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--- tamiwiki:projects:mynt-eye-s2110 [2023/05/27 00:23] – created corshunov
+++ tamiwiki:projects:mynt-eye-s2110 [2026/01/26 17:32] (current) – tami sdk imu data wissotsky
@@ Line 1: / Line 1: @@
-====== Stereoscopic Camera ======
+====== Stereoscopic Camera (MYNT EYE S2110)======
-Most likely rewriting it all from scratch with the existing sdk as reference
-===== Our own SDK =====
+|Model 	|S2110-95/Color|
+|Size 	|PCB dimension:17.74x100mm Total dimension:125x47x26.6mm|
-fps is not a valid framerate :-(
+|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 =====
-==== Calibration ====
+==== Installation ====
 The official calibration script is a proprietary deb file that only runs under ubuntu 16.04
@@ Line 30: / Line 48: @@
 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/
@@ Line 38: / Line 86: @@
 https://github.com/slightech/MYNT-EYE-S-SDK
   - readthedocs.org/projects/mynt-eye-s-sdk/downloads/pdf/latest/
-  - {{tamiwiki:external:projects:mynt_eye_s_标定工具使用说明_1_.docx}}
+  - {{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:external:projects:mynteye-s-calibrator-opencv-ros-kinetic-1.0.0_amd64.deb-20230524t215348z-001.zip}}
+{{tamiwiki:projects:mynt-eye-s2110:mynteye-s-calibrator-opencv-ros-kinetic-1.0.0_amd64.deb-20230524t215348z-001.zip}}
-{{tamiwiki:external:projects:mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb-20230524t215342z-001.zip}}
+{{tamiwiki:projects:mynt-eye-s2110:mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb-20230524t215342z-001.zip}}

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