====== Stereoscopic Camera (MYNT EYE S2110)======

|Model 	|S2110-95/Color|
|Size 	|PCB dimension:17.74x100mm Total dimension:125x47x26.6mm|
|Frame Rate 	|1280x400@10/20/30/60fps 2560x800@10/20/30fps|
|Resolution 	|1280x400; 2560x800|
|Depth Resolution 	|Based on CPU/GPU Up to 1280*400@60FPS|
|Pixel Size 	|3.0*3.0μm|
|Baseline 	|80.0mm|
|Visual Angle 	|D:112° H:95° V:50°|
|Focal Length 	|2.63mm|
|IR Support 	|No|
|Color Mode 	|Color|
|Depth Working Distance 	|0.60-7m+|
|Scanning Mode 	|Global Shutter|
|Power 	|1.1W@5V DC from USB|
|Synchronization Precision 	|<1ms (up to 0.02ms)|
|IMU Frequency 	|200Hz|
|Output data format 	|YUYV|
|Data transfer Interface 	|USB3.0|
|Time Sync interface 	|DF50A|
|Weight 	|100.8g|
|UVC MODE 	|Yes|

{{tamiwiki:projects:snapshot02.png}}

===== Official SDK =====

==== Installation ====

The official calibration script is a proprietary deb file that only runs under ubuntu 16.04

Relies on opencv 3.4

Must compile the sdk on the machine for anything related to run

Used to be open source, need to walk back on the git tree and find it

=== Emulation attempts ===
For usb passthrough in docker we need usbip, only available after kernel 5.9

After updating the ubuntu 16.04 kernel to mainline

I found a mismatch between the usbip versions between the vm and host

usbip comes from linux-tools-generic ,the newer version of which 

was incompatible with the package ecosystem of 16.04


===== Tami SDK =====

===== IMU Access for MYNT EYE S2110 =====

Accessing the **Inertial Measurement Unit (IMU)** data from the MYNT EYE S2110 involves using its UVC capabilities and the **libuvc** library.

==== Overview ====
  - **UVC Device**: The camera functions as a UVC device for image streaming, but accessing IMU and temperature data requires special handling.
  - **Data Retrieval**: Ensure the camera is streaming images. Set control number `0x03` to access the IMU data and then retrieve it using control number `0x04`.

==== Code Snippet ====
<code cpp>
std::uint8_t imu_packet_set_data[5] = {0x5A, correspondence_on, 0x00, 0x00, 0x00};
uvc_set_ctrl(devh, 0x03, 0x03, imu_packet_set_data, sizeof(imu_packet_set_data));

static std::uint8_t data[2000]{};
uvc_get_ctrl(devh, 0x03, 0x04, data, sizeof(data), UVC_GET_CUR);
</code>

==== Data Decoding ====
  - Decode the fetched data into segments that include timestamps, temperature, acceleration, and gyroscope data.

==== Example Output ====
<code bash>
id: 13526, time: 841902864, flag: 3, ets: 0, temp: 31.38, accel: [-0.1558, 0.1452, 0.5871], gyro: [-31.7743, 121.3277, -44.7921]
</code>


Full thing here https://wissotsky.com/mynteye-imu-access/


<code bash>
$ lsusb
Bus 002 Device 002: ID 04b4:00c3 Cypress Semiconductor Corp. MYNT-EYE-S2110
</code>
https://github.com/slightech/MYNT-EYE-S-SDK
  - readthedocs.org/projects/mynt-eye-s-sdk/downloads/pdf/latest/
  - {{tamiwiki:projects:mynt-eye-s2110:mynt_eye_s_标定工具使用说明_1_.docx}}
    - calibration
      - https://sebastiangrans.github.io/CheckGen/


{{tamiwiki:projects:mynt-eye-s2110:mynteye-s-calibrator-opencv-ros-kinetic-1.0.0_amd64.deb-20230524t215348z-001.zip}}

{{tamiwiki:projects:mynt-eye-s2110:mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb-20230524t215342z-001.zip}}