Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

n

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.3.8 LANGUAGES C CXX)
+project(mynteye VERSION 2.4.1 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
-    src/mynteye/api/camodocal/src/camera_models/Camera.cc
-    src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc
-    src/mynteye/api/camodocal/src/gpl/gpl.cc
+  add_library(camera_models STATIC
+    src/mynteye/api/camera_models/camera.cc
+    src/mynteye/api/camera_models/equidistant_camera.cc
+    src/mynteye/api/camera_models/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})
 

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
-
-CAM_MODELS ?=
-
-CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
+CMAKE_BUILD_EXTRA_OPTIONS ?=
 
 .DEFAULT_GOAL := all
 

README.md

@@ -1,6 +1,6 @@
 # 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)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.4.1-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`.
 

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
 

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         = 2.3.8
+PROJECT_NUMBER         = 2.4.1
 
 # 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 DOC
-=========
+API DOCS
+==============
 
 .. 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 = '2.3.8'
+version = '2.4.1'
 # 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/control/contents
-   src/log/contents
-   src/wrapper/contents
-   src/analytics/contents
+   src/tools/contents
    src/slam/contents
    api/contents
+   src/support/contents
 
 ..
   Indices and tables

docs/src/analytics/contents.rst

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

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 +17,15 @@ 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_S2100_1.2.img            2.3.5
-============================ ========================
-
+============================ ===========================
+MYNTEYE-S2100-1.3.2.img      2.4.0(2.4.0 ~ latest)
+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/auxiliary_chip_update.rst

@@ -1,28 +0,0 @@
-.. _firmware_stm_update:
-
-How to update 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/contents.rst

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

docs/src/firmware/fw_changelog.rst

@@ -0,0 +1,31 @@
+Change Log
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+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/update_auxiliary_chip.rst

@@ -0,0 +1,23 @@
+.. _fw_update_auxiliary_chip:
+
+Update Auxiliary Chip Firmware
+==================================
+
+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/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 update Main Processing Chip
+Update Main Chip 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
-  ├─MYNTEYE_S_2.4.0.img          # S1030 firmware
-  ├─MYNTEYE_S2100_1.2.img        # S2100 firmware
+  ├─Checksum.txt             # File checksum
+  ├─MYNTEYE-S1030-2.5.0.img  # S1030 firmware
+  ├─MYNTEYE-S2100-1.3.2.img  # S2100 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``
-* Find firmware, such as ``MYNTEYE_S_2.4.0.img``
+* Download and unzip ``mynt-eye-tool-setup.zip``
+* 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_update_driver_install.png
+  .. image:: ../../images/firmware/firmware_update_driver.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 +1,10 @@
+.. _product_imu_coord:
+
+IMU Coordinate System
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   imu_coord_s1030
+   imu_coord_s2100

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/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 +1,11 @@
+.. _product_spec:
+
+Product Specification
+==============================
+
+.. toctree::
+   :maxdepth: 2
+
+   spec_s1030
+   spec_s1030_ir
+   spec_s2100

docs/src/product/product_surface.rst

@@ -0,0 +1,10 @@
+.. _product_surface:
+
+Product Surface
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   surface_s1030
+   surface_s2100

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
--------------------------  ----------------
-  Storage Temperature         -20°C~80°C
-=========================  ================
+=========================  ==============================
+  Operating Temperature       -15°C~55°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/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/sdk/changelog.rst

@@ -1,58 +0,0 @@
-.. _sdk_changelog:
-
-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)
--------------------
-
-1. Fix imu align bug of ros wrapper
-2. Fix 14.04 complie error of ros wrapper
-3. Support set iic address for s2100
-
-2019-04-01(v2.3.5)
--------------------
-
-1. Improve camera info.
-
-2. Modify image algorithm 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 auxiliary chip&ISP's version(Depend on S2100/S210A 1.1 firmware & 1.0 subsidiary chip firmware).
-
-2. Fix point fragment issue in image 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 +1,13 @@
-.. _sdk:
-
-MYNT® EYE SDK
-=============
+SDK
+==================
 
 .. toctree::
+   :maxdepth: 5
 
-   changelog
-   platform
-   ppa_install_ubuntu
-   exe_install_windows
-   source_install_ubuntu
-   source_install_windows
-   install_macos
-   install_ros
-   without_opencv
+   sdk_info
+   sdk_install
+   data/contents
+   control/contents
+   tools/contents
+   project/contents
+   sdk_changelog

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/iic_address.rst

@@ -55,4 +55,4 @@ s210a/s2100：
   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 `iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/iic_address.cc>`_ .

docs/src/sdk/control/infrared.rst

@@ -44,7 +44,7 @@ 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::

docs/src/sdk/control/manual_exposure.rst

@@ -33,8 +33,8 @@ s1030：
   api->SetOptionValue(Option::GAIN, 24);
   // brightness/exposure_time: range [0,240], default 120
   api->SetOptionValue(Option::BRIGHTNESS, 120);
-  // contrast/black_level_calibration: range [0,255], default 127
-  api->SetOptionValue(Option::CONTRAST, 127);
+  // contrast/black_level_calibration: range [0,255], default 116
+  api->SetOptionValue(Option::CONTRAST, 116);
 
   LOG(INFO) << "Enable manual-exposure";
   LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
@@ -55,8 +55,8 @@ s2100/s210a：
   // manual-exposure: 1
   api->SetOptionValue(Option::EXPOSURE_MODE, 1);
 
-  // brightness/exposure_time: range [0,240], default 120
-  api->SetOptionValue(Option::BRIGHTNESS, 120);
+  // brightness/exposure_time: range [1,255], default 70
+  api->SetOptionValue(Option::BRIGHTNESS, 70);
 
   LOG(INFO) << "Enable manual-exposure";
   LOG(INFO) << "Set EXPOSURE_MODE to "
@@ -79,7 +79,7 @@ s1030：
   I0513 14:09:17.552918 31908 manual_exposure.cc:37] Enable manual-exposure
   I0513 14:09:17.552953 31908 manual_exposure.cc:38] Set GAIN to 24
   I0513 14:09:17.552958 31908 manual_exposure.cc:39] Set BRIGHTNESS to 120
-  I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 127
+  I0513 14:09:17.552963 31908 manual_exposure.cc:40] Set CONTRAST to 116
 
 s2100/s210a：
 
@@ -102,7 +102,7 @@ s2100/s210a：
   3
   I/manual_exposure.cc:62 Enable manual-exposure
   I/manual_exposure.cc:63 Set EXPOSURE_MODE to 1
-  I/manual_exposure.cc:65 Set BRIGHTNESS to 120
+  I/manual_exposure.cc:65 Set BRIGHTNESS to 70
 
 
 The sample program displays an image with a real exposure time in the upper left corner, in milliseconds.

docs/src/sdk/data/contents.rst

@@ -1,7 +1,7 @@
 .. _data:
 
-MYNT® EYE Data
-==============
+SDK Data Samples
+================
 
 .. toctree::
 
@@ -17,6 +17,4 @@ MYNT® EYE Data
    get_imu_correspondence
    get_from_callbacks
    get_with_plugin
-   save_params
-   write_img_params
-   write_imu_params
+   save_single_image

docs/src/sdk/data/get_depth.rst

@@ -1,6 +1,6 @@
-.. _get_depth:
+.. _data_get_depth:
 
-Get depth image
+Get Depth Image
 ===============
 
 Depth images belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. The depth image type is CV_16UC1. In addition, it should be check not be empty before use.

docs/src/sdk/data/get_device_info.rst

@@ -1,6 +1,6 @@
-.. _get_device_info:
+.. _data_get_device_info:
 
-Get device information
+Get Device Information
 ======================
 
 Use ``GetInfo()`` function to get various current information values.

docs/src/sdk/data/get_disparity.rst

@@ -1,6 +1,6 @@
-.. _get_disparity:
+.. _data_get_disparity:
 
-Get disparity image
+Get Disparity Image
 ===================
 
 Disparity image belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. In addition, it should be check not be empty before use.

docs/src/sdk/data/get_from_callbacks.rst

@@ -1,6 +1,6 @@
-.. _get_from_callbacks:
+.. _data_get_from_callbacks:
 
-Get data from callbacks
+Get Data From Callbacks
 ========================
 
 API offers function ``SetStreamCallback()`` and ``SetMotionCallback()`` to set callbacks for various data.

docs/src/sdk/data/get_img_params.rst

@@ -1,6 +1,6 @@
-.. _get_img_params:
+.. _data_get_img_params:
 
-Get image calibration parameters
+Get Image Calibration Parameters
 ================================
 
 Use ``GetIntrinsics()`` & ``GetExtrinsics()`` to get image calibration parameters.

docs/src/sdk/data/get_imu.rst

@@ -1,6 +1,6 @@
-.. _get_imu_data:
+.. _data_get_imu_data:
 
-Get IMU data
+Get IMU Data
 =============
 
 The API offers ``Start()`` / ``Stop()`` function to start/stop capturing data. You can set the argument to``Source::MOTION_TRACKING`` to capture IMU data only, or set it to ``Source::ALL`` to capture both image and IMU data.

docs/src/sdk/data/get_imu_correspondence.rst

@@ -1,6 +1,6 @@
-.. _get_imu_correspondence:
+.. _data_get_imu_correspondence:
 
-Get IMU data with timestamp correspondence
+Get IMU Data With Timestamp Correspondence
 ===========================================
 
 If wanna get image with timestamp in the middle of IMU datas, you could call `EnableTimestampCorrespondence()`` to enable this feature.

docs/src/sdk/data/get_imu_params.rst

@@ -1,6 +1,6 @@
-.. _get_imu_params:
+.. _data_get_imu_params:
 
-Get IMU calibration parameters
+Get IMU Calibration Parameters
 ==============================
 
 Use ``GetMotionIntrinsics()`` & ``GetMotionExtrinsics()`` to get current IMU calibration parameters.

docs/src/sdk/data/get_points.rst

@@ -1,6 +1,6 @@
-.. _get_points:
+.. _data_get_points:
 
-Get point image
+Get Point Image
 ================
 
 Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use.

docs/src/sdk/data/get_stereo.rst

@@ -1,6 +1,6 @@
-.. _get_stereo:
+.. _data_get_stereo:
 
-Get original binocular image
+Get Original Binocular Image
 =============================
 
 Use ``Start()`` or ``Stop()`` , to start or stop data capturing. If you only need the image data, use ``Source::VIDEO_STREAMING`` .