I was able to compile the SDK and tools on Mac OSX with the following.

I install command line tools via: xcode-select --install
First, I have opencv installed via homebrew: brew install opencv

Then, I compiled the SDK in a similar way to the ubuntu installation.
mkdir build
cd build
cmake ..
sudo make install

**Hi all,
My problem is just like following: could only get the 6-axis data of imu but cannot directly get the quarternion data, any ideas?

---- when roslaunch start ----
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/channels.cc:939 XuCamCtrlGet value of Option::ACCELEROMETER_RANGE failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/channels.cc:939 XuCamCtrlGet value of Option::GYROSCOPE_RANGE failed

---- when rostopic echo start ----
header:
seq: 3495
stamp:
secs: 1544135338
nsecs: 610696316
frame_id: "mynteye_imu_frame"
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.0138484376684
y: 0.0154463343225
z: -0.0103863282513
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.992919921875
y: 1.63054199219
z: 9.93757324219
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---**

3.2.0 版本更新了这行

然而python wrapper没有更新

导致错误

/Users/duchengyao/project/SLAM/MYNT-EYE-S-SDK-2.3.0/wrappers/python/src/mynteye_py.cc:113:54: error: no matching constructor for initialization of
      'mynteye::API'
  explicit APIWrap(std::shared_ptr<Device> device) : API(device) {}
                                                     ^   ~~~~~~
/usr/local/include/mynteye/api/api.h:88:19: note: candidate constructor (the implicit copy constructor) not viable: no known conversion from
      'std::shared_ptr<Device>' to 'const mynteye::API' for 1st argument
class MYNTEYE_API API {
                  ^
/usr/local/include/mynteye/api/api.h:95:12: note: candidate constructor not viable: requires 2 arguments, but 1 was provided
  explicit API(std::shared_ptr<Device> device, CalibrationModel calib_model);
  

the output error follows this:

make[1]: Entering directory '/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build'
-- Using CATKIN_DEVEL_PREFIX: /home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /home/zq/anaconda3/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /home/zq/anaconda3/bin/nosetests
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - mynt_eye_ros_wrapper
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'mynt_eye_ros_wrapper'
-- ==> add_subdirectory(mynt_eye_ros_wrapper)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found OpenCV: 3.2.0
-- mynt_eye_ros_wrapper: 1 messages, 0 services
-- Found glog: 0.3.5
-- Found mynteye: 2.0.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build
make[1]: Leaving directory '/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build'

Running command: "make -j8 -l8" in "/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build"

make[1]: Entering directory '/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build'
make[2]: Entering directory '/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build'
make[3]: Entering directory '/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build'
make[3]: Leaving directory '/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build'
make[3]: Entering directory '/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build'
[ 9%] Building CXX object mynt_eye_ros_wrapper/CMakeFiles/mynteye_wrapper.dir/src/wrapper_nodelet.cc.o
/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc:26:39: fatal error: mynt_eye_ros_wrapper/Temp.h: No such file or directory
compilation terminated.
mynt_eye_ros_wrapper/CMakeFiles/mynteye_wrapper.dir/build.make:62: recipe for target 'mynt_eye_ros_wrapper/CMakeFiles/mynteye_wrapper.dir/src/wrapper_nodelet.cc.o' failed
make[3]: *** [mynt_eye_ros_wrapper/CMakeFiles/mynteye_wrapper.dir/src/wrapper_nodelet.cc.o] Error 1
make[3]: Leaving directory '/home/zq/Downloads/SDKs/MYNT-EYE-SDK-2/wrappers/ros/build'
CMakeFiles/Makefile2:435: recipe for target 'mynt_eye_ros_wrapper/CMakeFiles/mynteye_wrapper.dir/all' failed

I would very thanks for your help!

Upgraded firmware multiple times to 2.3.0 and updated SDK to 2.3.2 on Ubuntu 16.04 yet getting "Read device infos failed. Upgrade firmware" error messaged.
So I switched to windows and got the new Windows SDK and tried the samples - works perfectly!

Any errors with the 2.3.2 on Linux?

• MYNT device is detected, but xu_control_query and pu_control_range fails with error 25: Inappropriate ioctl for device.
• XuControlInfo fails for every component
• GetFiles fails

run "make all“ then get the error.

CD: ./_build
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- HOST_ARCH: x86_64
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using flag -std=c++11
-- C_FLAGS: -Wall -O3
-- CXX_FLAGS: -Wall -O3 -std=c++11
-- Found components for eSPDI
-- eSPDI_INCLUDE_DIRS: /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/include
-- eSPDI_LIBS: /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so
-- Generating shared library mynteye_depth
-- Copy eSPDI_LIBS to /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_output/lib/3rdparty
--   Copy /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so
--   Copy /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so.3.0.21
-- 
-- Platform:
--   HOST_OS: Linux
--   HOST_NAME: Ubuntu
--   HOST_ARCH: x86_64
--   HOST_COMPILER: GNU
--     COMPILER_VERSION: 5.4.0
-- 
-- OpenCV: YES
--   OpenCV_VERSION: 3.3.1
--   OpenCV_WORLD: NO
-- 
-- JPEG: YES
-- 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build
make[1]: Entering directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
make[2]: Entering directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
make[3]: Entering directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
Scanning dependencies of target mynteye_depth
make[3]: Leaving directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
make[3]: Entering directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
[  4%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/data/channels.cc.o
[  8%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/convertor.cc.o
[ 13%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/data_caches.cc.o
[ 17%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/device_info.cc.o
[ 21%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/device.cc.o
[ 26%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/device_linux.cc.o
[ 30%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/device_win.cc.o
[ 34%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/image.cc.o
[ 39%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/open_params.cc.o
[ 43%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/stream_info.cc.o
[ 47%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/types.cc.o
[ 52%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/stubs/types_calib.cc.o
[ 56%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/util/rate.cc.o
[ 60%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/util/strings.cc.o
[ 65%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/camera.cc.o
[ 69%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/types_data.cc.o
[ 73%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/utils.cc.o
[ 78%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/internal/camera_p.cc.o
[ 82%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/internal/image_utils.cc.o
[ 86%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/internal/motions.cc.o
[ 91%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/internal/streams.cc.o
[ 95%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/data/hid/hid_linux.cc.o
[100%] Linking CXX shared library ../_output/lib/libmynteye_depth.so
/usr/bin/ld:/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so: file format not recognized; treating as linker script
/usr/bin/ld:/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so:1: syntax error
collect2: error: ld returned 1 exit status
CMakeFiles/mynteye_depth.dir/build.make:687: recipe for target '../_output/lib/libmynteye_depth.so.1.5.1' failed
make[3]: *** [../_output/lib/libmynteye_depth.so.1.5.1] Error 1
make[3]: Leaving directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mynteye_depth.dir/all' failed
make[2]: *** [CMakeFiles/mynteye_depth.dir/all] Error 2
make[2]: Leaving directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
Makefile:127: recipe for target 'all' failed
make[1]: *** [all] Error 2
make[1]: Leaving directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
Makefile:58: recipe for target 'build' failed
make: *** [build] Error 2

I think the problem is here.
/usr/bin/ld:/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so: file format not recognized; treating as linker script
but I don't know how to resolve it.

Hello I am following tutorial of SDK setup on windows 10.

https://slightech.github.io/MYNT-EYE-S-SDK-Guide/src/sdk/exe_install_windows.html

However when I run get_stereo and any other executable, the console shows

Detecting MYNT EYE devices

then quit.

However windows system notifies that it detected myntai device after SDK installation and system reboot.

Please advise, thank you!

Hi,
I tried to update the firmware of my mynteye (using the executable bundled in http://doc.myntai.com/mynteye/s/download) on Windows.

The mynteye was working (but still on the firmware 1.0). The update however failed, with an error mentioning Westbridge, and now the camera is not even working when opening the executable (so the firmware 1.0 is not on the camera I assume).

The error message mentioned Westbridge however I didn't think of writing it down. Could you please help me flash the firmware properly?

Cheers,
Paul

When recording to a rosbag a stream of camera and IMU messages I see two issues. First: with respect to current time (ros::Time::now()) messages appear future dated by some small ammount. Second: IMU messages arrive in batches surrounding the image message, and have timestamps which are before the image. In other words, the IMU messages appear to be delayed considerably.
While the first issue may not be as problematic, the second one means that if indeed IMU messages are delayed (and it is not a timestamping problem), the IMU cannot be reliably used to predict the camera motion from last frame to the current frame.

Given that mynteye obtains readings timestamped with a hardware clocked, it would be expected that sensor readings are emitted with appropriate relative order as well as absolute timestamp.

As an example, here's a short (zipped) rosbag (no restamping applied) where you can inspect the relative and absolute timestamps: 2019-03-22-10-53-51.zip

Possibly related issues: #24 #39 #25

Trying to run uvc sample on Mac OSX, however see below messages and no cv windows show up.

driver: default
codec:  dvpal
format7_0: 752x480
I/camera.cc:75 MYNT EYE devices:
I/camera.cc:81   index: 0, name: [video name is not supported on osx], vid: 0x4b4, pid: 0xf9
I/camera.cc:89 Only one MYNT EYE device, select index: 0
W/uvc-vvuvckit.cc:408 set_device_mode The fps requied is less than the sdk support.
I/camera.cc:134 Press ESC/Q on windows to terminate

Thank you for your help.

MYNT-EYE-SDK-2/samples/_output/bin/device$ ./camera_d
I0723 14:57:56.501310 2595 utils.cc:26] Detecting MYNT EYE devices
E0723 14:57:56.711742 2595 utils.cc:32] No MYNT EYE devices :(

We are looking forward at it~

Hi. I did the steps described in the guide, in particular when I execute:

$ ./samples/_output/bin/tutorials/get_imu_params

I get:

I0907 17:17:28.220247 28268 utils.cc:26] Detecting MYNT EYE devices
I0907 17:17:28.369410 28268 utils.cc:36] MYNT EYE devices:
I0907 17:17:28.369446 28268 utils.cc:39] index: 0, name: MYNT-EYE-S1030, sn: 4B4C212300090712
I0907 17:17:28.369454 28268 utils.cc:47] Only one MYNT EYE device, select index: 0
I0907 17:17:28.402329 28268 get_imu_params.cc:25] Motion intrinsics: {accel: {scale: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000], drift: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], noise: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], bias: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000]}, gyro: {scale: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000], drift: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], noise: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], bias: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000]}}
I0907 17:17:28.402410 28268 get_imu_params.cc:26] Motion extrinsics left to imu: {rotation: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000], translation: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000]} <

Why are all these parameters set to zero?
I could not find any documentation on this, hope you can help me

Thanks!

Hi,

When starting the mynteye ros node under Ros Melodic the node stops with a segmentation fault after advertizing service get_info. I have compiled the SDK v2 and my camera config is

device_name: MYNT-EYE-S1030 serial_number: "0507151500090721" firmware_version: "2.2" hardware_version: "2.0" spec_version: "1.0" lens_type: "0000" imu_type: "0000" nominal_baseline: 120

After some ROSINFO debugging I found out that the node crashes when invoking
api_->Start(Source::ALL);
in the function void publishTopics() of wrapper_nodelet.cc

Thank you for your support.
Nicolas

Hi,

I am getting the below issue, while running the samples and most of the applications are crashed.

./get_all_device_info

I/get_all_device_info.cc:23 Detecting MYNT EYE devices
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:539 xu_control_range query min failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:545 xu_control_range query max failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:551 xu_control_range query def failed
W/channels.cc:1045 Get XuControlInfo of Option::ACCELEROMETER_RANGE failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:539 xu_control_range query min failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:545 xu_control_range query max failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:551 xu_control_range query def failed
W/channels.cc:1045 Get XuControlInfo of Option::GYROSCOPE_RANGE failed

Thanks,

Hi,
I have Ubuntu 18.04 and I get a compilation error:

I came across : https://stackoverflow.com/questions/39571199/compilation-error-function-in-namespace-std-does-not-name-a-template-type

Which basically says std::function to work I need to add c++11 flag to gcc. My gcc version is 7.3.

- Build files have been written to: /home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build
make[1]: Entering directory '/home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build'
make[2]: Entering directory '/home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build'
make[3]: Entering directory '/home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build'
make[3]: Leaving directory '/home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build'
make[3]: Entering directory '/home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build'
[  4%] Building CXX object CMakeFiles/mynteye.dir/src/mynteye/api/api.cc.o
In file included from /home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/api.cc:14:0:
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/include/mynteye/api/api.h:89:34: error: ‘function’ in namespace ‘std’ does not name a template type
   using stream_callback_t = std::function<void(const api::StreamData &data)>;
                                  ^~~~~~~~
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/include/mynteye/api/api.h:91:34: error: ‘function’ in namespace ‘std’ does not name a template type
   using motion_callback_t = std::function<void(const api::MotionData &data)>;
                                  ^~~~~~~~
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/include/mynteye/api/api.h:209:48: error: ‘stream_callback_t’ has not been declared
   void SetStreamCallback(const Stream &stream, stream_callback_t callback);
                                                ^~~~~~~~~~~~~~~~~
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/include/mynteye/api/api.h:213:26: error: ‘motion_callback_t’ has not been declared
   void SetMotionCallback(motion_callback_t callback);
                          ^~~~~~~~~~~~~~~~~
In file included from /home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/api.cc:27:0:
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/synthetic.h:35:34: error: ‘stream_callback_t’ in ‘class mynteye::API’ does not name a type
   using stream_callback_t = API::stream_callback_t;
                                  ^~~~~~~~~~~~~~~~~
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/synthetic.h:53:48: error: ‘stream_callback_t’ has not been declared
   void SetStreamCallback(const Stream &stream, stream_callback_t callback);
                                                ^~~~~~~~~~~~~~~~~
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/synthetic.h:108:20: error: ‘stream_callback_t’ was not declared in this scope
   std::map<Stream, stream_callback_t> stream_callbacks_;
                    ^~~~~~~~~~~~~~~~~
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/synthetic.h:108:20: note: suggested alternative: ‘HasStreamCallback’
   std::map<Stream, stream_callback_t> stream_callbacks_;
                    ^~~~~~~~~~~~~~~~~
                    HasStreamCallback
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/synthetic.h:108:37: error: template argument 2 is invalid
   std::map<Stream, stream_callback_t> stream_callbacks_;
                                     ^
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/synthetic.h:108:37: error: template argument 4 is invalid
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/api.cc:336:51: error: ‘stream_callback_t’ has not been declared
 void API::SetStreamCallback(const Stream &stream, stream_callback_t callback) {
                                                   ^~~~~~~~~~~~~~~~~
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/api.cc:340:29: error: variable or field ‘SetMotionCallback’ declared void
 void API::SetMotionCallback(motion_callback_t callback) {
                             ^~~~~~~~~~~~~~~~~
/home/mpkuse/Downloads/MYNT-EYE-S-SDK/src/mynteye/api/api.cc:340:29: error: ‘motion_callback_t’ was not declared in this scope
CMakeFiles/mynteye.dir/build.make:374: recipe for target 'CMakeFiles/mynteye.dir/src/mynteye/api/api.cc.o' failed
make[3]: *** [CMakeFiles/mynteye.dir/src/mynteye/api/api.cc.o] Error 1
make[3]: Leaving directory '/home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build'
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mynteye.dir/all' failed
make[2]: *** [CMakeFiles/mynteye.dir/all] Error 2
make[2]: Leaving directory '/home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build'
Makefile:129: recipe for target 'all' failed
make[1]: *** [all] Error 2
make[1]: Leaving directory '/home/mpkuse/Downloads/MYNT-EYE-S-SDK/_build'
Makefile:90: recipe for target 'build' failed
make: *** [build] Error 2

Hi.
I've been using the mynteye since a while now, and a new error pop up:

dmesg -w:

[ 1798.637883] usb 2-1.6.1: USB disconnect, device number 13
[ 1804.616793] usb 1-1.4: new high-speed USB device number 7 using ehci-pci
[ 1804.727039] usb 1-1.4: New USB device found, idVendor=04b4, idProduct=00f8
[ 1804.727043] usb 1-1.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 1804.727045] usb 1-1.4: Product: MYNT-EYE-S1030
[ 1804.727048] usb 1-1.4: Manufacturer: MYNT
[ 1804.727050] usb 1-1.4: SerialNumber: 4B4C212300090712
[ 1804.727482] uvcvideo: Found UVC 1.00 device MYNT-EYE-S1030 (04b4:00f8)
[ 1804.744025] uvcvideo 1-1.4:1.0: Entity type for entity Extension 3 was not initialized!
[ 1804.744029] uvcvideo 1-1.4:1.0: Entity type for entity Processing 2 was not initialized!
[ 1804.744032] uvcvideo 1-1.4:1.0: Entity type for entity Camera 1 was not initialized!
[ 1804.744276] input: MYNT-EYE-S1030 as /devices/pci0000:00/0000:00:1a.0/usb1/1-1/1-1.4/1-1.4:1.0/input/input15
[ 1826.583945] uvcvideo: Failed to query (GET_INFO) UVC control 4 on unit 3: -110 (exp. 1).<

So the camera is detected, but when I roslaunch the ros wrapper, I get this error

Can you please help me how to solve this problem?
Thanks a lot !

Hello,
today I installed the MYNT-EYE-SDK-2 following the instruction manual, beginning with make init then make install and concluding with make samples.
Edit: I am working with Ubuntu 18.04 LTS.
However, the device can not be read. When using ./samples/_output/bin/api/camera_a or ./samples/_output/bin/device/camera_d, it gives the following output:

I0808 15:08:42.201573  9577 utils.cc:26] Detecting MYNT EYE devices
W0808 15:08:42.545740  9577 uvc-v4l2.cc:236] xu_control_query failed error 2, No such file or directory
W0808 15:08:42.545825  9577 channels.cc:555] GetFiles failed
F0808 15:08:42.545861  9577 device.cc:546] Read device infos failed. Please upgrade your firmware to the latest version.
*** Check failure stack trace: ***
    @     0x7f2b27ab711d  google::LogMessage::Fail()
    @     0x7f2b27ab95da  google::LogMessage::SendToLog()
    @     0x7f2b27ab6b2d  google::LogMessage::Flush()
    @     0x7f2b27aba579  google::LogMessageFatal::~LogMessageFatal()
    @     0x7f2b27a8e24c  mynteye::Device::ReadAllInfos()
    @     0x7f2b27a8e865  mynteye::Device::Device()
    @     0x7f2b27a94ccf  mynteye::StandardDevice::StandardDevice()
    @     0x7f2b27a8c452  mynteye::Device::Create()
    @     0x7f2b27a88102  mynteye::Context::Context()
    @     0x7f2b27a87316  mynteye::device::select()
    @     0x7f2b27a96145  mynteye::API::Create()
    @     0x5613f5ebe8b5  main
    @     0x7f2b266dfb97  __libc_start_main
    @     0x5613f5ec0dfa  _start
    @              (nil)  (unknown)
Aborted (core dumped)

It tells me to upgrade the firmware to the latest version. However, the instruction manual only provides firmware for Windows. Is there any workaround? Maybe the error comes from somewhere else. Any suggestions? I set my $MYNTEYE_SDK_ROOT manually to the right direction. Did I miss some important step? The device is plugged into a USB3.0 port and I have waited several time in case there are internal calibrations happening. When executing v4l2-ctl, it gives the following output:

v4l2-ctl --list-devices
MYNTEYE (usb-0000:00:14.0-1):
	/dev/video0

Thank you for your help.

The camera was working fine, until the image stream went dark. I updated the firmware again, reinstalled the SDK, and tested it on 2 different machines. Don't know what could be causing this.
Image: Rviz image

I use a MYNT-EYE-S1030 with the newest firmware.

I installed this SDK on the Nvidia Jetson TK1; when running the camera_a program, the TK1 freezes and then restarts after ~ 30 sec. Debugging the code, shows, that the program dies when calling ioctl() following the execution of this part of the start_capture() function in uvc-v4l2.cc:

ioctl() returns -1 with an errno of 16 (device or resource busy). The previous value of errno after calling ioctl is 25 (Inappropriate ioctl for device).

The TK1 runs Linux version 3.10.40-ga7da876 (buildbrain@mobile-u64-234) (gcc version 4.5.3 (crosstool-NG [email protected]) )

Connecting the MYNT EYE to a PC running ubuntu 14.04 and using this SDK to run camera_a worked with no problem.

Can anyone explain, why this happens or/and assist in resolving this issue?
I will gladly supply any further necessary information about the setup.

best wishes

mynteye_right_frame tf_static has a value of 120.75; 0.35142; -0.97902
this seems to be accidental, tf values should be in meters, so it should be:
0.12075; 0.00035142; −0.00097902

mynteye_imu_frame seems to be set correctly: 0.0053365; -0.043029; 0.023031

For example, when I set frequency to 55 in mynteye.launch:

<arg name="frame_rate" default="55" />

The actual frequency is only 39. Measured by rostopic hz /mynteye/left/image_raw:

average rate: 39.599
	min: 0.020s max: 0.031s std dev: 0.00258s window: 40

After a series of tests, I found that when setting frequency is equal or under 40, it is consistent with actual frequency. But when setting frequency is above 40, the actual frequency is always 40.

How to solve this problem?

Hardware configuration:
Intel(R) Core(TM) i5-5200U CPU @ 2.20GHz
4GB Memory

Hello,

I am testing S1030-IR, connecting to laptop

1. w/ stock usb cable, shipped with package
2. w/o hub
3. tried on all usb ports
4. w/ laptop power cord attached/not attached

Still see below message

I/utils.cc:28 Detecting MYNT EYE devices
E/context.cc:38 Device is not supported by MYNT EYE.
camera_a(13156,0x7fff95b36380) malloc: *** error for object 0x7fa74340d518: incorrect checksum for freed object - object was probably modified after being freed.
*** set a breakpoint in malloc_error_break to debug
[1]    13156 abort      ./camera_a

Thank you

when I update firmware 2.0.0.-rc2 it failed. and it say lack of Westbridge drive. I searched on the net but none find. could you provide it?

Hello

I try to generate the project with CMake under Windows, but it fails because the file uvc-wmf.cc is missing.
Can you please provide this file? Thanks
Al

We just received a new mynteye s sensor after initially buying an earlier version. With the previous sensor we observed and reported IMU message drops (See slightech/MYNT-EYE-SDK#22).

The new sensor has these issues as well, after restamping the bag (writing the messages into the bag based on the timestamp of the ros headers):

Original bag:

Restamped bag:

Here is a plot showing the drops:

There are IMU messages missing, 1 to 5 at a time, this can also be seen in the ROS sequence number of the messages.

Could you help us resolve this issue? Thanks!

So I want to upgrade my MYNT-EYE S Firmware to 2.x to use the SDK 2.x, and try to follow this link: https://slightech.github.io/MYNT-EYE-S-SDK-Guide/src/firmware/upgrade.html, but when I click on it and it finished downloading, the zip file is empty. It turns out in this GitHub page:http://doc.myntai.com/mynteye/s/download, there is also Firmware update but the file is also empty. Where can I find the correct firmware download link?

Thank you for your help.

I try to run the sample code as instructed but nothing happens as described. I sent email to technical support and have got no comment.

make_executable是cmake的写法吗？查不到这个语句呀

sudo make install is OK，but

robot@robot-desktop:~/soft/MYNT-EYE-S-SDK$ make ros
Make build
CD: ./_build
CMake Error at cmake/TargetArch.cmake:131 (file):
file failed to open for writing (Permission denied):

/home/robot/soft/MYNT-EYE-S-SDK/_build/arch.c

Call Stack (most recent call first):
cmake/Common.cmake:50 (target_architecture)
CMakeLists.txt:19 (include)

CMake Error at cmake/TargetArch.cmake:143 (try_run):
Failed to open

/home/robot/soft/MYNT-EYE-S-SDK/_build/CMakeFiles/CMakeTmp/CMakeLists.txt

Permission denied
Call Stack (most recent call first):
cmake/Common.cmake:50 (target_architecture)
CMakeLists.txt:19 (include)

-- HOST_ARCH: unknown

-- Platform:
-- HOST_OS: Linux
-- HOST_NAME: Ubuntu
-- HOST_ARCH: unknown
-- HOST_COMPILER: GNU
-- COMPILER_VERSION: 5.4.0
-- COMPILER_VERSION_MAJOR: 5
-- COMPILER_VERSION_MINOR: 4
-- COMPILER_VERSION_PATCH: 0
-- COMPILER_VERSION_TWEAK:
-- OpenCV_VERSION: 3.4.5
-- OpenCV_VERSION_MAJOR: 3
-- OpenCV_VERSION_MINOR: 4
-- OpenCV_VERSION_PATCH: 5
-- OpenCV_VERSION_TWEAK: 0
-- OpenCV_VERSION_STATUS:
-- OpenCV_WITH_WORLD:
-- MYNTEYE_VERSION: 2.3.0
-- MYNTEYE_VERSION_MAJOR: 2
-- MYNTEYE_VERSION_MINOR: 3
-- MYNTEYE_VERSION_PATCH: 0
-- MYNTEYE_VERSION_TWEAK:

-- Options:
-- WITH_API: ON
-- OpenCV: YES
-- OpenCV_VERSION: 3.4.5
-- OpenCV_WORLD: NO
-- WITH_DEVICE_INFO_REQUIRED: ON
-- WITH_CAM_MODELS: OFF
-- WITH_BOOST: ON
-- Boost: YES
-- Boost_VERSION: 1.58.0
-- WITH_GLOG: OFF

-- Features:
-- Filesystem: boost

-- Using flag -std=c++11
-- C_FLAGS: -Wall -Wextra -march=native
-- CXX_FLAGS: -Wall -Wextra -std=c++11 -march=native
-- Namespace: mynteye
CMake Error: Could not open file for write in copy operation /home/robot/soft/MYNT-EYE-S-SDK/_build/include/mynteye/mynteye.h.tmp
CMake Error: : System Error: Permission denied
CMake Error at CMakeLists.txt:81 (configure_file):
configure_file Problem configuring file

-- RPATH: /usr/local/lib
CMake Error: Could not open file for write in copy operation /home/robot/soft/MYNT-EYE-S-SDK/_build/mynteye-config.cmake.tmp
CMake Error: : System Error: Permission denied
CMake Error at /usr/share/cmake-3.5/Modules/CMakePackageConfigHelpers.cmake:323 (configure_file):
configure_file Problem configuring file
Call Stack (most recent call first):
CMakeLists.txt:370 (configure_package_config_file)

CMake Error: Could not open file for write in copy operation /home/robot/soft/MYNT-EYE-S-SDK/_build/mynteye-config-version.cmake.tmp
CMake Error: : System Error: Permission denied
CMake Error at /usr/share/cmake-3.5/Modules/WriteBasicConfigVersionFile.cmake:59 (configure_file):
configure_file Problem configuring file
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/CMakePackageConfigHelpers.cmake:220 (write_basic_config_version_file)
CMakeLists.txt:376 (write_basic_package_version_file)

CMake Error: Could not open file for write in copy operation /home/robot/soft/MYNT-EYE-S-SDK/_build/build.info.tmp
CMake Error: : System Error: Permission denied
CMake Error at CMakeLists.txt:408 (configure_file):
configure_file Problem configuring file

-- Configuring incomplete, errors occurred!
See also "/home/robot/soft/MYNT-EYE-S-SDK/_build/CMakeFiles/CMakeOutput.log".
See also "/home/robot/soft/MYNT-EYE-S-SDK/_build/CMakeFiles/CMakeError.log".
CMake Error: Cannot open file for write: /home/robot/soft/MYNT-EYE-S-SDK/_build/CMakeCache.txt.tmp
CMake Error: : System Error: Permission denied
CMake Error: Unable to open cache file for save. /home/robot/soft/MYNT-EYE-S-SDK/_build/CMakeCache.txt
CMake Error: : System Error: Permission denied
Makefile:119: recipe for target 'build' failed
make: *** [build] Error 1

Running mynt_eye_ros_wrapper on my machine costs too much CPU resources.

Using default settings, CPU costs is nearly 220% (4 core):

top - 22:14:19 up  2:00,  4 users,  load average: 2.36, 2.45, 3.09
Tasks: 216 total,   2 running, 214 sleeping,   0 stopped,   0 zombie
%Cpu(s): 54.4 us,  0.8 sy,  0.0 ni, 44.7 id,  0.0 wa,  0.0 hi,  0.1 si,  0.0 st
KiB Mem:   3966772 total,  1043036 used,  2923736 free,    70116 buffers
KiB Swap:  4113404 total,        0 used,  4113404 free.   407804 cached Mem

  PID USER      PR  NI    VIRT    RES    SHR S  %CPU %MEM     TIME+ COMMAND                                                 
27930 ares      20   0 1722596  83536  30568 R 221.5  2.1   3:00.40 mynteye_wrapper                                         
    1 root      20   0   33908   4500   2760 S   0.0  0.1   0:01.16 init                                                    
    2 root      20   0       0      0      0 S   0.0  0.0   0:00.00 kthreadd                                                
    3 root      20   0       0      0      0 S   0.0  0.0   0:01.53 ksoftirqd/0                                             
    5 root       0 -20       0      0      0 S   0.0  0.0   0:00.00 kworker/0:0H                                            
    7 root      20   0       0      0      0 S   0.0  0.0   0:05.91 rcu_sched                                               
    8 root      20   0       0      0      0 S   0.0  0.0   0:00.00 rcu_bh                                                  
    9 root      rt   0       0      0      0 S   0.0  0.0   0:00.02 migration/0                                             

Hardware configuration:
Intel(R) Core(TM) i5-5200U CPU @ 2.20GHz
4GB Memory

Does it really need so much CPU resources?

How to disable disparity computation in ros wrapper?

I'm getting the same issues with Jetson TX2, and connected with USB3.0.

process[mynteye/mynteye_wrapper_node-2]: started with pid [5383]
[ INFO] [1553241583.188676960]: Initializing nodelet with 4 worker threads.
[ INFO] [1553241583.278744115]: Detecting MYNT EYE devices
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:539 xu_control_range query min failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:545 xu_control_range query max failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:551 xu_control_range query def failed
W/channels.cc:1045 Get XuControlInfo of Option::ACCELEROMETER_RANGE failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:539 xu_control_range query min failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:545 xu_control_range query max failed
W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error
W/uvc-v4l2.cc:551 xu_control_range query def failed
W/channels.cc:1045 Get XuControlInfo of Option::GYROSCOPE_RANGE failed
[ INFO] [1553241585.224300499]: MYNT EYE devices:
[ INFO] [1553241585.224383825]: index: 0, name: MYNT-EYE-S1000
[ INFO] [1553241585.224432304]: Only one MYNT EYE device, select index: 0
OpenCV Error: Assertion failed (0 <= i && i < sz.height) in getMat_, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/matrix.cpp, line 1283

I'm using the latest SDK, firmware but I'm not getting usable depth map from the camera before or after calibrating it.
Depth map
Image params

The timestamps between rectified streams are not synchronized. It is expected that if the rectified streams follow the (hard synchronized) timestamps of the original images.

When I run the image stream at 10Hz, the disparity runs barely at 5Hz. I'm running a 6th Gen i7 NUC, Ubuntu 16.04, and the new firmware and SDK.

Hello,
in the definition of metadata, for the exposure time value:
the following comment
https://github.com/slightech/MYNT-EYE-SDK-2/blob/27eb9e6cb29cb2c72e09ad889f757f747cff539d/include/mynteye/types.h#L414
and image data spec seems to be in contradiction:

• could you clarify if the exposure time is a duration in 10 microseconds or a virtual value.
• In case of virtual value, is it possible to have a conversion table to real duration ?

Thanks

Hi. I did the steps described in the guide, but when I execute:
./samples/_output/bin/api/camera_a
I get
I0921 18:42:33.445112 12866 utils.cc:26] Detecting MYNT EYE devices
W0921 18:42:33.788305 12866 uvc-v4l2.cc:241] xu_control_query failed error 2, No such file or directory
W0921 18:42:33.788388 12866 channels.cc:555] GetFiles failed
F0921 18:42:33.788406 12866 device.cc:546] Read device infos failed. Please upgrade your firmware to the latest version.
*** Check failure stack trace: ***
@ 0x7f3cd6edb95d google::LogMessage::Fail()
@ 0x7f3cd6eddf74 google::LogMessage::SendToLog()
@ 0x7f3cd6edb3db google::LogMessage::Flush()
@ 0x7f3cd6edecfe google::LogMessageFatal::~LogMessageFatal()
@ 0x7f3cd6eb5019 mynteye::Device::ReadAllInfos()
@ 0x7f3cd6eb55ab mynteye::Device::Device()
@ 0x7f3cd6ebbec0 mynteye::StandardDevice::StandardDevice()
@ 0x7f3cd6eb3233 mynteye::Device::Create()
@ 0x7f3cd6eaf589 mynteye::Context::Context()
@ 0x7f3cd6eae889 mynteye::device::select()
@ 0x7f3cd6ebd333 mynteye::API::Create()
@ 0x402763 main
@ 0x7f3cd5099830 __libc_start_main
@ 0x404da9 _start
@ (nil) (unknown)

Why the program can not run normally？
I can't find the reason for this, hope you can help me

Thanks!

As per ROS conventions, camera coordinate system should point Z-forward. Also, ROS world defines Z as up. Therefore, the camera base-link -> left frame orientation should not be identity, but include the z-up to z-forward rotation (corresponding quaternion should be x: 0.5, y: -0.5, z: 0.5, w: -0.5).

How can I move the ros wrapper in my catkin_ws, and run it with my existing launch files?

Hi all:
I compiled the SDK-2 and made samples. But when running the executable program in the sample folder like "camera_d" or "ctrl_manual_exposure", it stopped and complained the following error

F0618 22:50:58.153812 5142 device.cc:544] Read device infos failed. Please upgrade your firmware to the latest version.

Then I updated the firmware in windows 7 according to the instructions in this page https://slightech.github.io/MYNT-EYE-SDK/upgrade_firmware.html . I used the latest image (mynteye_0106_1803201637.img) listed in this page https://github.com/slightech/MYNT-EYE-SDK/tree/master/firmware

However, after the update, the executable program "camera_d" still cannot run, complaining the same error.

How can I solve this issue? Any suggestion is greatly appreciated.
Thanks.

Using the SDK on linux, if I use firmware version 2.3.0 I receive frames sucessfully.
However after updating to 2.4.0 and using the latest SDK I get no frames.

Everything works fine on the Windows MYNT EYE tool.

Is this a known issue?

It would be really useful to obtain current camera clock since the current approach is to translate the image/imu-segments time to ROS time using the time of reception. Both messages are delayed w.r.t. to the actual sensing time (image needs to be exposed and transferred and IMU segment accumulates several readings), so estimating the ROS time corresponding to current hardware time in this way is not correct. In fact, Imu messages are currently published with future times since the mapping is initialized from the first reading of the packet (assuming the Imu message comes first) and then the remaining ones already received have future timestamps.

If this is not feasible, please at least inform of imu/image transmision delays so that we can compensate for that when making the ROS-to-hardware time mapping.

MYNT-EYE SDK on https://github.com/slightech/MYNT-EYE-S-SDK/tree/2.2.4 has a conversion error in camera_info topic. In ROS standard the conversion is m, but in the MYNT-EYE ROS wrapper the camera info projection matrix is in mm. Add after line 797 on https://github.com/slightech/MYNT-EYE-S-SDK/tree/2.2.4 in wrapper_nodelet.cc as follows:

camera_info->P.at(3) = camera_info->P.at(3)/ 1000.0;

and compile ROS again, this should correct camera info.

There is a standard for this, which would enable display in RVIZ, re-use in other code, etc:
http://docs.ros.org/jade/api/sensor_msgs/html/msg/Temperature.html

Hi,

I have calibrated several times the Mynteye Camera using the Kalibr package as recommended. Upon completion of the calibration I obtain a delay of 5ms between the camera measurements and the imu measurements. Is this not somewhat to large to be used with visual inertial odometry estimation?

What time delay should I expect with the MyntEye Camera? I have build my own Stereo Camera with IMU and external Hardware trigger and I obtained delays below 1ms....

Could you please share your experience?

Kind regards,
Nicolas

Hi,
I applied the earliest hardware（Purchased on 2017/08） to run SDK2, but the camera could not capture the image, the log is as follows：

$ ./samples/_output/bin/api/camera_a
W0723 21:21:11.942250 15214 streams.cc:53] Image packet header must be 0x3B, but 0x00 now
W0723 21:21:11.942327 15214 streams.cc:163] Image packet is unaccepted, frame dropped
...
...
W0723 21:21:11.942250 15214 streams.cc:53] Image packet header must be 0x3B, but 0x00 now
W0723 21:21:11.942327 15214 streams.cc:163] Image packet is unaccepted, frame dropped
F0723 21:21:11.975056 15205 streams.cc:179] Timeout waiting for key frames. Please use USB 3.0, and not in virtual machine.
*** Check failure stack trace: ***
@ 0x7f8ea1ea28ad google::LogMessage::Fail()
@ 0x7f8ea1ea4f78 google::LogMessage::SendToLog()
@ 0x7f8ea1ea231b google::LogMessage::Flush()
@ 0x7f8ea1ea5e4e google::LogMessageFatal::~LogMessageFatal()
@ 0x7f8ea1e6e80b mynteye::Streams::WaitForStreams()
@ 0x7f8ea1e7a97d mynteye::Device::WaitForStreams()
@ 0x7f8ea1e8ae69 mynteye::Synthetic::WaitForStreams()
@ 0x402a5c main
@ 0x7f8ea0064830 __libc_start_main
@ 0x404dc9 _start
@ (nil) (unknown)
Aborted (core dumped)

How can I solve this issue? Any suggestion is greatly appreciated.
Thanks.