(*): cmake sample windows platform complie.	2019-05-21 11:35:11 +08:00
TinyO	c23b0309a9	docs(*): update changelog	2019-05-20 15:01:25 +08:00
TinyO	80c1e84941	docs(*): update changelog	2019-05-20 14:51:39 +08:00
TinyO	a9966b19f9	chore(*): update version	2019-05-20 14:48:19 +08:00
TinyO	8251d1066d	fix: vins-fusion time error with hight fps.	2019-05-16 17:14:02 +08:00
TinyO	f3a14f8254	fix: remove osstream output base P/R.	2019-05-15 11:33:30 +08:00
TinyO	ad0774f466	fix: left right rect image swap	2019-05-10 15:57:38 +08:00
TinyO	74ce809acf	feat: add 3rd easylogging++	2019-05-09 09:12:38 +08:00
TinyO	c81f51fdee	fix: camera info width and height	2019-05-05 10:30:05 +08:00
TinyOh	65e7a4b288	fix(sample): add .cc head	2019-04-26 10:11:45 +08:00
harjeb	37255b0e1b	Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop	2019-04-25 11:23:30 +08:00
harjeb	9c8a1420bc	docs(*): update docs	2019-04-25 11:23:12 +08:00
TinyOh	3c1a1d3356	Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop	2019-04-23 16:20:33 +08:00
TinyOh	deb146f786	feat: add cmake project	2019-04-23 16:19:52 +08:00
harjeb	20fc6a75b6	docs(*): update requirements	2019-04-23 15:54:52 +08:00
John Zhao	7ef64208be	Merge branch 'release/2.3.7' into develop * release/2.3.7: docs(): update changelog chore(): update version docs(): update ORB build docs(): update slam	2019-04-19 14:52:16 +08:00
harjeb	0267f4e4b3	docs(*): update changelog	2019-04-19 14:48:03 +08:00
John Zhao	8446083bf4	chore(*): update version	2019-04-19 14:38:57 +08:00
harjeb	b3acbfe8aa	docs(*): update ORB build	2019-04-19 14:22:07 +08:00
TinyOh	c279d97261	fix(ros): use 2 param for ros::time	2019-04-19 10:41:58 +08:00
harjeb	d988fce95a	docs(*): update slam	2019-04-19 05:19:55 +08:00
TinyOh	0c0c299c84	fix(slam): rect gray topic sub logic	2019-04-15 13:35:05 +08:00
TinyOh	6dab54117d	Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop	2019-04-15 13:13:50 +08:00
TinyOh	966511edf1	feat(slam): add rect gray topic	2019-04-15 13:13:27 +08:00
John Zhao	5fb5a876b8	Merge branch 'hotfix/docs' into develop * hotfix/docs: docs(sdk): update exe version	2019-04-15 10:14:53 +08:00
John Zhao	dd81c782b4	Merge branch 'hotfix/ros_imu_timestamp' into develop * hotfix/ros_imu_timestamp: chore(*): update version	2019-04-15 10:05:28 +08:00
John Zhao	3383d43360	Merge branch 'hotfix/ros_imu_timestamp' into develop * hotfix/ros_imu_timestamp: fix(ros): ros error enum error fix: 14.04 complie error feat(doc): supported set address for 2100 feat(src): supported set iic address for s2100 fix(ros): fixed bug of imu align for part of device # Conflicts: # wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc	2019-04-15 09:51:58 +08:00
TinyOh	1a080d438f	fix: 14.04 complie error	2019-04-12 14:42:08 +08:00
TinyOh	089c1b1b0c	fix: change fps show to right target	2019-04-10 11:40:14 +08:00
TinyOh	7e588d5e24	feat: add fps show in console	2019-04-10 11:31:13 +08:00
TinyOh	4be2d6ae49	feat: add open without select sample	2019-04-04 14:19:17 +08:00
TinyOh	28e089c412	fix(ros): respawn delay change to 10 for avatar	2019-04-04 11:09:09 +08:00
TinyOh	af2327cd92	Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop	2019-04-04 09:23:14 +08:00
TinyOh	e28e34eafa	fix(api): use BM as default ,only use sgbm when get_disparity	2019-04-04 09:22:26 +08:00