fix: 3.4.19 opencv complie.

n

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.3.9 LANGUAGES C CXX)
+project(mynteye VERSION 2.4.1 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -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-2.3.9-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
 

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         = 2.3.9
+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/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 = '2.3.9'
+version = '2.4.1'
 # The full version, including alpha/beta/rc tags
 release = version
 

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
@@ -13,19 +17,16 @@ MYNTEYE_S_2.0.0_rc0.img      2.0.0-rc0 (2.0.0-rc1 ~ 2.0.0-alpha1)
 MYNTEYE_S_2.0.0_alpha1.1.img 2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1)
 MYNTEYE_S_2.0.0_alpha1.img   2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1)
 MYNTEYE_S_2.0.0_alpha0.img   2.0.0-alpha0
-MYNTEYE_S_2.2.2.img          2.3.0 (2.2.2-rc1 ~ 2.3.0)
-MYNTEYE_S_2.3.0.img          2.3.0 (2.2.2-rc1 ~ 2.3.3)
-MYNTEYE_S_2.4.0.img          2.3.4 (2.3.4 ~ latest)
 ============================ ========================
 
 ============================ ===========================
 S2100 Firmwares                    SDK Version
 ============================ ===========================
-MYNTEYE_S2100_1.1.img            2.3.4
-MYNTEYE_S2100_1.2.img            2.3.5 (2.3.5 ~ latest)
+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/contents.rst

@@ -6,3 +6,4 @@ FIRMWARE
 
    fw_info
    fw_update
+   fw_changelog

docs/src/firmware/fw_changelog.rst

@@ -3,3 +3,29 @@ 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/update_auxiliary_chip.rst

@@ -16,13 +16,8 @@ Update auxiliary chip (Only Support S2100/S210A)
 
 .. image:: ../../images/firmware/stmupdate.png
 
-* In the open file selection box, select the firmware ``MYNTEYE-S210x-auxiliary-chip-v1.0.bin``  and start upgrading.
+* 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

@@ -10,25 +10,21 @@ You can download the firmware and MYNT EYE TOOL installation package in the ``Fi
 .. 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
 ---------------------

docs/src/sdk/contents.rst

@@ -9,4 +9,5 @@ SDK
    data/contents
    control/contents
    tools/contents
+   project/contents
    sdk_changelog

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

@@ -17,3 +17,4 @@ SDK Data Samples
    get_imu_correspondence
    get_from_callbacks
    get_with_plugin
+   save_single_image

docs/src/sdk/data/save_single_image.rst

@@ -0,0 +1,52 @@
+.. _data_save_single_image:
+
+Save Single Image
+=============================
+
+Press "Space" "s" "S" to save image.
+
+Reference commands:
+
+.. code-block:: c++
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+
+  std::int32_t count = 0;
+  std::cout << "Press 'Space' 's' 'S' to save image." << std::endl;
+  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);
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    } else if (key == 32 || key == 's' || key == 'S') {
+      if (!left_data.frame.empty() && !right_data.frame.empty()) {
+        char l_name[20];
+        char r_name[20];
+        ++count;
+        snprintf(l_name, sizeof(l_name), "left_%d.jpg", count);
+        snprintf(r_name, sizeof(r_name), "right_%d.jpg", count);
+
+        cv::imwrite(l_name, left_data.frame);
+        cv::imwrite(r_name, right_data.frame);
+
+        std::cout << "Saved " << l_name << " " << r_name << " to current directory" << std::endl;
+      }
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+
+The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.
+
+Complete code examples, see `save_single_image.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/save_single_image.cc>`_ .

docs/src/sdk/project/cmake.rst

@@ -0,0 +1,136 @@
+.. _cmake:
+
+How to use SDK with CMake
+=========================
+
+This tutorial will create a project with CMake to start using SDK.
+
+    You could find the project demo in ``<sdk>/platforms/projects/cmake directory`` .
+
+Preparation
+-----------
+
+-  Windows: Install the win pack of SDK
+-  Linux: build from source and ``make install``
+
+Create Project
+--------------
+
+Add ``CMakeLists.txt`` and ``mynteye_demo.cc`` files,
+
+.. code-block:: cmake
+
+   cmake_minimum_required(VERSION 3.0)
+
+   project(mynteyed_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")
+
+   ## mynteye_demo
+
+   add_executable(mynteye_demo mynteye_demo.cc)
+   target_link_libraries(mynteye_demo mynteye ${OpenCV_LIBS})
+
+Config Project
+--------------
+
+Add ``mynteye`` and ``OpenCV`` packages to ``CMakeLists.txt`` ,
+
+.. code-block:: cmake
+
+    # packages
+
+    if(MSVC)
+      set(SDK_ROOT "$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}")
+
+Add ``include_directories`` and ``target_link_libraries`` to
+``mynteye_demo`` target,
+
+.. code-block:: cmake
+
+    # targets
+
+    include_directories(
+      ${OpenCV_INCLUDE_DIRS}
+    )
+
+    ## mynteye_demo
+
+    add_executable(mynteye_demo mynteye_demo.cc)
+    target_link_libraries(mynteye_demo mynteye ${OpenCV_LIBS})
+
+Start using SDK
+---------------
+
+Include the headers of SDK and start using its APIs, view the project demo.
+
+Windows
+~~~~~~~
+
+Reference to “Install Build Tools” in :ref:`install_windows_exe` .
+
+Then open ``x64 Native Tools Command Prompt for VS 2017``
+command shell to build and run.
+
+.. code-block:: bat
+
+   mkdir _build
+   cd _build
+
+   cmake -G "Visual Studio 15 2017 Win64" ..
+
+   msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
+
+   .\Release\mynteye_demo.exe
+
+Linux
+~~~~~
+
+Open ``Terminal`` to build and run.
+
+.. code-block:: bash
+
+   mkdir _build
+   cd _build/
+
+   cmake ..
+
+   make
+
+   ./mynteye_demo

docs/src/sdk/project/contents.rst

@@ -0,0 +1,10 @@
+.. _data:
+
+SDK Project Demos
+==================
+
+.. toctree::
+  :maxdepth: 2
+
+  cmake
+  vs2017

docs/src/sdk/project/vs2017.rst

@@ -0,0 +1,83 @@
+.. _vs2017:
+
+How to use SDK with Visual Studio 2017
+======================================
+
+This tutorial will create a project with Visual Studio 2017 to start using SDK.
+
+   You could find the project demo in ``<sdk>/platforms/projects/vs2017`` directory.
+
+Preparation
+------------
+
+-  Windows: install the win pack of SDK
+
+Create Project
+--------------
+
+Open Visual Studio 2017, then ``File > New > Project`` ,
+
+.. image:: ../../../images/project/vs2017/1_new_pro.png
+
+Select “Windows Console Application”, set the project’s name and location, click “OK”,
+
+.. image:: ../../../images/project/vs2017/2_new_pro.png
+
+Finally, you will see the new project like this,
+
+.. image:: ../../../images/project/vs2017/3_new_pro.png
+
+Config Properties
+------------------
+
+Right click the project, and open its ``Properties`` window,
+
+.. image:: ../../../images/project/vs2017/4_config.png
+
+Change ``Configuration`` to ``All Configurations`` , then add the following paths to ``Additional Include Directories`` ,
+
+.. code:: bash
+
+   $(MYNTEYES_SDK_ROOT)\include
+   $(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include
+
+.. image:: ../../../images/project/vs2017/5_config_include.png
+
+Add the following definitions to ``Preprocessor Definitions`` ,
+
+.. code:: bash
+
+   $(MYNTEYES_SDK_ROOT)\lib
+   $(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib
+
+..  image:: ../../../images/project/vs2017/6_config_lib_dir.png
+
+Add the following paths to ``Additional Dependencies`` ，
+
+.. code:: bash
+
+   mynteye.lib
+   opencv_world343.lib
+
+.. image:: ../../../images/project/vs2017/7_config_lib.png
+
+If want to use debug mode, could change  ``Configuration`` to ``Debug`` and add following debug libs:
+
+.. code:: bash
+
+   mynteyed.lib
+   opencv_world343d.lib
+
+.. image:: ../../../images/project/vs2017/8_config_debug_lib.png
+
+
+Start using SDK
+---------------
+
+Include the headers of SDK and start using its APIs,
+
+.. image:: ../../../images/project/vs2017/9_run_x64.png
+
+Select ``Release x64`` or ``Debug x64`` to run the project.
+
+.. image:: ../../../images/project/vs2017/10_path.png

docs/src/sdk/sdk_changelog.rst

@@ -3,23 +3,39 @@
 Change Log
 ==========
 
+2019-08-17(v2.4.1)
+-------------------
+
+1. Optimize disparity calculation
+
+2019-08-09(v2.4.0)
+-------------------
+
+1. Optimize the synchronization of images and imu
+2. Add 4.16+ kernel support on Ubuntu
+3. Fix missinf frame_id issue in image information
+4. Fix S1030 device not work issue in mynteye_multiple.launch
+5. Add save single picture sample save_single_image
+
 2019-07-03(v2.3.9)
 -------------------
+
 1. Fix ros timestamp issue
 2. Add calibration tool doc
 
 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)
 -------------------
 
@@ -30,34 +46,21 @@ Change Log
 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.
-
+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.
+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/slam/okvis.rst

@@ -11,6 +11,11 @@ If you wanna run OKVIS with MYNT EYE camera, please follow the steps:
 3. Update camera parameters to ``<OKVIS>/config/config_mynteye.yaml``.
 4. Run OKVIS using MYNT® EYE.
 
+.. tip::
+
+  OKVIS doesn't support ARM right now
+
+
 Install MYNTEYE OKVIS
 ---------------------
 

docs/src/slam/orb_slam2.rst

@@ -16,7 +16,7 @@ Prerequisites
 
 .. code-block:: bash
 
-  sudo apt-get -y install libglew-dev cmake
+  sudo apt-get -y install libglew-dev cmake libgoogle-glog-dev
   cd ~
   git clone https://github.com/stevenlovegrove/Pangolin.git
   cd Pangolin

docs/src/wrapper/ros.rst

@@ -93,15 +93,15 @@ standard.yaml/standard2.yaml:
   ...
 
   # s2100 modify brightness
-  # standard2/brightness range: [0,240]
+  # standard2/brightness range: [1,255]
   standard2/brightness: -1
-  # standard2/brightness: 120
+  # standard2/brightness: 70
   ...
 
   # s210a modify brightness
-  # standard210a/brightness range: [0,240]
+  # standard210a/brightness range: [1,255]
   standard210a/brightness: -1
-  # standard210a/brightness: 120
+  # standard210a/brightness: 70
   ...
 
 

include/mynteye/api/api.h

@@ -237,6 +237,11 @@ class MYNTEYE_API API {
   void SetDisparityComputingMethodType(
       const DisparityComputingMethod &MethodType);
 
+  /**
+   * Set the rectify bord cut alpha.
+   */
+  void SetRectifyAlpha(const double &alpha);
+
   /**
    * Set if the duplicate frames is enable.
    */
@@ -247,6 +252,11 @@ class MYNTEYE_API API {
    */
   void SetOptionValue(const Option &option, std::int32_t value);
 
+  /**
+   * Set the option value.
+   */
+  bool SetOptionValue(const Option &option, std::uint64_t value);
+
   /**
    * Run the option action.
    */
@@ -364,6 +374,8 @@ class MYNTEYE_API API {
    */
   bool ConfigDisparityFromFile(const std::string& config_file);
 
+  bool IsDefaultIntrinsics();
+
  private:
   std::shared_ptr<Device> device_;
 

include/mynteye/device/device.h

@@ -223,6 +223,10 @@ class MYNTEYE_API Device {
    * Set the option value.
    */
   void SetOptionValue(const Option &option, std::int32_t value);
+  /**
+   * Set the option value.
+   */
+  bool SetOptionValue(const Option &option, std::uint64_t value);
 
   /**
    * Run the option action.
@@ -300,6 +304,8 @@ class MYNTEYE_API Device {
   /** Enable process mode, e.g. imu assembly, temp_drift */
   void EnableProcessMode(const std::int32_t& mode);
 
+  bool CheckImageParams();
+
  protected:
   std::shared_ptr<uvc::device> device() const {
     return device_;
@@ -379,6 +385,8 @@ class MYNTEYE_API Device {
   bool SetFiles(
       DeviceInfo *info, img_params_map_t *img_params, imu_params_t *imu_params);
 
+  bool is_default_intrinsics_;
+
   friend API;
   friend tools::DeviceWriter;
 };

include/mynteye/types.h

@@ -44,6 +44,8 @@ enum class Model : std::uint8_t {
   STANDARD2,
   /** Standard 210a */
   STANDARD210A,
+  /** Standard 200b */
+  STANDARD200B,
   /** Last guard */
   LAST
 };
@@ -223,8 +225,8 @@ enum class Option : std::uint8_t {
   /**
    * HDR mode
    * <p>
-   *   0: 10-bit<br>
-   *   1: 12-bit
+   *   0: normal<br>
+   *   1: WDR
    * </p>
    */
   HDR_MODE,
@@ -273,6 +275,9 @@ enum class Option : std::uint8_t {
   /** Erase chip */
   ERASE_CHIP,
 
+  /** Sync timestamp */
+  SYNC_TIMESTAMP,
+
   /** Last guard */
   LAST
 };
@@ -770,6 +775,7 @@ struct CameraROSMsgInfoPair {
   struct CameraROSMsgInfo left;
   struct CameraROSMsgInfo right;
   double T_mul_f = -1.f;
+  double cx1_minus_cx2 = 0.f;
   double  R[9] = {0};
   double  P[12] = {0};
 };

samples/api/get_depth_with_region.cc

@@ -178,6 +178,9 @@ int main(int argc, char *argv[]) {
     auto &&left_data = api->GetStreamData(Stream::LEFT);
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
 
+    if (left_data.frame.empty() || right_data.frame.empty())
+      continue;
+
     cv::Mat img;
     cv::hconcat(left_data.frame, right_data.frame, img);
     cv::imshow("frame", img);

samples/tutorials/CMakeLists.txt

@@ -112,6 +112,7 @@ make_executable2(get_imu_correspondence
   WITH_OPENCV
 )
 make_executable2(get_imu SRCS data/get_imu.cc util/cv_painter.cc WITH_OPENCV)
+make_executable2(save_single_image SRCS data/save_single_image.cc WITH_OPENCV)
 make_executable2(get_from_callbacks
   SRCS data/get_from_callbacks.cc util/cv_painter.cc
   WITH_OPENCV
@@ -125,6 +126,7 @@ make_executable2(ctrl_imu_low_pass_filter SRCS control/imu_low_pass_filter.cc WI
 make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
 make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 make_executable2(ctrl_iic_adress SRCS control/iic_address.cc WITH_OPENCV)
+make_executable2(ctrl_sync_timestamp SRCS control/sync_timestamp.cc WITH_OPENCV)
 make_executable2(ctrl_auto_exposure
   SRCS control/auto_exposure.cc util/cv_painter.cc
   WITH_OPENCV

samples/tutorials/control/auto_exposure.cc

@@ -58,8 +58,9 @@ int main(int argc, char *argv[]) {
               << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
   }
 
-  // Set auto exposure options fo S2000/S2100/S210A
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  // Set auto exposure options fo S2000/S2100/S210A/S200B
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     // auto-exposure: 0
     api->SetOptionValue(Option::EXPOSURE_MODE, 0);
 

samples/tutorials/control/framerate.cc

@@ -45,8 +45,9 @@ int main(int argc, char *argv[]) {
               << api->GetOptionValue(Option::IMU_FREQUENCY);
   }
 
-  // You should set frame rate for S2000/S2100/S210A by 'SelectStreamRequest()'
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  // You should set frame rate for S2000/S2100/S210A/S200B by 'SelectStreamRequest()'
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     LOG(INFO) << "Please set frame rate by 'SelectStreamRequest()'";
   }
 

samples/tutorials/control/imu_low_pass_filter.cc

@@ -38,8 +38,9 @@ int main(int argc, char *argv[]) {
     return 0;
   }
 
-  // Set imu low pass filter for S2000/S2100/S210A
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  // Set imu low pass filter for S2000/S2100/S210A/S200B
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     // ACCELEROMETER_RANGE values: 0, 1, 2
     api->SetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER, 2);
     // GYROSCOPE_RANGE values: 23, 64

samples/tutorials/control/imu_range.cc

@@ -40,8 +40,9 @@ int main(int argc, char *argv[]) {
     api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
   }
 
-  // Set imu range for S2000/S2100/S210A
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  // Set imu range for S2000/S2100/S210A/S200B
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     // ACCELEROMETER_RANGE values: 6, 12, 24, 48
     api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
     // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000

samples/tutorials/control/infrared.cc

@@ -29,7 +29,7 @@ int main(int argc, char *argv[]) {
 
   Model model = api->GetModel();
 
-  if (model == Model::STANDARD || model == Model::STANDARD2) {
+  if (model == Model::STANDARD) {
     // ir control: range [0,160], default 0
     api->SetOptionValue(Option::IR_CONTROL, 80);
 
@@ -37,9 +37,10 @@ int main(int argc, char *argv[]) {
               << api->GetOptionValue(Option::IR_CONTROL);
   }
 
-  // MYNTEYE-S210A don't support this option
-  if (model == Model::STANDARD210A) {
-    LOG(INFO) << "Sorry,MYNTEYE-S210A don't support ir control";
+  // MYNTEYE-S210A S2000 S200B don't support this option
+  if (model == Model::STANDARD210A ||
+   model == Model::STANDARD2 || model == Model::STANDARD200B) {
+    LOG(INFO) << "Sorry, MYNTEYE-S210A S2000 S200B don't support ir control";
     return 0;
   }
 

samples/tutorials/control/manual_exposure.cc

@@ -40,8 +40,8 @@ int main(int argc, char *argv[]) {
     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);
 
     frame_rate = api->GetOptionValue(Option::FRAME_RATE);
 
@@ -54,13 +54,14 @@ int main(int argc, char *argv[]) {
     LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);
   }
 
-  // Set manual exposure options fo S2000/S2100/S210A
-  if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
+  // Set manual exposure options fo S2000/S2100/S210A/S200B
+  if (model == Model::STANDARD2 ||
+   model == Model::STANDARD210A || model == Model::STANDARD200B) {
     // 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 "

samples/tutorials/control/sync_timestamp.cc

@@ -0,0 +1,56 @@
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  Model model = api->GetModel();
+
+  if (model != Model::STANDARD200B) {
+    LOG(INFO) << "Sorry, This device don't support sync timestamp";
+    return 0;
+  }
+
+  if (model == Model::STANDARD200B) {
+    std::uint64_t value = 10;
+    auto ok = api->SetOptionValue(Option::SYNC_TIMESTAMP, value);
+    if (ok) {
+      LOG(INFO) << "Set timestamp is successful.";
+    } else {
+      LOG(INFO) << "Set timestamp is failed.";
+    }
+  }
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    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;
+}

samples/tutorials/data/get_img_params.cc

@@ -48,8 +48,21 @@ int main(int argc, char *argv[]) {
 
   auto info = api->GetCameraROSMsgInfoPair();
 
-  if (info && !info->isEmpty())
-    std::cout << "ROSMsgInfoPair:"<< std::endl << *info << std::endl;
+  if (info && !info->isEmpty()) {
+    LOG(INFO) << "ROSMsgInfoPair:";
+    LOG(INFO) << *info;
+  }
+
+  if (api->IsDefaultIntrinsics()) {
+    LOG(WARNING) << "Default intrinsics are currently being used.";
+    LOG(WARNING) << "Image params not found, but we need it to process the "
+                  "images. Please `make tools` and use `img_params_writer` "
+                  "to write the image params. If you update the SDK from "
+                  "1.x, the `SN*.conf` is the file contains them. Besides, "
+                  "you could also calibrate them by yourself. Read the guide "
+                  "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+                  "to learn more.";
+  }
 
   return 0;
 }

samples/tutorials/data/get_stereo_rectified.cc

@@ -30,6 +30,11 @@ int main(int argc, char *argv[]) {
   api->EnableStreamData(Stream::LEFT_RECTIFIED);
   api->EnableStreamData(Stream::RIGHT_RECTIFIED);
 
+  /** SetRectifyAlpha
+      -1 is default
+  */
+  // api->SetRectifyAlpha(0.5);
+
   api->Start(Source::VIDEO_STREAMING);
 
   double fps;

samples/tutorials/data/save_single_image.cc

@@ -0,0 +1,55 @@
+#include <stdio.h>
+#include <opencv2/highgui/highgui.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;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+
+  std::int32_t count = 0;
+  std::cout << "Press 'Space' 's' 'S' to save image." << std::endl;
+  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);
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    } else if (key == 32 || key == 's' || key == 'S') {
+      if (!left_data.frame.empty() && !right_data.frame.empty()) {
+        char l_name[20];
+        char r_name[20];
+        ++count;
+        snprintf(l_name, sizeof(l_name), "left_%d.jpg", count);
+        snprintf(r_name, sizeof(r_name), "right_%d.jpg", count);
+
+        cv::imwrite(l_name, left_data.frame);
+        cv::imwrite(r_name, right_data.frame);
+
+        std::cout << "Saved " << l_name << " " << r_name << " to current directory" << std::endl;
+      }
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}

src/mynteye/api/api.cc

@@ -90,7 +90,10 @@ bool dir_exists(const std::string &p) {
 
 std::vector<std::string> get_plugin_paths() {
   std::string info_path = utils::get_sdk_install_dir();
-  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
+  if (info_path.empty()) return {};
+
+  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye"
+                   MYNTEYE_OS_SEP "build.info");
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
@@ -241,27 +244,15 @@ std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
     bool in_l_ok, in_r_ok;
     auto left_intr  = device->GetIntrinsics(Stream::LEFT, &in_l_ok);
     auto right_intr = device->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    if (!in_l_ok || !in_r_ok) {
-      LOG(ERROR) << "Image params not found, but we need it to process the "
-                    "images. Please `make tools` and use `img_params_writer` "
-                    "to write the image params. If you update the SDK from "
-                    "1.x, the `SN*.conf` is the file contains them. Besides, "
-                    "you could also calibrate them by yourself. Read the guide "
-                    "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
-                    "to learn more.";
+
+    if (left_intr->calib_model() != right_intr->calib_model()) {
+      LOG(ERROR) << "left camera and right camera use different calib models!";
       LOG(WARNING) << "use pinhole as default";
       api = std::make_shared<API>(device, CalibrationModel::UNKNOW);
       return api;
     } else {
-      if (left_intr->calib_model() != right_intr->calib_model()) {
-        LOG(ERROR) << "left camera and right camera use different calib models!";
-        LOG(WARNING) << "use pinhole as default";
-        api = std::make_shared<API>(device, CalibrationModel::UNKNOW);
-        return api;
-      } else {
-        api = std::make_shared<API>(device, left_intr->calib_model());
-        return api;
-      }
+      api = std::make_shared<API>(device, left_intr->calib_model());
+      return api;
     }
   } else {
     LOG(ERROR) <<"no device!";
@@ -332,17 +323,7 @@ std::string API::GetInfo(const Info &info) const {
 }
 
 std::string API::GetSDKVersion() const {
-  std::string info_path =
-      utils::get_sdk_install_dir();
-  info_path.append(MYNTEYE_OS_SEP "share" \
-      MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
-
-  cv::FileStorage fs(info_path, cv::FileStorage::READ);
-  if (!fs.isOpened()) {
-    LOG(WARNING) << "build.info not found: " << info_path;
-    return "null";
-  }
-  return fs["MYNTEYE_VERSION"];
+  return MYNTEYE_API_VERSION_STR;
 }
 
 IntrinsicsPinhole API::GetIntrinsics(const Stream &stream) const {
@@ -387,6 +368,10 @@ void API::SetOptionValue(const Option &option, std::int32_t value) {
   device_->SetOptionValue(option, value);
 }
 
+bool API::SetOptionValue(const Option &option, std::uint64_t value) {
+  return device_->SetOptionValue(option, value);
+}
+
 bool API::RunOptionAction(const Option &option) const {
   return device_->RunOptionAction(option);
 }
@@ -569,6 +554,10 @@ void API::SetDisparityComputingMethodType(
   synthetic_->SetDisparityComputingMethodType(MethodType);
 }
 
+void API::SetRectifyAlpha(const double &alpha) {
+  synthetic_->SetRectifyAlpha(alpha);
+}
+
 std::shared_ptr<Device> API::device() {
   return device_;
 }
@@ -576,11 +565,7 @@ std::shared_ptr<Device> API::device() {
 // TODO(Kalman): Call this function in the appropriate place
 void API::CheckImageParams() {
   if (device_ != nullptr) {
-    bool in_l_ok, in_r_ok, ex_l2r_ok;
-    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
-    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
-    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
+    if (device_->CheckImageParams()) {
       LOG(FATAL) << "Image params not found, but we need it to process the "
                     "images. Please `make tools` and use `img_params_writer` "
                     "to write the image params. If you update the SDK from "
@@ -608,4 +593,12 @@ bool API::ConfigDisparityFromFile(const std::string& config_file) {
   return synthetic_->ConfigDisparityFromFile(config_file);
 }
 
+bool API::IsDefaultIntrinsics() {
+  if (device_ != nullptr) {
+    return device_->CheckImageParams();
+  }
+
+  return false;
+}
+
 MYNTEYE_END_NAMESPACE

src/mynteye/api/camera_models/camera.cc

@@ -12,9 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include <opencv2/calib3d/calib3d.hpp>
-#include "camodocal/camera_models/Camera.h"
 
-namespace camodocal {
+#include "camera.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 Camera::Parameters::Parameters(ModelType modelType)
     : m_modelType(modelType), m_imageWidth(0), m_imageHeight(0) {
@@ -208,4 +211,7 @@ void Camera::projectPoints(
     imagePoints.push_back(cv::Point2f(p(0), p(1)));
   }
 }
-}
+
+}  // namespace models
+
+MYNTEYE_END_NAMESPACE

src/mynteye/api/camera_models/camera.h

@@ -11,15 +11,19 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_
-#define SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_
+#ifndef MYNTEYE_CAMERA_MODELS_CAMERA_H_
+#define MYNTEYE_CAMERA_MODELS_CAMERA_H_
 
 #include <vector>
 #include <memory>
 #include "eigen3/Eigen/Dense"
 #include <opencv2/core/core.hpp>
 
-namespace camodocal {
+#include "mynteye/mynteye.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 class Camera {
  public:
@@ -134,5 +138,7 @@ typedef std::shared_ptr<Camera> CameraPtr;
 typedef std::shared_ptr<const Camera> CameraConstPtr;
 }
 
-#endif  // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_CAMERA_MODELS_CAMERA_H_
 

src/mynteye/api/camera_models/equidistant_camera.cc

@@ -16,15 +16,19 @@
 #include <cstdint>
 #include <cmath>
 #include <cstdio>
-#include "camodocal/camera_models/EquidistantCamera.h"
+
 #include "eigen3/Eigen/Dense"
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/core/eigen.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
-#include "camodocal/gpl/gpl.h"
-// #include "mynteye/logger.h"
 
-namespace camodocal {
+#include "equidistant_camera.h"
+#include "gpl.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
+
 #define PI M_PI
 #define PI_2 1.5707963
 float ApproxAtan2(float y, float x)
@@ -652,4 +656,7 @@ void EquidistantCamera::backprojectSymmetric(
     }
   }
 }
-}  // namespace camodocal
+
+}  // namespace models
+
+MYNTEYE_END_NAMESPACE

src/mynteye/api/camera_models/equidistant_camera.h

@@ -11,14 +11,17 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_EQUIDISTANTCAMERA_H_
-#define SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_EQUIDISTANTCAMERA_H_
+#ifndef MYNTEYE_CAMERA_MODELS_EQUIDISTANT_CAMERA_H_
+#define MYNTEYE_CAMERA_MODELS_EQUIDISTANT_CAMERA_H_
 
 #include <string>
-#include "Camera.h"
 #include <opencv2/core/core.hpp>
 
-namespace camodocal {
+#include "camera.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 /**
  * J. Kannala, and S. Brandt, A Generic Camera Model and Calibration Method
@@ -227,5 +230,7 @@ void EquidistantCamera::spaceToPlane(
 }
 }
 
-#endif  // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_EQUIDISTANTCAMERA_H_
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_CAMERA_MODELS_EQUIDISTANT_CAMERA_H_
 

src/mynteye/api/camera_models/gpl.cc

@@ -11,7 +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 "camodocal/gpl/gpl.h"
+#include "gpl.h"
 
 #include <set>
 #ifdef _WIN32
@@ -56,7 +56,9 @@ const double WGS84_ECCSQ = 0.00669437999013;
 #define fminf(x, y) (((x) < (y)) ? (x) : (y))
 #endif
 
-namespace camodocal {
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 double hypot3(double x, double y, double z) {
   return sqrt(square(x) + square(y) + square(z));
@@ -524,5 +526,6 @@ char UTMLetterDesignator(double latitude) {
   return letterDesignator;
 }
 
-}  // namespace camodocal
+}  // namespace models
 
+MYNTEYE_END_NAMESPACE

src/mynteye/api/camera_models/gpl.h

@@ -11,15 +11,19 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_
-#define SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_
+#ifndef MYNTEYE_CAMERA_MODELS_GPL_H_
+#define MYNTEYE_CAMERA_MODELS_GPL_H_
 
 #include <vector>
 #include <algorithm>
 #include <cmath>
 #include <opencv2/core/core.hpp>
 
-namespace camodocal {
+#include "mynteye/mynteye.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace models {
 
 template <class T>
 const T clamp(const T &v, const T &a, const T &b) {
@@ -105,5 +109,7 @@ void UTMtoLL(
     double &latitude, double &longitude);  // NOLINT
 }
 
-#endif  // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_CAMERA_MODELS_GPL_H_
 

src/mynteye/api/config.cc

@@ -1,88 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "mynteye/api/config.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-/**
- * default intrinsics
- */
-
-std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
-  auto res = std::make_shared<IntrinsicsPinhole>();
-  res->width = 640;
-  res->height = 400;
-  res->model = 0;
-  res->fx = 3.6220059643202876e+02;
-  res->fy = 3.6350065250745848e+02;
-  res->cx = 4.0658699068023441e+02;
-  res->cy = 2.3435161110061483e+02;
-  double codffs[5] = {
-    -2.5034765682756088e-01,
-    5.0579399202897619e-02,
-    -7.0536676161976066e-04,
-    -8.5255451307033846e-03,
-    0.
-  };
-  for (unsigned int i = 0; i < 5; i++) {
-    res->coeffs[i] = codffs[i];
-  }
-  return res;
-}
-
-std::shared_ptr<Extrinsics> getDefaultExtrinsics() {
-  auto res = std::make_shared<Extrinsics>();
-  double rotation[9] = {
-    9.9867908939669447e-01,  -6.3445566137485428e-03, 5.0988459509619687e-02,
-    5.9890316389333252e-03,  9.9995670037792639e-01,  7.1224201868366971e-03,
-    -5.1031440326695092e-02, -6.8076406092671274e-03, 9.9867384471984544e-01
-  };
-  double translation[3] = {-1.2002489764113250e+02, -1.1782637409050747e+00,
-      -5.2058205159996538e+00};
-  for (unsigned int i = 0; i < 3; i++) {
-    for (unsigned int j = 0; j < 3; j++) {
-      res->rotation[i][j] = rotation[i*3 + j];
-    }
-  }
-  for (unsigned int i = 0; i < 3; i++) {
-    res->translation[i] = translation[i];
-  }
-  return res;
-}
-
-// sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
-// sgbm_matcher->setPreFilterCap(63);
-// sgbm_matcher->setBlockSize(sgbmWinSize);
-// sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
-// sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
-// sgbm_matcher->setMinDisparity(0);
-// sgbm_matcher->setNumDisparities(numberOfDisparities);
-// sgbm_matcher->setUniquenessRatio(10);
-// sgbm_matcher->setSpeckleWindowSize(100);
-// sgbm_matcher->setSpeckleRange(32);
-// sgbm_matcher->setDisp12MaxDiff(1);
-
-// bm_matcher = cv::StereoBM::create(0, 3);
-// bm_matcher->setPreFilterSize(9);
-// bm_matcher->setPreFilterCap(31);
-// bm_matcher->setBlockSize(15);
-// bm_matcher->setMinDisparity(0);
-// bm_matcher->setNumDisparities(64);
-// bm_matcher->setUniquenessRatio(60);
-// bm_matcher->setTextureThreshold(10);
-// bm_matcher->setSpeckleWindowSize(100);
-// bm_matcher->setSpeckleRange(4);
-
-
-MYNTEYE_END_NAMESPACE

src/mynteye/api/config.h

@@ -1,28 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef MYNTEYE_API_CONFIG_H_
-#define MYNTEYE_API_CONFIG_H_
-#pragma once
-
-#include "mynteye/api/api.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics();
-
-std::shared_ptr<Extrinsics> getDefaultExtrinsics();
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_API_CONFIG_H_

src/mynteye/api/processor/disparity_processor.cc

@@ -27,8 +27,14 @@ MYNTEYE_BEGIN_NAMESPACE
 const char DisparityProcessor::NAME[] = "DisparityProcessor";
 
 DisparityProcessor::DisparityProcessor(DisparityComputingMethod type,
+    std::shared_ptr<struct CameraROSMsgInfoPair> calib_infos,
     std::int32_t proc_period)
     : Processor(std::move(proc_period)), type_(type) {
+  if (calib_infos) {
+    cx1_minus_cx2_ = calib_infos->cx1_minus_cx2;
+  } else {
+    cx1_minus_cx2_ = 1.f;
+  }
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
   int sgbmWinSize = 3;
   int numberOfDisparities = 64;
@@ -81,7 +87,7 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type,
     bm_matcher->setPreFilterCap(31);
     bm_matcher->setBlockSize(15);
     bm_matcher->setMinDisparity(0);
-    bm_matcher->setNumDisparities(64);
+    bm_matcher->setNumDisparities(128);
     bm_matcher->setUniquenessRatio(60);
     bm_matcher->setTextureThreshold(10);
     bm_matcher->setSpeckleWindowSize(100);
@@ -156,6 +162,7 @@ bool DisparityProcessor::OnProcess(
   } else if (type_ == DisparityComputingMethod::BM) {
     // LOG(ERROR) << "not supported in opencv 2.x";
     (*sgbm_matcher)(input->first, input->second, disparity);
+    disparity.convertTo(output->value, CV_32F, 1./16, 1);
     // cv::Mat tmp1, tmp2;
     // cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
     // cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
@@ -188,7 +195,7 @@ bool DisparityProcessor::OnProcess(
     sgbm_matcher->compute(input->first, input->second, disparity);
   }
 #endif
-  disparity.convertTo(output->value, CV_32F, 1./16, 1);
+  disparity.convertTo(output->value, CV_32F, 1./16, cx1_minus_cx2_);
   output->id = input->first_id;
   output->data = input->first_data;
   return true;

src/mynteye/api/processor/disparity_processor.h

@@ -32,6 +32,7 @@ class DisparityProcessor : public Processor {
   static const char NAME[];
 
   explicit DisparityProcessor(DisparityComputingMethod type,
+      std::shared_ptr<struct CameraROSMsgInfoPair> calib_infos,
       std::int32_t proc_period = 0);
   virtual ~DisparityProcessor();
 
@@ -54,6 +55,7 @@ class DisparityProcessor : public Processor {
   cv::Ptr<cv::StereoSGBM> sgbm_matcher;
   cv::Ptr<cv::StereoBM> bm_matcher;
   DisparityComputingMethod type_;
+  double cx1_minus_cx2_;
 };
 
 MYNTEYE_END_NAMESPACE

src/mynteye/api/processor/rectify_processor.cc

@@ -37,12 +37,15 @@ cv::Mat RectifyProcessor::rectifyrad(const cv::Mat& R) {
   return R.clone();
 }
 
-void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
-    camodocal::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
+void RectifyProcessor::stereoRectify(models::CameraPtr leftOdo,
+    models::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
     const CvMat* D1, const CvMat* D2, CvSize imageSize,
     const CvMat* matR, const CvMat* matT,
     CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
+    double *cx1_min_cx2,
     int flags, double alpha, CvSize newImgSize) {
+  // std::cout << _alpha << std::endl;
+  alpha = _alpha;
   double _om[3], _t[3] = {0}, _uu[3]={0, 0, 0}, _r_r[3][3], _pp[3][4];
   double _ww[3], _wr[3][3], _z[3] = {0, 0, 0}, _ri[3][3], _w3[3];
   cv::Rect_<float> inner1, inner2, outer1, outer2;
@@ -170,7 +173,7 @@ void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
   *T_mul_f = 0. - _t[idx] * fc_new;
   cvConvert(&pp, _P2);
 
-  alpha = MIN(alpha, 1.);
+  _alpha = MIN(alpha, 1.);
   {
     newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imageSize;
     double cx1_0 = cc_new[0].x;
@@ -183,6 +186,25 @@ void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
     double cy2 = newImgSize.height*cy2_0/imageSize.height;
     double s = 1.;
 
+    if ( _alpha >= 0 ) {
+      double s0 = std::max(std::max(std::max((double)cx1/(cx1_0 - inner1.x), (double)cy1/(cy1_0 - inner1.y)),
+                          (double)(newImgSize.width - cx1)/(inner1.x + inner1.width - cx1_0)),
+                      (double)(newImgSize.height - cy1)/(inner1.y + inner1.height - cy1_0));
+      s0 = std::max(std::max(std::max(std::max((double)cx2/(cx2_0 - inner2.x), (double)cy2/(cy2_0 - inner2.y)),
+                        (double)(newImgSize.width - cx2)/(inner2.x + inner2.width - cx2_0)),
+                    (double)(newImgSize.height - cy2)/(inner2.y + inner2.height - cy2_0)),
+                s0); 
+
+      double s1 = std::min(std::min(std::min((double)cx1/(cx1_0 - outer1.x), (double)cy1/(cy1_0 - outer1.y)),
+                          (double)(newImgSize.width - cx1)/(outer1.x + outer1.width - cx1_0)),
+                      (double)(newImgSize.height - cy1)/(outer1.y + outer1.height - cy1_0));
+      s1 = std::min(std::min(std::min(std::min((double)cx2/(cx2_0 - outer2.x), (double)cy2/(cy2_0 - outer2.y)),
+                        (double)(newImgSize.width - cx2)/(outer2.x + outer2.width - cx2_0)),
+                    (double)(newImgSize.height - cy2)/(outer2.y + outer2.height - cy2_0)),
+                s1);
+      s = s0*(1 - alpha) + s1*alpha;
+    }
+
     fc_new *= s;
     cc_new[0] = cvPoint2D64f(cx1, cy1);
     cc_new[1] = cvPoint2D64f(cx2, cy2);
@@ -197,6 +219,8 @@ void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
     cvmSet(_P2, 0, 2, cx2);
     cvmSet(_P2, 1, 2, cy2);
     cvmSet(_P2, idx, 3, s*cvmGet(_P2, idx, 3));
+
+    *cx1_min_cx2 = -(cx1 - cx2);
   }
 }
 
@@ -249,8 +273,8 @@ struct CameraROSMsgInfo RectifyProcessor::getCalibMatData(
 }
 
 std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
-    camodocal::CameraPtr leftOdo,
-    camodocal::CameraPtr rightOdo,
+    models::CameraPtr leftOdo,
+    models::CameraPtr rightOdo,
     mynteye::IntrinsicsEquidistant in_left,
     mynteye::IntrinsicsEquidistant in_right,
     mynteye::Extrinsics ex_right_to_left) {
@@ -274,12 +298,14 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
   cv::Mat P1 = cv::Mat(3, 4, CV_64F);
   cv::Mat P2 = cv::Mat(3, 4, CV_64F);
 
-  CvMat c_R = cv_R, c_t = cv_t;
-  CvMat c_K1 = K1, c_K2 = K2, c_D1 = D1, c_D2 = D2;
-  CvMat c_R1 = R1, c_R2 = R2, c_P1 = P1, c_P2 = P2;
+    CvMat c_R = cvMat(cv_R), c_t = cvMat(cv_t);
+  CvMat c_K1 = cvMat(K1), c_K2 = cvMat(K2), c_D1 =cvMat(D1), c_D2 = cvMat(D2);
+  CvMat c_R1 = cvMat(R1), c_R2 = cvMat(R2), c_P1 = cvMat(P1), c_P2 = cvMat(P2);
   double T_mul_f;
+  double cx1_min_cx2;
   stereoRectify(leftOdo, rightOdo, &c_K1, &c_K2, &c_D1, &c_D2,
-      image_size1, &c_R, &c_t, &c_R1, &c_R2, &c_P1, &c_P2, &T_mul_f);
+      cvSize(image_size1.width, image_size1.height), &c_R, &c_t, &c_R1, &c_R2, &c_P1, &c_P2, &T_mul_f,
+      &cx1_min_cx2);
 
   VLOG(2) << "K1: " << K1 << std::endl;
   VLOG(2) << "D1: " << D1 << std::endl;
@@ -313,6 +339,7 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
   info_pair.left = calib_mat_data_left;
   info_pair.right = calib_mat_data_right;
   info_pair.T_mul_f = T_mul_f;
+  info_pair.cx1_minus_cx2 = cx1_min_cx2;
   for (std::size_t i = 0; i< 3 * 4; i++) {
     info_pair.P[i] = calib_mat_data_left.P[i];
   }
@@ -330,10 +357,10 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
   return std::make_shared<struct CameraROSMsgInfoPair>(info_pair);
 }
 
-camodocal::CameraPtr RectifyProcessor::generateCameraFromIntrinsicsEquidistant(
+models::CameraPtr RectifyProcessor::generateCameraFromIntrinsicsEquidistant(
     const mynteye::IntrinsicsEquidistant & in) {
-  camodocal::EquidistantCameraPtr camera(
-      new camodocal::EquidistantCamera("KANNALA_BRANDT",
+  models::EquidistantCameraPtr camera(
+      new models::EquidistantCamera("KANNALA_BRANDT",
                                        in.width,
                                        in.height,
                                        in.coeffs[0],
@@ -354,9 +381,12 @@ void RectifyProcessor::InitParams(
   calib_model = CalibrationModel::KANNALA_BRANDT;
   in_left.ResizeIntrinsics();
   in_right.ResizeIntrinsics();
-  camodocal::CameraPtr camera_odo_ptr_left =
+  in_left_cur = in_left;
+  in_right_cur = in_right;
+  ex_right_to_left_cur = ex_right_to_left;
+  models::CameraPtr camera_odo_ptr_left =
       generateCameraFromIntrinsicsEquidistant(in_left);
-  camodocal::CameraPtr camera_odo_ptr_right =
+  models::CameraPtr camera_odo_ptr_right =
       generateCameraFromIntrinsicsEquidistant(in_right);
   auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
         camera_odo_ptr_right,
@@ -398,7 +428,8 @@ RectifyProcessor::RectifyProcessor(
       std::shared_ptr<Extrinsics> extr,
       std::int32_t proc_period)
     : Processor(std::move(proc_period)),
-      calib_model(CalibrationModel::UNKNOW) {
+      calib_model(CalibrationModel::UNKNOW),
+      _alpha(-1) {
   calib_infos = std::make_shared<struct CameraROSMsgInfoPair>();
   InitParams(
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
@@ -428,6 +459,12 @@ Object *RectifyProcessor::OnCreateOutput() {
   return new ObjMat2();
 }
 
+bool RectifyProcessor::SetRectifyAlpha(float alpha) {
+  _alpha = alpha;
+  ReloadImageParams();
+  return true;
+}
+
 bool RectifyProcessor::OnProcess(
     Object *const in, Object *const out,
     std::shared_ptr<Processor> const parent) {

src/mynteye/api/processor/rectify_processor.h

@@ -23,11 +23,13 @@
 #include "mynteye/types.h"
 #include "mynteye/api/processor.h"
 #include "mynteye/device/device.h"
-#include <camodocal/camera_models/EquidistantCamera.h>
-#include <opencv2/core/eigen.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/opencv.hpp>
+
+#include "equidistant_camera.h"
+
 #include <opencv2/core/core.hpp>
+#include <opencv2/core/eigen.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -50,6 +52,9 @@ class RectifyProcessor : public Processor {
       std::shared_ptr<IntrinsicsBase> intr_left,
       std::shared_ptr<IntrinsicsBase> intr_right,
       std::shared_ptr<Extrinsics> extr);
+  void ReloadImageParams() {
+    InitParams(in_left_cur, in_right_cur, ex_right_to_left_cur);
+  }
 
   cv::Mat R1, P1, R2, P2, Q;
   cv::Mat map11, map12, map21, map22;
@@ -57,6 +62,7 @@ class RectifyProcessor : public Processor {
       getCameraROSMsgInfoPair() {
     return calib_infos;
   }
+  bool SetRectifyAlpha(float alpha);
 
  protected:
   Object *OnCreateOutput() override;
@@ -76,13 +82,14 @@ class RectifyProcessor : public Processor {
 
   cv::Mat rectifyrad(const cv::Mat& R);
 
-  void stereoRectify(camodocal::CameraPtr leftOdo,
-      camodocal::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
+  void stereoRectify(models::CameraPtr leftOdo,
+      models::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
       const CvMat* D1, const CvMat* D2, CvSize imageSize,
       const CvMat* matR, const CvMat* matT,
       CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
+      double *cx1_min_cx2,
       int flags = cv::CALIB_ZERO_DISPARITY, double alpha = -1,
-      CvSize newImgSize = cv::Size());
+      CvSize newImgSize = cvSize(0,0));
 
   Eigen::Matrix4d loadT(const mynteye::Extrinsics& in);
   void loadCameraMatrix(cv::Mat& K, cv::Mat& D,  // NOLINT
@@ -93,17 +100,21 @@ class RectifyProcessor : public Processor {
       const mynteye::IntrinsicsEquidistant& in);
 
   std::shared_ptr<struct CameraROSMsgInfoPair> stereoRectify(
-      camodocal::CameraPtr leftOdo,
-      camodocal::CameraPtr rightOdo,
+      models::CameraPtr leftOdo,
+      models::CameraPtr rightOdo,
       mynteye::IntrinsicsEquidistant in_left,
       mynteye::IntrinsicsEquidistant in_right,
       mynteye::Extrinsics ex_right_to_left);
 
-  camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
+  models::CameraPtr generateCameraFromIntrinsicsEquidistant(
       const mynteye::IntrinsicsEquidistant & in);
 
   CalibrationModel calib_model;
   std::shared_ptr<struct CameraROSMsgInfoPair> calib_infos;
+  double _alpha;
+  IntrinsicsEquidistant in_left_cur;
+  IntrinsicsEquidistant in_right_cur;
+  Extrinsics ex_right_to_left_cur;
 };
 
 MYNTEYE_END_NAMESPACE

src/mynteye/api/synthetic.cc

@@ -29,7 +29,6 @@
 #include "mynteye/api/processor/rectify_processor_ocv.h"
 #include "mynteye/api/processor/depth_processor_ocv.h"
 #include "mynteye/api/processor/points_processor_ocv.h"
-#include "mynteye/api/config.h"
 #ifdef WITH_CAM_MODELS
 #include "mynteye/api/processor/depth_processor.h"
 #include "mynteye/api/processor/points_processor.h"
@@ -50,26 +49,16 @@ MYNTEYE_BEGIN_NAMESPACE
 void Synthetic::InitCalibInfo() {
   if (calib_model_ == CalibrationModel::PINHOLE) {
     LOG(INFO) << "camera calib model: pinhole";
-    intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
-    intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
-    extr_ =  std::make_shared<Extrinsics>(
-        api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
 #ifdef WITH_CAM_MODELS
   } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
     LOG(INFO) << "camera calib model: kannala_brandt";
-    intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
-    intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
-    extr_ =  std::make_shared<Extrinsics>(
-        api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
 #endif
-  } else {
-    calib_default_tag_ = true;
-    calib_model_ = CalibrationModel::PINHOLE;
-    LOG(INFO) << "camera calib model: unknow ,use default pinhole data";
-    intr_left_ = getDefaultIntrinsics();
-    intr_right_ = getDefaultIntrinsics();
-    extr_ =  getDefaultExtrinsics();
   }
+
+  intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
+  intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
+  extr_ = std::make_shared<Extrinsics>(
+      api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
 }
 
 Synthetic::Synthetic(API *api, CalibrationModel calib_model)
@@ -102,7 +91,7 @@ void Synthetic::NotifyImageParamsChanged() {
     intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
     intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
     extr_ =  std::make_shared<Extrinsics>(
-        api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
+        api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
   }
   auto processor = getProcessorWithStream(Stream::LEFT_RECTIFIED);
 
@@ -324,10 +313,8 @@ void Synthetic::InitProcessors() {
   std::shared_ptr<Processor> rectify_processor = nullptr;
   std::shared_ptr<Processor> points_processor = nullptr;
   std::shared_ptr<Processor> depth_processor = nullptr;
+  std::shared_ptr<Processor> disparity_processor = nullptr;
 
-  auto &&disparity_processor =
-      std::make_shared<DisparityProcessor>(DisparityComputingMethod::BM,
-                                           DISPARITY_PROC_PERIOD);
   auto &&disparitynormalized_processor =
       std::make_shared<DisparityNormalizedProcessor>(
           DISPARITY_NORM_PROC_PERIOD);
@@ -344,6 +331,10 @@ void Synthetic::InitProcessors() {
     points_processor = std::make_shared<PointsProcessorOCV>(
         rectify_processor_ocv->Q, POINTS_PROC_PERIOD);
     depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
+    disparity_processor =
+      std::make_shared<DisparityProcessor>(DisparityComputingMethod::BM,
+                                           nullptr,
+                                           DISPARITY_PROC_PERIOD);
 
     root_processor->AddChild(rectify_processor);
     rectify_processor->AddChild(disparity_processor);
@@ -363,6 +354,10 @@ void Synthetic::InitProcessors() {
     depth_processor = std::make_shared<DepthProcessor>(
         rectify_processor_imp -> getCameraROSMsgInfoPair(),
         DEPTH_PROC_PERIOD);
+    disparity_processor =
+      std::make_shared<DisparityProcessor>(DisparityComputingMethod::BM,
+          rectify_processor_imp -> getCameraROSMsgInfoPair(),
+          DISPARITY_PROC_PERIOD);
 
     root_processor->AddChild(rectify_processor);
     rectify_processor->AddChild(disparity_processor);
@@ -555,7 +550,7 @@ void Synthetic::OnDepthPostProcess(Object *const out) {
 }
 
 void Synthetic::SetDisparityComputingMethodType(
-      const DisparityComputingMethod &MethodType) {
+    const DisparityComputingMethod &MethodType) {
   if (checkControlDateWithStream(Stream::LEFT_RECTIFIED)) {
     auto processor = find_processor<DisparityProcessor>(processor_);
     if (processor)
@@ -565,6 +560,19 @@ void Synthetic::SetDisparityComputingMethodType(
   LOG(ERROR) << "ERROR: no suited processor for disparity computing.";
 }
 
+bool Synthetic::SetRectifyAlpha(const double &alpha) {
+  if (checkControlDateWithStream(Stream::LEFT_RECTIFIED)) {
+#ifdef WITH_CAM_MODELS
+    auto processor = find_processor<RectifyProcessor>(processor_);
+    if (processor)
+      processor->SetRectifyAlpha(alpha);
+    return true;
+#endif
+  }
+  LOG(ERROR) << "ERROR: no suited processor for rectify.";
+  return false;
+}
+
 void Synthetic::NotifyStreamData(
     const Stream &stream, const api::StreamData &data) {
   if (stream_data_listener_) {

src/mynteye/api/synthetic.h

@@ -22,7 +22,6 @@
 #include <mutex>
 
 #include "mynteye/api/api.h"
-#include "mynteye/api/config.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -95,6 +94,7 @@ class Synthetic {
       const DisparityComputingMethod &MethoType);
   std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair();
   bool ConfigDisparityFromFile(const std::string& config_file);
+  bool SetRectifyAlpha(const double &alpha);
 
  private:
   void InitCalibInfo();

src/mynteye/device/channel/channels.cc

@@ -96,6 +96,9 @@ int XuHalfDuplexId(Option option) {
     case Option::ERASE_CHIP:
       return 1;
       break;
+    case Option::SYNC_TIMESTAMP:
+      return 3;
+      break;
     default:
       LOG(FATAL) << "No half duplex id for " << option;
   }
@@ -206,6 +209,9 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
     case Option::ERASE_CHIP:
       LOG(WARNING) << option << " get value useless";
       return -1;
+    case Option::SYNC_TIMESTAMP:
+      LOG(WARNING) << option << " get value useless";
+      return -1;
     default:
       LOG(ERROR) << "Unsupported option " << option;
   }
@@ -292,11 +298,49 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
     case Option::ERASE_CHIP:
       LOG(WARNING) << option << " set value useless";
       break;
+    case Option::SYNC_TIMESTAMP:
+      XuCamCtrlSet(option, value);
+      break;
     default:
       LOG(ERROR) << "Unsupported option " << option;
   }
 }
 
+bool Channels::SetControlValue(const Option &option, std::uint64_t value) {
+  switch (option) {
+    case Option::GAIN:
+    case Option::BRIGHTNESS:
+    case Option::CONTRAST:
+    case Option::FRAME_RATE:
+    case Option::IMU_FREQUENCY:
+    case Option::ACCELEROMETER_RANGE:
+    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
+    case Option::EXPOSURE_MODE:
+    case Option::MAX_GAIN:
+    case Option::MAX_EXPOSURE_TIME:
+    case Option::DESIRED_BRIGHTNESS:
+    case Option::IR_CONTROL:
+    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
+    case Option::IIC_ADDRESS_SETTING:
+    case Option::ZERO_DRIFT_CALIBRATION:
+      LOG(WARNING) << option << " refer to function SetControlValue(const Option &option, std::int32_t value)";
+      break;
+    case Option::ERASE_CHIP:
+      LOG(WARNING) << option << " set value useless";
+      break;
+    case Option::SYNC_TIMESTAMP:
+      return XuHalfDuplexSet(option, value);
+      break;
+    default:
+      LOG(ERROR) << "Unsupported option " << option;
+  }
+
+  return false;
+}
+
 bool Channels::RunControlAction(const Option &option) const {
   switch (option) {
     case Option::ZERO_DRIFT_CALIBRATION:
@@ -675,6 +719,29 @@ bool Channels::XuHalfDuplexSet(Option option, xu_cmd_t cmd) const {
   }
 }
 
+bool Channels::XuHalfDuplexSet(Option option, std::uint64_t value) const {
+  int id = XuHalfDuplexId(option);
+  std::uint8_t data[20] = {static_cast<std::uint8_t>(id & 0xFF),
+                           static_cast<std::uint8_t>(value & 0xFF),
+                           static_cast<std::uint8_t>((value >> 8) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 16) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 24) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 32) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 40) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 48) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 56) & 0xFF)};
+
+  if (XuControlQuery(CHANNEL_HALF_DUPLEX, uvc::XU_QUERY_SET, 20, data)) {
+    VLOG(2) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase << value
+            << ") of " << option << " success";
+    return true;
+  } else {
+    LOG(WARNING) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase
+                 << value << ") of " << option << " failed";
+    return false;
+  }
+}
+
 bool Channels::XuImuWrite(const ImuReqPacket &req) const {
   auto &&data = req.to_data();
   if (XuControlQuery(

src/mynteye/device/channel/channels.h

@@ -50,6 +50,7 @@ class MYNTEYE_API Channels {
   typedef enum XuCmd {
     XU_CMD_ZDC = 0xE6,    // zero drift calibration
     XU_CMD_ERASE = 0xDE,  // erase chip
+    XU_SYNC_TIMESTAMP = 0x200,  // sync timestamp
     XU_CMD_LAST
   } xu_cmd_t;
 
@@ -72,6 +73,7 @@ class MYNTEYE_API Channels {
 
   std::int32_t GetControlValue(const Option &option) const;
   void SetControlValue(const Option &option, std::int32_t value);
+  bool SetControlValue(const Option &option, std::uint64_t value);
 
   bool RunControlAction(const Option &option) const;
 
@@ -110,6 +112,7 @@ class MYNTEYE_API Channels {
   void XuCamCtrlSet(Option option, std::int32_t value) const;
 
   bool XuHalfDuplexSet(Option option, xu_cmd_t cmd) const;
+  bool XuHalfDuplexSet(Option option, std::uint64_t value) const;
 
   bool XuImuWrite(const ImuReqPacket &req) const;
   bool XuImuRead(ImuResPacket *res) const;

src/mynteye/device/config.cc

@@ -18,13 +18,15 @@ MYNTEYE_BEGIN_NAMESPACE
 const std::map<Model, StreamSupports> stream_supports_map = {
   {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}},
   {Model::STANDARD2, {Stream::LEFT, Stream::RIGHT}},
-  {Model::STANDARD210A, {Stream::LEFT, Stream::RIGHT}}
+  {Model::STANDARD210A, {Stream::LEFT, Stream::RIGHT}},
+  {Model::STANDARD200B, {Stream::LEFT, Stream::RIGHT}},
 };
 
 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
   {Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}},
   {Model::STANDARD2, {Capabilities::STEREO_COLOR, Capabilities::IMU}},
-  {Model::STANDARD210A, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
+  {Model::STANDARD210A, {Capabilities::STEREO_COLOR, Capabilities::IMU}},
+  {Model::STANDARD200B, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
 };
 
 const std::map<Model, OptionSupports> option_supports_map = {
@@ -42,8 +44,7 @@ const std::map<Model, OptionSupports> option_supports_map = {
   {Model::STANDARD2, {
     Option::BRIGHTNESS,
     Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-      Option::IR_CONTROL, Option::MIN_EXPOSURE_TIME,
-    Option::DESIRED_BRIGHTNESS, Option::ACCELEROMETER_RANGE,
+      Option::MIN_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::ACCELEROMETER_RANGE,
     Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
     Option::GYROSCOPE_LOW_PASS_FILTER, Option::IIC_ADDRESS_SETTING,
     Option::ERASE_CHIP}
@@ -55,7 +56,14 @@ const std::map<Model, OptionSupports> option_supports_map = {
     Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
     Option::ACCELEROMETER_LOW_PASS_FILTER, Option::GYROSCOPE_LOW_PASS_FILTER,
     Option::IIC_ADDRESS_SETTING, Option::ERASE_CHIP}
-  }
+  },
+  {Model::STANDARD200B, {
+    Option::BRIGHTNESS,
+    Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
+      Option::MIN_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::ACCELEROMETER_RANGE,
+    Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+    Option::GYROSCOPE_LOW_PASS_FILTER, Option::ERASE_CHIP, Option::SYNC_TIMESTAMP}
+  },
 };
 
 const std::map<Model, std::map<Capabilities, StreamRequests>>
@@ -87,7 +95,94 @@ stream_requests_map = {
       {2560, 800, Format::BGR888, 20},
       {2560, 800, Format::BGR888, 30}}
     }}
-  }
+  },
+  {Model::STANDARD200B,
+    {{Capabilities::STEREO_COLOR, {
+      {1280, 400, Format::YUYV, 10},
+      {1280, 400, Format::YUYV, 20},
+      {1280, 400, Format::YUYV, 30},
+      {1280, 400, Format::YUYV, 60},
+      {2560, 800, Format::YUYV, 10},
+      {2560, 800, Format::YUYV, 20},
+      {2560, 800, Format::YUYV, 30}}
+    }}
+  },
 };
 
+/**
+ * default intrinsics
+ */
+
+std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
+  auto res = std::make_shared<IntrinsicsPinhole>();
+  res->width = 640;
+  res->height = 400;
+  res->model = 0;
+  res->fx = 3.6220059643202876e+02;
+  res->fy = 3.6350065250745848e+02;
+  res->cx = 4.0658699068023441e+02;
+  res->cy = 2.3435161110061483e+02;
+  double codffs[5] = {
+    -2.5034765682756088e-01,
+    5.0579399202897619e-02,
+    -7.0536676161976066e-04,
+    -8.5255451307033846e-03,
+    0.
+  };
+  for (unsigned int i = 0; i < 5; i++) {
+    res->coeffs[i] = codffs[i];
+  }
+  return res;
+}
+
+std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics(const Resolution &resolution) {
+  auto res = getDefaultIntrinsics();
+  res->resize_scale = static_cast<double>(resolution.width / res->width);
+  res->ResizeIntrinsics();
+  return res;
+}
+
+std::shared_ptr<Extrinsics> getDefaultExtrinsics() {
+  auto res = std::make_shared<Extrinsics>();
+  double rotation[9] = {
+    9.9867908939669447e-01,  -6.3445566137485428e-03, 5.0988459509619687e-02,
+    5.9890316389333252e-03,  9.9995670037792639e-01,  7.1224201868366971e-03,
+    -5.1031440326695092e-02, -6.8076406092671274e-03, 9.9867384471984544e-01
+  };
+  double translation[3] = {-1.2002489764113250e+02, -1.1782637409050747e+00,
+      -5.2058205159996538e+00};
+  for (unsigned int i = 0; i < 3; i++) {
+    for (unsigned int j = 0; j < 3; j++) {
+      res->rotation[i][j] = rotation[i*3 + j];
+    }
+  }
+  for (unsigned int i = 0; i < 3; i++) {
+    res->translation[i] = translation[i];
+  }
+  return res;
+}
+
+// sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
+// sgbm_matcher->setPreFilterCap(63);
+// sgbm_matcher->setBlockSize(sgbmWinSize);
+// sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
+// sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
+// sgbm_matcher->setMinDisparity(0);
+// sgbm_matcher->setNumDisparities(numberOfDisparities);
+// sgbm_matcher->setUniquenessRatio(10);
+// sgbm_matcher->setSpeckleWindowSize(100);
+// sgbm_matcher->setSpeckleRange(32);
+// sgbm_matcher->setDisp12MaxDiff(1);
+
+// bm_matcher = cv::StereoBM::create(0, 3);
+// bm_matcher->setPreFilterSize(9);
+// bm_matcher->setPreFilterCap(31);
+// bm_matcher->setBlockSize(15);
+// bm_matcher->setMinDisparity(0);
+// bm_matcher->setNumDisparities(64);
+// bm_matcher->setUniquenessRatio(60);
+// bm_matcher->setTextureThreshold(10);
+// bm_matcher->setSpeckleWindowSize(100);
+// bm_matcher->setSpeckleRange(4);
+
 MYNTEYE_END_NAMESPACE

src/mynteye/device/config.h

@@ -18,6 +18,7 @@
 #include <map>
 #include <set>
 #include <vector>
+#include <memory>
 
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
@@ -37,6 +38,14 @@ using StreamRequests = std::vector<StreamRequest>;
 extern const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map;
 
+const std::vector<Resolution> resolution_list = {{640, 400},
+                                                 {1280, 800}};
+
+std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics();
+std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics(const Resolution &resolution);
+
+std::shared_ptr<Extrinsics> getDefaultExtrinsics();
+
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_DEVICE_CONFIG_H_

src/mynteye/device/device.cc

@@ -89,7 +89,8 @@ Device::Device(const Model &model,
     device_(device),
     streams_(std::make_shared<Streams>(streams_adapter)),
     channels_(std::make_shared<Channels>(device_, channels_adapter)),
-    motions_(std::make_shared<Motions>(channels_)) {
+    motions_(std::make_shared<Motions>(channels_)),
+    is_default_intrinsics_(false) {
   VLOG(2) << __func__;
   ReadAllInfos();
 }
@@ -110,12 +111,23 @@ std::shared_ptr<Device> Device::Create(
       if (model.generation == '1') {
         return std::make_shared<StandardDevice>(device);
       } else if (model.generation == '2') {
-        if (model.custom_code == '0') {
-          return std::make_shared<Standard2Device>(Model::STANDARD2, device);
-        } else if (model.custom_code == 'A') {
-          return std::make_shared<Standard2Device>(Model::STANDARD210A, device);
+        if (model.baseline_code == '1') {
+          if (model.custom_code == '0') {
+            return std::make_shared<Standard2Device>(Model::STANDARD2, device);
+          } else if (model.custom_code == 'A') {
+            return std::make_shared<Standard2Device>(
+                Model::STANDARD210A, device);
+          } else {
+            LOG(FATAL) << "No such custom code now";
+          }
+        } else if (model.baseline_code == '0') {
+          if (model.custom_code == 'B') {
+            return std::make_shared<Standard2Device>(Model::STANDARD200B, device);
+          } else {
+            LOG(FATAL) << "No such custom code now";
+          }
         } else {
-          LOG(FATAL) << "No such custom code now";
+          LOG(FATAL) << "No such baseline now";
         }
       } else {
         LOG(FATAL) << "No such generation now";
@@ -369,6 +381,14 @@ void Device::SetOptionValue(const Option &option, std::int32_t value) {
   channels_->SetControlValue(option, value);
 }
 
+bool Device::SetOptionValue(const Option &option, std::uint64_t value) {
+  if (!Supports(option)) {
+    LOG(WARNING) << "Unsupported option: " << option;
+    return false;
+  }
+  return channels_->SetControlValue(option, value);
+}
+
 bool Device::RunOptionAction(const Option &option) const {
   if (!Supports(option)) {
     LOG(WARNING) << "Unsupported option: " << option;
@@ -612,24 +632,38 @@ void Device::ReadAllInfos() {
 
   motions_->SetDeviceInfo(device_info_);
 
-  bool img_params_ok = false;
+  if (all_img_params_.empty()) {
+    is_default_intrinsics_ = true;
+    LOG(ERROR) << "Image params not found, but we need it to process the "
+                  "images. Please `make tools` and use `img_params_writer` "
+                  "to write the image params. If you update the SDK from "
+                  "1.x, the `SN*.conf` is the file contains them. Besides, "
+                  "you could also calibrate them by yourself. Read the guide "
+                  "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+                  "to learn more.";
+    LOG(WARNING) << "Intrinsics & extrinsics not exist. Use default intrinsics.";
+    LOG(INFO) << "camera calib model: unknow, use default pinhole data";
+    auto spec_string = device_info_->spec_version.to_string();
+    for (auto &&resolution : resolution_list) {
+      all_img_params_[resolution] = {
+          true, spec_string, getDefaultIntrinsics(resolution),
+          getDefaultIntrinsics(resolution), *getDefaultExtrinsics()};
+    }
+  }
+
   for (auto &&params : all_img_params_) {
     auto &&img_params = params.second;
     if (img_params.ok) {
-      img_params_ok = true;
       SetIntrinsics(Stream::LEFT, img_params.in_left);
       SetIntrinsics(Stream::RIGHT, img_params.in_right);
       SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
       VLOG(2) << "Intrinsics left: {" << *GetIntrinsics(Stream::LEFT) << "}";
       VLOG(2) << "Intrinsics right: {" << *GetIntrinsics(Stream::RIGHT) << "}";
       VLOG(2) << "Extrinsics left to right: {"
-              << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+              << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
       break;
     }
   }
-  if (!img_params_ok) {
-    LOG(WARNING) << "Intrinsics & extrinsics not exist";
-  }
 
   if (imu_params.ok) {
     imu_params_ = imu_params;
@@ -675,11 +709,11 @@ void Device::UpdateStreamIntrinsics(
     if (ok) {
       SetIntrinsics(Stream::LEFT, img_params.in_left);
       SetIntrinsics(Stream::RIGHT, img_params.in_right);
-      SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
+      SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
       VLOG(2) << "Intrinsics left: {" << *GetIntrinsics(Stream::LEFT) << "}";
       VLOG(2) << "Intrinsics right: {" << *GetIntrinsics(Stream::RIGHT) << "}";
       VLOG(2) << "Extrinsics left to right: {"
-              << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+              << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
       break;
     }
   }
@@ -726,4 +760,8 @@ void Device::EnableProcessMode(const std::int32_t& mode) {
   motions_->EnableProcessMode(mode);
 }
 
+bool Device::CheckImageParams() {
+  return is_default_intrinsics_;
+}
+
 MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/channels_adapter_s2.cc

@@ -73,7 +73,12 @@ void unpack_imu_packet(const std::uint8_t *data, ImuPacket *pkg) {
     unpack_imu_segment(ImuData(data + data_n * i), &seg);
     pkg->segments.push_back(seg);
   }
-  pkg->serial_number = pkg->segments.back().frame_id;
+  if (pkg->count) {
+    pkg->serial_number = pkg->segments.back().frame_id;
+  } else {
+    LOG(ERROR) << "The imu data pipeline lost more than 5 samples continuously, "
+               << "please check the device and firmware";
+  }
 }
 
 void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {

src/mynteye/device/standard2/device_s2.cc

@@ -26,7 +26,8 @@ Standard2Device::Standard2Device(const Model &model,
            std::make_shared<Standard2StreamsAdapter>(model),
            std::make_shared<Standard2ChannelsAdapter>(model)) {
   VLOG(2) << __func__;
-  CHECK(model == Model::STANDARD2 || model == Model::STANDARD210A);
+  CHECK(model == Model::STANDARD2 || model == Model::STANDARD210A ||
+        model == Model::STANDARD200B);
 }
 
 Standard2Device::~Standard2Device() {

src/mynteye/device/standard2/streams_adapter_s2.cc

@@ -227,6 +227,7 @@ Standard2StreamsAdapter::GetUnpackImgPixelsMap() {
         {Stream::RIGHT, s210a::unpack_right_img_pixels}
       };
     case Model::STANDARD2:
+    case Model::STANDARD200B:
     default:
       return {
         {Stream::LEFT, unpack_left_img_pixels},

src/mynteye/types.cc

@@ -31,6 +31,7 @@ const char *to_string(const Model &value) {
     CASE(STANDARD)
     CASE(STANDARD2)
     CASE(STANDARD210A)
+    CASE(STANDARD200B)
     default:
       CHECK(is_valid(value));
       return "Model::UNKNOWN";
@@ -125,6 +126,7 @@ const char *to_string(const Option &value) {
     CASE(IIC_ADDRESS_SETTING)
     CASE(ZERO_DRIFT_CALIBRATION)
     CASE(ERASE_CHIP)
+    CASE(SYNC_TIMESTAMP)
     default:
       CHECK(is_valid(value));
       return "Option::UNKNOWN";
@@ -188,8 +190,13 @@ std::size_t bytes_per_pixel(const Format &value) {
 }
 
 std::ostream &operator<<(std::ostream &os, const StreamRequest &request) {
-  return os << "width: " << request.width << ", height: " << request.height
-            << ", format: " << request.format << ", fps: " << request.fps;
+  if (request.fps == 0) {
+    return os << "width: " << request.width << ", height: " << request.height
+      << ", format: " << request.format;
+  } else {
+    return os << "width: " << request.width << ", height: " << request.height
+      << ", format: " << request.format << ", fps: " << request.fps;
+  }
 }
 
 const char *to_string(const CalibrationModel &model) {
@@ -313,13 +320,14 @@ std::ostream &operator<<(std::ostream &os, const Extrinsics &ex) {
 }
 
 std::ostream &operator<<(std::ostream &os, const OptionInfo &info) {
-  return os << "min: " << info.min << ", max: " << info.max
+  return os << FULL_PRECISION << "min: " << info.min << ", max: " << info.max
             << ", def: " << info.def;
 }
 
 std::ostream &operator<<(std::ostream &os, const CameraROSMsgInfo &info) {
-  os << "width: " << info.width << ", height: " << info.height << std::endl
-      << "distortion_model: " << info.distortion_model;
+  os << FULL_PRECISION << "width: " << info.width << ", height: "
+    << info.height << std::endl << "distortion_model: "
+    << info.distortion_model;
   os << std::endl << "D: ";
   for (size_t i = 0; i < 5; i++)
     os << info.D[i] << ",";

src/mynteye/uvc/linux/uvc-v4l2.cc

@@ -197,6 +197,7 @@ struct device {
         }
       }
     } else {
+      throw_error() << dev_name + " is no video capture device";
     }  // Errors ignored
   }
 
@@ -474,7 +475,8 @@ std::vector<std::shared_ptr<device>> query_devices(
     }
 
     try {
-      devices.push_back(std::make_shared<device>(context, name));
+      auto one_device = std::make_shared<device>(context, name);
+      devices.push_back(one_device);
     } catch (const std::exception &e) {
       VLOG(2) << "Not a USB video device: " << e.what();
     }

test/types_test.cc

@@ -75,6 +75,7 @@ TEST(Option, VerifyToString) {
       "Option::ZERO_DRIFT_CALIBRATION",
       to_string(Option::ZERO_DRIFT_CALIBRATION));
   EXPECT_STREQ("Option::ERASE_CHIP", to_string(Option::ERASE_CHIP));
+  EXPECT_STREQ("Option::SYNC_TIMESTAMP", to_string(Option::SYNC_TIMESTAMP));
 }
 
 TEST(Source, VerifyToString) {

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/model.hpp

@@ -14,6 +14,8 @@ enum class Model : int {
     STANDARD2,
     /** Standard 210a */
     STANDARD210A,
+    /** Standard 200b */
+    STANDARD200B,
 };
 
 }  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option.hpp

@@ -69,8 +69,8 @@ enum class Option : int {
     IR_CONTROL,
     /**
      * HDR mode
-     *  0: 10-bit
-     *  1: 12-bit
+     *  0: normal
+     *  1: WDR
      */
     HDR_MODE,
     /**
@@ -104,6 +104,8 @@ enum class Option : int {
     ZERO_DRIFT_CALIBRATION,
     /** Erase chip */
     ERASE_CHIP,
+    /** Sync timestamp */
+    SYNC_TIMESTAMP,
 };
 
 }  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/type_conversion.hpp

@@ -64,6 +64,7 @@ RawModel from_jni(const JniModel& model) {
     case JniModel::STANDARD: return RawModel::STANDARD;
     case JniModel::STANDARD2: return RawModel::STANDARD2;
     case JniModel::STANDARD210A: return RawModel::STANDARD210A;
+    case JniModel::STANDARD200B: return RawModel::STANDARD200B;
     default:
       LOG(FATAL) << "Model is unknown";
   }
@@ -75,6 +76,7 @@ JniModel to_jni(const RawModel& model) {
     case RawModel::STANDARD: return JniModel::STANDARD;
     case RawModel::STANDARD2: return JniModel::STANDARD2;
     case RawModel::STANDARD210A: return JniModel::STANDARD210A;
+    case RawModel::STANDARD200B: return JniModel::STANDARD200B;
     default:
       LOG(FATAL) << "Model is unknown";
   }
@@ -323,8 +325,8 @@ JniOption to_jni(const RawOption& Option) {
       return JniOption::ACCELEROMETER_LOW_PASS_FILTER;
     case RawOption::GYROSCOPE_LOW_PASS_FILTER:
       return JniOption::GYROSCOPE_LOW_PASS_FILTER;
-    case JniOption::IIC_ADDRESS_SETTING:
-      return RawOption::IIC_ADDRESS_SETTING;
+    case RawOption::IIC_ADDRESS_SETTING:
+      return JniOption::IIC_ADDRESS_SETTING;
     case RawOption::ZERO_DRIFT_CALIBRATION:
       return JniOption::ZERO_DRIFT_CALIBRATION;
     case RawOption::ERASE_CHIP:

wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Model.java

@@ -14,5 +14,7 @@ public enum Model {
     STANDARD2,
     /** Standard 210a */
     STANDARD210A,
+    /** Standard 200b */
+    STANDARD200B,
     ;
 }

wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Option.java

@@ -69,8 +69,8 @@ public enum Option {
     IR_CONTROL,
     /**
      * HDR mode
-     *  0: 10-bit
-     *  1: 12-bit
+     *  0: normal
+     *  1: WDR
      */
     HDR_MODE,
     /**

wrappers/android/mynteye/scripts/mynteye_types.djinni

@@ -27,6 +27,8 @@ model = enum {
   standard2;
   # Standard 210a
   standard210a;
+  # Standard 200b
+  standard200B;
 }
 
 # Formats define how each stream can be encoded
@@ -159,8 +161,8 @@ option = enum {
   #  range: [0,160], default: 0
   ir_control;
   # HDR mode
-  #  0: 10-bit
-  #  1: 12-bit
+  #  0: normal
+  #  1: WDR
   hdr_mode;
 
   # The range of accelerometer

wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard.yaml

@@ -1,5 +1,5 @@
 # standard/gain range: [0,48]
-sstandard/gain: -1
+standard/gain: -1
 # standard/gain: 24
 
 # standard/brightness range: [0,240]
@@ -8,7 +8,7 @@ standard/brightness: -1
 
 # contrast range: [0,255]
 standard/contrast: -1
-# standard/contrast: 127
+# standard/contrast: 116
 
 # standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
 standard/frame_rate: -1
@@ -38,7 +38,7 @@ standard/desired_brightness: -1
 standard/ir_control: 80
 # standard/ir_control: 0
 
-# standard/hdr_mode, 0: 10-bit, 1: 12-bit
+# standard/hdr_mode, 0: normal, 1: WDR
 standard/hdr_mode: -1
 # standard/hdr_mode: 0
 
@@ -55,4 +55,4 @@ standard/gyro_range: -1
 # MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
 # index_s_1: 1
 
-standard/request_index: 0
+standard/request_index: 0

wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml

@@ -19,15 +19,15 @@
 
 standard2/request_index: 2
 
-# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
+# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
 # 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
 standard2/imu_process_mode: 2
 
 # device options of standard2, -1 will not set the value
 
-# standard2/brightness range: [0,240]
+# standard2/brightness range: [1,255]
 standard2/brightness: -1
-# standard2/brightness: 120
+# standard2/brightness: 70
 
 # standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard2/exposure_mode: -1
@@ -37,7 +37,7 @@ standard2/exposure_mode: -1
 standard2/max_gain: -1
 # standard2/max_gain: 8
 
-# standard2/max_exposure_time range: [0,1000]
+# standard2/max_exposure_time range: [0,655]
 standard2/max_exposure_time: -1
 # standard2/max_exposure_time: 333
 
@@ -49,10 +49,6 @@ standard2/desired_brightness: -1
 standard2/min_exposure_time: -1
 # standard2/min_exposure_time: 0
 
-# standard2/ir_control range: [0,160]
-standard2/ir_control: 80
-# standard2/ir_control: 0
-
 # standard2/accel_range range: [6,48]
 standard2/accel_range: -1
 # standard2/accel_range: 6
@@ -71,9 +67,9 @@ standard2/gyro_low_filter: -1
 
 # device options of standard210a, -1 will not set the value
 
-# standard210a/brightness range: [0,240]
+# standard210a/brightness range: [1,255]
 standard210a/brightness: -1
-# standard210a/brightness: 120
+# standard210a/brightness: 70
 
 # standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard210a/exposure_mode: -1
@@ -83,7 +79,7 @@ standard210a/exposure_mode: -1
 standard210a/max_gain: -1
 # standard210a/max_gain: 8
 
-# standard210a/max_exposure_time range: [0,1000]
+# standard210a/max_exposure_time range: [0,655]
 standard210a/max_exposure_time: -1
 # standard210a/max_exposure_time: 333
 
@@ -114,3 +110,45 @@ standard210a/gyro_low_filter: -1
 # standard210a/iic_address_setting range: [0,127]
 standard210a/iic_address_setting: -1
 # standard210a/iic_address_setting: 0x01
+
+# device options of standard200b, -1 will not set the value
+
+# standard200b/brightness range: [1,255]
+standard200b/brightness: -1
+# standard200b/brightness: 70
+
+# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard200b/exposure_mode: -1
+# standard200b/exposure_mode: 0
+
+# standard200b/max_gain range: [0,255]
+standard200b/max_gain: -1
+# standard200b/max_gain: 8
+
+# standard200b/max_exposure_time range: [0,655]
+standard200b/max_exposure_time: -1
+# standard200b/max_exposure_time: 333
+
+# standard200b/desired_brightness range: [1,255]
+standard200b/desired_brightness: -1
+# standard200b/desired_brightness: 122
+
+# standard200b/min_exposure_time range: [0,1000]
+standard200b/min_exposure_time: -1
+# standard200b/min_exposure_time: 0
+
+# standard200b/accel_range range: [6,48]
+standard200b/accel_range: -1
+# standard200b/accel_range: 6
+
+# standard200b/gyro_range range: [250,4000]
+standard200b/gyro_range: -1
+# standard200b/gyro_range: 1000
+
+# standard200b/accel_low_filter range: [0,2]
+standard200b/accel_low_filter: -1
+# standard200b/accel_low_filter: 2
+
+# standard200b/gyro_low_filter range: [23,64]
+standard200b/gyro_low_filter: -1
+# standard200b/gyro_low_filter: 64

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_1/standard.yaml

@@ -38,7 +38,7 @@ standard/desired_brightness: -1
 standard/ir_control: 80
 # standard/ir_control: 0
 
-# standard/hdr_mode, 0: 10-bit, 1: 12-bit
+# standard/hdr_mode, 0: normal, 1: WDR
 standard/hdr_mode: -1
 # standard/hdr_mode: 0
 
@@ -55,4 +55,4 @@ standard/gyro_range: -1
 # MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
 # index_s_1: 1
 
-standard/request_index: 0
+standard/request_index: 0

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_1/standard2.yaml

@@ -19,15 +19,15 @@
 
 standard2/request_index: 2
 
-# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
+# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
 # 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
-standard2/imu_process_mode: 0
+standard2/imu_process_mode: 2
 
 # device options of standard2, -1 will not set the value
 
-# standard2/brightness range: [0,240]
+# standard2/brightness range: [1,255]
 standard2/brightness: -1
-# standard2/brightness: 120
+# standard2/brightness: 70
 
 # standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard2/exposure_mode: -1
@@ -49,10 +49,6 @@ standard2/desired_brightness: -1
 standard2/min_exposure_time: -1
 # standard2/min_exposure_time: 0
 
-# standard2/ir_control range: [0,160]
-standard2/ir_control: 80
-# standard2/ir_control: 0
-
 # standard2/accel_range range: [6,48]
 standard2/accel_range: -1
 # standard2/accel_range: 6
@@ -71,9 +67,9 @@ standard2/gyro_low_filter: -1
 
 # device options of standard210a, -1 will not set the value
 
-# standard210a/brightness range: [0,240]
+# standard210a/brightness range: [1,255]
 standard210a/brightness: -1
-# standard210a/brightness: 120
+# standard210a/brightness: 70
 
 # standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard210a/exposure_mode: -1
@@ -114,3 +110,45 @@ standard210a/gyro_low_filter: -1
 # standard210a/iic_address_setting range: [0,127]
 standard210a/iic_address_setting: -1
 # standard210a/iic_address_setting: 0x01
+
+# device options of standard200b, -1 will not set the value
+
+# standard200b/brightness range: [1,255]
+standard200b/brightness: -1
+# standard200b/brightness: 70
+
+# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard200b/exposure_mode: -1
+# standard200b/exposure_mode: 0
+
+# standard200b/max_gain range: [0,255]
+standard200b/max_gain: -1
+# standard200b/max_gain: 8
+
+# standard200b/max_exposure_time range: [0,1000]
+standard200b/max_exposure_time: -1
+# standard200b/max_exposure_time: 333
+
+# standard200b/desired_brightness range: [1,255]
+standard200b/desired_brightness: -1
+# standard200b/desired_brightness: 122
+
+# standard200b/min_exposure_time range: [0,1000]
+standard200b/min_exposure_time: -1
+# standard200b/min_exposure_time: 0
+
+# standard200b/accel_range range: [6,48]
+standard200b/accel_range: -1
+# standard200b/accel_range: 6
+
+# standard200b/gyro_range range: [250,4000]
+standard200b/gyro_range: -1
+# standard200b/gyro_range: 1000
+
+# standard200b/accel_low_filter range: [0,2]
+standard200b/accel_low_filter: -1
+# standard200b/accel_low_filter: 2
+
+# standard200b/gyro_low_filter range: [23,64]
+standard200b/gyro_low_filter: -1
+# standard200b/gyro_low_filter: 64

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_2/standard.yaml

@@ -38,7 +38,7 @@ standard/desired_brightness: -1
 standard/ir_control: 80
 # standard/ir_control: 0
 
-# standard/hdr_mode, 0: 10-bit, 1: 12-bit
+# standard/hdr_mode, 0: normal, 1: WDR
 standard/hdr_mode: -1
 # standard/hdr_mode: 0
 
@@ -55,4 +55,4 @@ standard/gyro_range: -1
 # MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
 # index_s_1: 1
 
-standard/request_index: 0
+standard/request_index: 0

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/device_2/standard2.yaml

@@ -19,15 +19,15 @@
 
 standard2/request_index: 2
 
-# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
+# MYNTEYE-S2100/S2000/S210A/S200B imu_process_mode range: [0,3]
 # 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
-standard2/imu_process_mode: 0
+standard2/imu_process_mode: 2
 
 # device options of standard2, -1 will not set the value
 
-# standard2/brightness range: [0,240]
+# standard2/brightness range: [1,255]
 standard2/brightness: -1
-# standard2/brightness: 120
+# standard2/brightness: 70
 
 # standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard2/exposure_mode: -1
@@ -49,10 +49,6 @@ standard2/desired_brightness: -1
 standard2/min_exposure_time: -1
 # standard2/min_exposure_time: 0
 
-# standard2/ir_control range: [0,160]
-standard2/ir_control: 80
-# standard2/ir_control: 0
-
 # standard2/accel_range range: [6,48]
 standard2/accel_range: -1
 # standard2/accel_range: 6
@@ -71,9 +67,9 @@ standard2/gyro_low_filter: -1
 
 # device options of standard210a, -1 will not set the value
 
-# standard210a/brightness range: [0,240]
+# standard210a/brightness range: [1,255]
 standard210a/brightness: -1
-# standard210a/brightness: 120
+# standard210a/brightness: 70
 
 # standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
 standard210a/exposure_mode: -1
@@ -114,3 +110,45 @@ standard210a/gyro_low_filter: -1
 # standard210a/iic_address_setting range: [0,127]
 standard210a/iic_address_setting: -1
 # standard210a/iic_address_setting: 0x01
+
+# device options of standard200b, -1 will not set the value
+
+# standard200b/brightness range: [1,255]
+standard200b/brightness: -1
+# standard200b/brightness: 70
+
+# standard200b/exposure_mode, 0: auto-exposure, 1: manual-exposure
+standard200b/exposure_mode: -1
+# standard200b/exposure_mode: 0
+
+# standard200b/max_gain range: [0,255]
+standard200b/max_gain: -1
+# standard200b/max_gain: 8
+
+# standard200b/max_exposure_time range: [0,1000]
+standard200b/max_exposure_time: -1
+# standard200b/max_exposure_time: 333
+
+# standard200b/desired_brightness range: [1,255]
+standard200b/desired_brightness: -1
+# standard200b/desired_brightness: 122
+
+# standard200b/min_exposure_time range: [0,1000]
+standard200b/min_exposure_time: -1
+# standard200b/min_exposure_time: 0
+
+# standard200b/accel_range range: [6,48]
+standard200b/accel_range: -1
+# standard200b/accel_range: 6
+
+# standard200b/gyro_range range: [250,4000]
+standard200b/gyro_range: -1
+# standard200b/gyro_range: 1000
+
+# standard200b/accel_low_filter range: [0,2]
+standard200b/accel_low_filter: -1
+# standard200b/accel_low_filter: 2
+
+# standard200b/gyro_low_filter range: [23,64]
+standard200b/gyro_low_filter: -1
+# standard200b/gyro_low_filter: 64

wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch

@@ -53,7 +53,7 @@
       <!-- node params -->
 
       <param name="is_multiple" value="$(arg is_multiple)" />
-      <param name="serial_number" value="$(arg serial_number)" />
+      <param name="serial_number" type="string" value="$(arg serial_number)" />
 
       <param name="depth_type" value="$(arg depth_type)" />
 

wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch

@@ -53,7 +53,7 @@
       <!-- node params -->
 
       <param name="is_multiple" value="$(arg is_multiple)" />
-      <param name="serial_number" value="$(arg serial_number)" />
+      <param name="serial_number" type="string" value="$(arg serial_number)" />
 
       <param name="depth_type" value="$(arg depth_type)" />
 

wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch

@@ -53,7 +53,7 @@
       <!-- node params -->
 
       <param name="is_multiple" value="$(arg is_multiple)" />
-      <param name="serial_number" value="$(arg serial_number)" />
+      <param name="serial_number" type="string" value="$(arg serial_number)" />
 
       <param name="depth_type" value="$(arg depth_type)" />
 

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

@@ -1226,11 +1226,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     mesh_msg_.header.frame_id = base_frame_id_;
     mesh_msg_.header.stamp = ros::Time::now();
     mesh_msg_.type = visualization_msgs::Marker::MESH_RESOURCE;
+    geometry_msgs::Quaternion q;
+    double Pie = 3.1416;
+    q = tf::createQuaternionMsgFromRollPitchYaw(Pie/2, 0.0, Pie/2);
+
     // fill orientation
-    mesh_msg_.pose.orientation.x = 1;
-    mesh_msg_.pose.orientation.y = 1;
-    mesh_msg_.pose.orientation.z = 1;
-    mesh_msg_.pose.orientation.w = 1;
+    mesh_msg_.pose.orientation.x = q.x;
+    mesh_msg_.pose.orientation.y = q.y;
+    mesh_msg_.pose.orientation.z = q.z;
+    mesh_msg_.pose.orientation.w = q.w;
 
     // fill position
     mesh_msg_.pose.position.x = 0;
@@ -1243,7 +1247,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     mesh_msg_.scale.z = 0.003;
 
     mesh_msg_.action = visualization_msgs::Marker::ADD;
-    mesh_msg_.color.a = 1.0;  // Don't forget to set the alpha!
+    mesh_msg_.color.a = 0.5;  // Don't forget to set the alpha!
     mesh_msg_.color.r = 1.0;
     mesh_msg_.color.g = 1.0;
     mesh_msg_.color.b = 1.0;