Fix the conflict

2018-11-24 16:43:38 +08:00 · 2018-11-24 16:43:38 +08:00 · 1811f20a14
commit 1811f20a14
parent 210ddba1ba 0fc1196b52
264 changed files with 29737 additions and 970 deletions
--- a/.gitignore
+++ b/.gitignore
@ -16,6 +16,11 @@ _output/

 /plugins/

+/3rdparty/opencv/
+/pkginfo.sh
+/*.nsi
+/*.exe
+
 # ros

 /wrappers/ros/build
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -14,10 +14,14 @@

 cmake_minimum_required(VERSION 3.0)

-project(mynteye VERSION 2.0.0 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.2 LANGUAGES C CXX)

 include(cmake/Common.cmake)

+if(NOT CMAKE_DEBUG_POSTFIX)
+  set(CMAKE_DEBUG_POSTFIX d)
+endif()
+
 # options

 include(cmake/Option.cmake)
@ -55,23 +59,6 @@ macro(target_link_threads NAME)
  endif()
 endmacro()

-if(WITH_API)
-  include(cmake/DetectOpenCV.cmake)
-endif()
-
-find_package(Boost COMPONENTS filesystem)
-if(Boost_FOUND)
-  set(WITH_BOOST_FILESYSTEM true)
-  add_definitions(-DWITH_FILESYSTEM)
-  add_definitions(-DWITH_BOOST_FILESYSTEM)
-  message(STATUS "With boost filesystem: ${Boost_VERSION}")
-  #message(STATUS "  Boost_LIBRARIES: ${Boost_LIBRARIES}")
-elseif(OS_WIN)
-  add_definitions(-DWITH_FILESYSTEM)
-  add_definitions(-DWITH_NATIVE_FILESYSTEM)
-  message(STATUS "With native filesystem")
-endif()
-
 LIST(APPEND CMAKE_MODULE_PATH cmake)

 include(CMakePackageConfigHelpers)
@ -96,6 +83,17 @@ configure_file(
  include/mynteye/mynteye.h @ONLY
 )

+configure_file(
+  cmake/templates/pkginfo.sh.in
+  ${CMAKE_CURRENT_SOURCE_DIR}/pkginfo.sh @ONLY
+)
+if(OS_WIN)
+  configure_file(
+    scripts/win/nsis/winpack.nsi.in
+    ${CMAKE_CURRENT_SOURCE_DIR}/winpack.nsi @ONLY
+  )
+endif()
+
 # targets

 add_definitions(-DMYNTEYE_EXPORTS)
@ -107,11 +105,6 @@ set_outdir(
  "${OUT_DIR}/bin"
 )

-set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
-set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
-set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
-set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
-
 ## main
 if(WITH_GLOG)
  add_executable(main src/main.cc)
@ -124,11 +117,16 @@ endif()

 ## libmynteye

+<<<<<<< HEAD
 if(NOT WITH_GLOG)
+=======
+if(NOT WITH_GLOG AND NOT OS_WIN)
+>>>>>>> origin/develop
  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
  unset(__MINIGLOG_FLAGS)
+<<<<<<< HEAD
 endif()

 set(MYNTEYE_PUBLIC_H
@ -150,6 +148,8 @@ if(WITH_API)
    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/plugin.h
    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
  )
+=======
+>>>>>>> origin/develop
 endif()
 if(NOT WITH_GLOG)
  list(APPEND MYNTEYE_PUBLIC_H
@ -158,50 +158,54 @@ if(NOT WITH_GLOG)
 endif()

 if(OS_WIN)
-  set(UVC_SRC src/uvc/uvc-wmf.cc)
+  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
 elseif(OS_MAC)
-  set(UVC_SRC src/uvc/uvc-libuvc.cc)
+  set(UVC_SRC src/mynteye/uvc/macosx/uvc-libuvc.cc)

  find_package(libuvc REQUIRED)
  set(UVC_LIB ${libuvc_LIBRARIES})

  include_directories(${libuvc_INCLUDE_DIRS})
 elseif(OS_LINUX)
-  set(UVC_SRC src/uvc/uvc-v4l2.cc)
+  set(UVC_SRC src/mynteye/uvc/linux/uvc-v4l2.cc)
 else()
  message(FATAL_ERROR "Unsupported OS.")
 endif()

 set(MYNTEYE_SRCS
  ${UVC_SRC}
-  src/internal/channels.cc
-  src/internal/config.cc
-  src/internal/dl.cc
-  src/internal/files.cc
-  src/internal/motions.cc
-  src/internal/streams.cc
-  src/internal/strings.cc
-  src/internal/types.cc
-  src/public/types.cc
-  src/public/utils.cc
-  src/device/context.cc
-  src/device/device.cc
-  src/device/device_s.cc
+  src/mynteye/types.cc
+  src/mynteye/util/files.cc
+  src/mynteye/util/strings.cc
+  src/mynteye/device/channels.cc
+  src/mynteye/device/config.cc
+  src/mynteye/device/context.cc
+  src/mynteye/device/device.cc
+  src/mynteye/device/device_s.cc
+  src/mynteye/device/motions.cc
+  src/mynteye/device/streams.cc
+  src/mynteye/device/types.cc
+  src/mynteye/device/utils.cc
 )
 if(WITH_API)
  list(APPEND MYNTEYE_SRCS
-    src/api/api.cc
-    src/api/synthetic.cc
-    src/api/processor/processor.cc
-    src/api/processor/rectify_processor.cc
-    src/api/processor/disparity_processor.cc
-    src/api/processor/disparity_normalized_processor.cc
-    src/api/processor/depth_processor.cc
-    src/api/processor/points_processor.cc
+    src/mynteye/api/api.cc
+    src/mynteye/api/dl.cc
+    src/mynteye/api/processor.cc
+    src/mynteye/api/synthetic.cc
+    src/mynteye/api/processor/rectify_processor.cc
+    src/mynteye/api/processor/disparity_processor.cc
+    src/mynteye/api/processor/disparity_normalized_processor.cc
+    src/mynteye/api/processor/depth_processor.cc
+    src/mynteye/api/processor/points_processor.cc
  )
 endif()
 if(NOT WITH_GLOG)
+<<<<<<< HEAD
  list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
+=======
+  list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
+>>>>>>> origin/develop
 endif()

 set(MYNTEYE_LINKLIBS ${UVC_LIB})
@ -218,7 +222,11 @@ endif()

 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
 target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
+<<<<<<< HEAD
 option(WITH_GLOG "Include glog support" OFF)
+=======
+target_link_threads(${MYNTEYE_NAME})
+>>>>>>> origin/develop

 if(OS_WIN)
  target_compile_definitions(${MYNTEYE_NAME}
@ -230,27 +238,78 @@ target_include_directories(${MYNTEYE_NAME} PUBLIC
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>"
-  "$<INSTALL_INTERFACE:${MYNTEYE_CMAKE_INCLUDE_DIR}>"
+  "$<INSTALL_INTERFACE:include>"
 )

 set_target_properties(${MYNTEYE_NAME} PROPERTIES
  VERSION ${PROJECT_VERSION}
  SOVERSION ${PROJECT_VERSION_MAJOR}
 )
-set_target_properties(${MYNTEYE_NAME} PROPERTIES
-  PUBLIC_HEADER "${MYNTEYE_PUBLIC_H}"
-)

 # install

-#message(STATUS "MYNTEYE_CMAKE_INCLUDE_DIR: ${MYNTEYE_CMAKE_INCLUDE_DIR}")
-#message(STATUS "MYNTEYE_CMAKE_BINDIR: ${MYNTEYE_CMAKE_BINDIR}")
-#message(STATUS "MYNTEYE_CMAKE_LIBDIR: ${MYNTEYE_CMAKE_LIBDIR}")
-#message(STATUS "MYNTEYE_CMAKE_INSTALLDIR: ${MYNTEYE_CMAKE_INSTALLDIR}")
+set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include/${MYNTEYE_NAME}")
+set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
+set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
+set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/callbacks.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/context.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/utils.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/device
+)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/files.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/strings.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/times.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/util
+)
+if(WITH_API)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/api.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/plugin.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/object.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/api
+  )
+endif()
+if(NOT WITH_GLOG)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+  )
+endif()
+
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/callbacks.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/context.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/files.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/glog_init.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/strings.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/times.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/utils.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+)
+if(WITH_API)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/api.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/plugin.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/object.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+  )
+endif()

 install(TARGETS ${MYNTEYE_NAME}
  EXPORT ${MYNTEYE_NAME}-targets
-  PUBLIC_HEADER DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/${MYNTEYE_NAME}
  RUNTIME DESTINATION ${MYNTEYE_CMAKE_BINDIR}
  LIBRARY DESTINATION ${MYNTEYE_CMAKE_LIBDIR}
  ARCHIVE DESTINATION ${MYNTEYE_CMAKE_LIBDIR}
@ -278,32 +337,7 @@ install(EXPORT ${MYNTEYE_NAME}-targets

 ## build.info

-macro(set_default_value VARIABLE DEFAULT)
-  if(NOT ${VARIABLE})
-    set(${VARIABLE} ${DEFAULT})
-  endif()
-endmacro()
-
-macro(set_version_values VARIABLE)
-  string(REPLACE "." ";" __version_list "${${VARIABLE}}")
-  list(LENGTH __version_list __len)
-  if(${__len} GREATER 0)
-    list(GET __version_list 0 ${VARIABLE}_MAJOR)
-  endif()
-  if(${__len} GREATER 1)
-    list(GET __version_list 1 ${VARIABLE}_MINOR)
-  endif()
-  if(${__len} GREATER 2)
-    list(GET __version_list 2 ${VARIABLE}_PATCH)
-  endif()
-  if(${__len} GREATER 3)
-    list(GET __version_list 3 ${VARIABLE}_TWEAK)
-  endif()
-endmacro()
-
-find_package(CUDA QUIET)
-
-set_version_values(CMAKE_CXX_COMPILER_VERSION)
+# set default int values for yaml file (build.info)
 set_default_value(CMAKE_CXX_COMPILER_VERSION_MAJOR 0)
 set_default_value(CMAKE_CXX_COMPILER_VERSION_MINOR 0)
 set_default_value(CMAKE_CXX_COMPILER_VERSION_PATCH 0)
--- a/CommonDefs.mk
+++ b/CommonDefs.mk
@ -26,6 +26,16 @@ SINGLE_QUOTE := '
 OPEN_PAREN := (
 CLOSE_PAREN := )

+# Options
+#
+#   VS_CODE: ignore to auto detect, otherwise specify the version
+#            15|2017, 14|2015, 12|2013, 11|2012, 10|2010, 9|2008, 8|2005
+#   BUILD_TYPE: Debug|Release
+#
+# e.g. make [TARGET] VS_CODE=2017 BUILD_TYPE=Debug
+
+BUILD_TYPE ?= Release
+
 # Host detection

 ifeq ($(OS),Windows_NT)
@ -124,7 +134,7 @@ ifeq ($(HOST_OS),Win)
    CC := cl
    CXX := cl
    MAKE := make
-    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
+    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=$(BUILD_TYPE)
  endif
 else
  # mac & linux
@ -144,8 +154,7 @@ endif
 # CMake

 CMAKE := cmake
-# CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Debug
-CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Release
+CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 ifneq ($(CC),)
  CMAKE := $(CMAKE) -DCMAKE_C_COMPILER=$(CC)
 endif
@ -202,6 +211,15 @@ endif

 endif

+# Package
+
+PKGVERSION := $(shell ./scripts/version.sh)
+PKGNAME := mynteye-s-$(PKGVERSION)-$(HOST_OS)-$(HOST_ARCH)
+ifeq ($(HOST_OS),Linux)
+  PKGNAME := $(PKGNAME)-gcc$(shell gcc -dumpversion | cut -c 1-1)
+endif
+PKGNAME := $(call lower,$(PKGNAME))
+
 # Shell

 # `sh` is not possible to export a function
--- a/103
+++ b/103
@ -0,0 +1,103 @@
+pipeline {
+  agent {
+    // docker { image 'ros:kinetic-ros-base-xenial' }
+    docker { image 'joinaero/kinetic-ros-opencv-xenial' }
+  }
+
+  /*
+  environment {
+    // FindOpenCV.cmake
+    OpenCV_DIR = '/opt/ros/kinetic/share/OpenCV-3.3.1-dev'
+  }
+  */
+
+  stages {
+    stage('Prepare') {
+      steps {
+        echo "WORKSPACE: ${env.WORKSPACE}"
+        echo 'apt-get ..'
+        sh 'apt-get update'
+      }
+    }
+    stage('Init') {
+      steps {
+        echo 'make init ..'
+        sh 'make init INIT_OPTIONS=-y'
+        // echo 'skip get submodules and make test'
+        // sh './scripts/init.sh -y'
+      }
+    }
+    stage('Build') {
+      steps {
+        echo 'make build ..'
+        sh '. /opt/ros/kinetic/setup.sh; make build'
+      }
+    }
+    stage('Install') {
+      steps {
+        echo 'make install ..'
+        sh '. /opt/ros/kinetic/setup.sh; make install SUDO='
+      }
+    }
+    stage('Test') {
+      steps {
+        echo 'make test ..'
+        sh '. /opt/ros/kinetic/setup.sh; make test SUDO='
+      }
+    }
+    stage('Samples') {
+      steps {
+        echo 'make samples ..'
+        sh '. /opt/ros/kinetic/setup.sh; make samples SUDO='
+      }
+    }
+    stage('Tools') {
+      steps {
+        echo 'make tools ..'
+        sh '. /opt/ros/kinetic/setup.sh; make tools SUDO='
+      }
+    }
+    stage('ROS') {
+      steps {
+        echo 'make ros ..'
+        sh '''
+        . /opt/ros/kinetic/setup.sh
+        rosdep install --from-paths wrappers/ros/src --ignore-src --rosdistro kinetic -y
+        make ros SUDO=
+        '''
+      }
+    }
+    /*
+    stage('Clean') {
+      steps {
+        echo 'clean ..'
+        sh '''
+        rm -rf /var/lib/apt/lists/*
+        '''
+      }
+    }
+    */
+  }
+
+  post {
+    always {
+      echo 'This will always run'
+    }
+    success {
+      echo 'This will run only if successful'
+    }
+    failure {
+      echo 'This will run only if failed'
+      mail to: 'mynteye-ci@slightech.com',
+      subject: "Failed Pipeline: ${currentBuild.fullDisplayName}",
+      body: "Something is wrong with ${env.BUILD_URL}"
+    }
+    unstable {
+      echo 'This will run only if the run was marked as unstable'
+    }
+    changed {
+      echo 'This will run only if the state of the Pipeline has changed'
+      echo 'For example, if the Pipeline was previously failing but is now successful'
+    }
+  }
+}
--- a/68
+++ b/68
@ -16,6 +16,14 @@ include CommonDefs.mk
 MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
 MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))

+# CMAKE_INSTALL_PREFIX:
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html
+#
+#   UNIX: /usr/local
+#   Windows: c:/Program Files/${PROJECT_NAME}
+
+SUDO ?= sudo
+
 .DEFAULT_GOAL := all

 help:
@ -29,6 +37,7 @@ help:
 	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
+	@echo "  make pkg             package sdk"
 	@echo "  make ros             build ros wrapper"
 	@echo "  make py              build python wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
@ -43,7 +52,8 @@ all: init samples tools ros

 apidoc:
 	@$(call echo,Make $@)
-	@[ -e ./_install/include ] || $(MAKE) install
+	@# @[ -e ./_install/include ] || $(MAKE) install
+	@[ -e /usr/local/include/mynteye ] || $(MAKE) install
 	@$(SH) ./doc/build.sh

 opendoc: apidoc
@ -54,19 +64,26 @@ opendoc: apidoc
 		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
 	done

-.PHONY: apidoc opendoc
+cleandoc:
+	@$(call rm,./doc/_output/)
+
+.PHONY: apidoc opendoc cleandoc

 # deps

 submodules:
 	@git submodule update --init
+<<<<<<< HEAD
+=======
+
+>>>>>>> origin/develop
 .PHONY: submodules

 # init

 init:
 	@$(call echo,Make $@)
-	@$(SH) ./scripts/init.sh
+	@$(SH) ./scripts/init.sh $(INIT_OPTIONS)

 .PHONY: init

@ -74,7 +91,11 @@ init:

 build:
 	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
 	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+else
+	@$(call cmake_build,./_build,..)
+endif

 .PHONY: build

@ -108,12 +129,27 @@ ifneq ($(HOST_NAME),MinGW)
 else
 	@cd ./_build; make install
 endif
+else
+ifeq ($(HOST_OS),Linux)
+	@cd ./_build; $(SUDO) make install
 else
 	@cd ./_build; make install
 endif
+endif

 .PHONY: install

+uninstall:
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Linux)
+	$(SUDO) rm -rf /usr/local/lib/libmynteye*
+	$(SUDO) rm -rf /usr/local/include/mynteye/
+	$(SUDO) rm -rf /usr/local/lib/cmake/mynteye/
+	$(SUDO) rm -rf /usr/local/share/mynteye/
+endif
+
+.PHONY: uninstall
+
 # samples

 samples: install
@ -130,14 +166,30 @@ tools: install

 .PHONY: tools

+# pkg
+
+pkg: clean
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
+	@$(SH) ./scripts/win/winpack.sh "$(PKGNAME)"
+else
+	$(error "Can't make pkg on $(HOST_OS)")
+endif
+
+cleanpkg:
+	@$(call echo,Make $@)
+	@$(call rm_f,$(PKGNAME)*)
+
+.PHONY: pkg cleanpkg
+
 # ros

 ros: install
 	@$(call echo,Make $@)
-ifeq ($(HOST_OS),Win)
-	$(error "Can't make ros on win")
+ifeq ($(HOST_OS),Linux)
+	@cd ./wrappers/ros && catkin_make -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 else
-	@cd ./wrappers/ros && catkin_make
+	$(error "Can't make ros on $(HOST_OS)")
 endif

 .PHONY: ros
@ -219,8 +271,7 @@ cleanlog:
 	@$(call rm_f,*ERROR*)
 	@$(call rm_f,*FATAL*)

-cleanall: clean
-	@$(call rm,./doc/_output/)
+cleanall: clean cleandoc
 	@$(call rm,./test/gtest/_build/)
 	@$(call rm,./third_party/glog/_build/)
 	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
@ -247,6 +298,7 @@ host:
 	@echo BUILD: $(BUILD)
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
+	@echo PKGNAME: $(PKGNAME)

 .PHONY: host

--- a/README.md
+++ b/README.md
@ -1,10 +1,10 @@
-# MYNT® EYE SDK
+# MYNT® EYE S SDK

-[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.0--rc-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2--rc0-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)

 ## Overview

-MYNT® EYE SDK 2.0 is a cross-platform library for MYNT® EYE cameras.
+MYNT® EYE S SDK is a cross-platform library for MYNT® EYE Standard cameras.

 The following platforms have been tested:

@ -16,19 +16,20 @@ Please follow the guide doc to install the SDK on different platforms.

 ## Documentations

-* [API Doc](https://github.com/slightech/MYNT-EYE-SDK-2/releases): API reference, some guides and data spec.
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2083629/mynt-eye-sdk-apidoc-2.0.0-rc-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2083631/mynt-eye-sdk-apidoc-2.0.0-rc-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
-* [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases): How to install and start using the SDK.
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2083740/mynt-eye-sdk-guide-2.0.0-rc-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2083745/mynt-eye-sdk-guide-2.0.0-rc-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)
+* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2562294/mynt-eye-s-sdk-apidoc-2.2.2-rc0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2562296/mynt-eye-s-sdk-apidoc-2.2.2-rc0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2562297/mynt-eye-s-sdk-apidoc-2.2.2-rc0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2562298/mynt-eye-s-sdk-apidoc-2.2.2-rc0-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.2-rc0-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-rc0-zh-Hans/index.html)
+* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2598115/mynt-eye-s-sdk-guide-2.2.2-rc0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2598116/mynt-eye-s-sdk-guide-2.2.2-rc0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2598117/mynt-eye-s-sdk-guide-2.2.2-rc0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2598119/mynt-eye-s-sdk-guide-2.2.2-rc0-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.2-rc0-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-rc0-zh-Hans/index.html)

-> Supported languages: `zh-Hans`.
+> Supported languages: `en`, `zh-Hans`.

 ## Firmwares

-[Google Drive]: https://drive.google.com/drive/folders/1tdFCcTBMNcImEGZ39tdOZmlX2SHKCr2f
-[百度网盘]: https://pan.baidu.com/s/1yPQDp2r0x4jvNwn2UjlMUQ
+[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download

-Get firmwares from our online disks: [Google Drive][], [百度网盘][]. The latest version is `2.0.0-rc`.
+Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.2`.

 ## Usage

@ -60,8 +61,8 @@ make samples

 ## Mirrors

-国内镜像：[码云](https://gitee.com/mynt/MYNT-EYE-SDK-2)。
+国内镜像：[码云](https://gitee.com/mynt/MYNT-EYE-S-SDK)。

 ## License

-This project is licensed under the Apache License, Version 2.0. Copyright 2018 Slightech Co., Ltd.
+This project is licensed under the [Apache License, Version 2.0](LICENSE). Copyright 2018 Slightech Co., Ltd.
--- a/cmake/Common.cmake
+++ b/cmake/Common.cmake
@ -70,7 +70,9 @@ macro(set_outdir ARCHIVE_OUTPUT_DIRECTORY LIBRARY_OUTPUT_DIRECTORY RUNTIME_OUTPU
  endforeach()
 endmacro()

+if(NOT __exe2bat_relative_path)
  set(__exe2bat_relative_path false)
+endif()

 macro(exe2bat exe_name exe_dir dll_search_paths)
  message(STATUS "Generating ${exe_name}.bat")
--- a/cmake/DetectOpenCV.cmake
+++ b/cmake/DetectOpenCV.cmake
@ -15,14 +15,25 @@
 include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
 cmake_include_guard()

-find_package(OpenCV REQUIRED)
-message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
-if(OpenCV_VERSION VERSION_LESS 3.0)
-  add_definitions(-DUSE_OPENCV2)
-elseif(OpenCV_VERSION VERSION_LESS 4.0)
-  add_definitions(-DUSE_OPENCV3)
+if(OpenCV_FIND_QUIET)
+  find_package(OpenCV QUIET)
 else()
-  add_definitions(-DUSE_OPENCV4)
+  find_package(OpenCV REQUIRED)
+endif()
+
+if(OpenCV_FOUND)
+
+#message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+
+set(WITH_OPENCV TRUE)
+add_definitions(-DWITH_OPENCV)
+
+if(OpenCV_VERSION VERSION_LESS 3.0)
+  add_definitions(-DWITH_OPENCV2)
+elseif(OpenCV_VERSION VERSION_LESS 4.0)
+  add_definitions(-DWITH_OPENCV3)
+else()
+  add_definitions(-DWITH_OPENCV4)
 endif()

 list(FIND OpenCV_LIBS "opencv_world" __index)
@ -35,3 +46,9 @@ if(MSVC OR MSYS OR MINGW)
 else()
  set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
 endif()
+
+else()
+
+set(WITH_OPENCV FALSE)
+
+endif()
--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@ -12,11 +12,141 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

-option(WITH_API "Build with API layer, need OpenCV" ON)
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()

-message(STATUS "Options:")
-message(STATUS "  WITH_API: ${WITH_API}")
+include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
+
+
+# build components
+
+option(WITH_API "Build with API layer, need OpenCV" ON)
+option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
+
+# 3rdparty components
+
+option(WITH_BOOST "Include Boost support" ON)

 # How to install glog?
 #   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
 option(WITH_GLOG "Include glog support" OFF)
+
+# packages
+
+if(WITH_API)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
+endif()
+
+if(WITH_DEVICE_INFO_REQUIRED)
+  add_definitions(-DWITH_DEVICE_INFO_REQUIRED)
+endif()
+
+if(WITH_BOOST)
+  find_package(Boost COMPONENTS filesystem)
+  if(Boost_FOUND)
+    set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_BOOST_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_BOOST_FILESYSTEM)
+  endif()
+endif()
+
+if(NOT WITH_FILESYSTEM)
+  if(MSVC OR MSYS OR MINGW)  # win
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_NATIVE_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_NATIVE_FILESYSTEM)
+  endif()
+endif()
+
+if(WITH_GLOG)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectGLog.cmake)
+endif()
+
+find_package(CUDA QUIET)
+
+# summary
+
+set_version_values(CMAKE_CXX_COMPILER_VERSION)
+
+status("")
+status("Platform:")
+status("  HOST_OS: ${HOST_OS}")
+status("  HOST_NAME: ${HOST_NAME}")
+status("  HOST_ARCH: ${HOST_ARCH}")
+status("  HOST_COMPILER: ${CMAKE_CXX_COMPILER_ID}")
+status("    COMPILER_VERSION: ${CMAKE_CXX_COMPILER_VERSION}")
+status("    COMPILER_VERSION_MAJOR: ${CMAKE_CXX_COMPILER_VERSION_MAJOR}")
+status("    COMPILER_VERSION_MINOR: ${CMAKE_CXX_COMPILER_VERSION_MINOR}")
+status("    COMPILER_VERSION_PATCH: ${CMAKE_CXX_COMPILER_VERSION_PATCH}")
+status("    COMPILER_VERSION_TWEAK: ${CMAKE_CXX_COMPILER_VERSION_TWEAK}")
+if(CUDA_FOUND)
+  status("  CUDA_VERSION: ${CUDA_VERSION}")
+  status("    CUDA_VERSION_MAJOR: ${CUDA_VERSION_MAJOR}")
+  status("    CUDA_VERSION_MINOR: ${CUDA_VERSION_MINOR}")
+  status("    CUDA_VERSION_STRING: ${CUDA_VERSION_STRING}")
+endif()
+if(OpenCV_FOUND)
+  status("  OpenCV_VERSION: ${OpenCV_VERSION}")
+  status("    OpenCV_VERSION_MAJOR: ${OpenCV_VERSION_MAJOR}")
+  status("    OpenCV_VERSION_MINOR: ${OpenCV_VERSION_MINOR}")
+  status("    OpenCV_VERSION_PATCH: ${OpenCV_VERSION_PATCH}")
+  status("    OpenCV_VERSION_TWEAK: ${OpenCV_VERSION_TWEAK}")
+  status("    OpenCV_VERSION_STATUS: ${OpenCV_VERSION_STATUS}")
+  status("    OpenCV_WITH_WORLD: ${WITH_OPENCV_WORLD}")
+endif()
+if(mynteye_VERSION)
+  status("  MYNTEYE_VERSION: ${mynteye_VERSION}")
+  status("    MYNTEYE_VERSION_MAJOR: ${mynteye_VERSION_MAJOR}")
+  status("    MYNTEYE_VERSION_MINOR: ${mynteye_VERSION_MINOR}")
+  status("    MYNTEYE_VERSION_PATCH: ${mynteye_VERSION_PATCH}")
+  status("    MYNTEYE_VERSION_TWEAK: ${mynteye_VERSION_TWEAK}")
+endif()
+
+status("")
+status("Options:")
+status("  WITH_API: ${WITH_API}")
+if(WITH_API)
+  if(OpenCV_FOUND)
+    status("    OpenCV: YES")
+    status("    OpenCV_VERSION: ${OpenCV_VERSION}")
+    status("    OpenCV_WORLD: " IF WITH_OPENCV_WORLD "YES" ELSE "NO")
+  else()
+    status("    OpenCV: NO")
+  endif()
+endif()
+
+status("  WITH_DEVICE_INFO_REQUIRED: ${WITH_DEVICE_INFO_REQUIRED}")
+
+status("  WITH_BOOST: ${WITH_BOOST}")
+if(WITH_BOOST)
+  if(Boost_FOUND)
+    status("    Boost: YES")
+    status("    Boost_VERSION: ${Boost_VERSION_STRING}")
+    #status("    Boost_LIBRARIES: ${Boost_LIBRARIES}")
+  else()
+    status("    Boost: NO")
+  endif()
+endif()
+
+status("  WITH_GLOG: ${WITH_GLOG}")
+if(WITH_GLOG)
+  if(glog_FOUND)
+    status("    glog: YES")
+    status("    glog_VERSION: ${glog_VERSION}")
+  else()
+    status("    glog: NO")
+  endif()
+endif()
+
+status("")
+status("Features:")
+status("  Filesystem: "
+  IF WITH_BOOST_FILESYSTEM "boost"
+  ELIF WITH_NATIVE_FILESYSTEM "native"
+  ELSE "none"
+)
+
+status("")
--- a/cmake/Utils.cmake
+++ b/cmake/Utils.cmake
@ -49,3 +49,88 @@ macro(make_executable NAME)
    endif()
  endif()
 endmacro()
+
+# set_default_value(VARIABLE DEFAULT)
+macro(set_default_value VARIABLE DEFAULT)
+  if(NOT ${VARIABLE})
+    set(${VARIABLE} ${DEFAULT})
+  endif()
+endmacro()
+
+# set_version_values(VARIABLE)
+macro(set_version_values VARIABLE)
+  string(REPLACE "." ";" __version_list "${${VARIABLE}}")
+  list(LENGTH __version_list __len)
+  if(${__len} GREATER 0)
+    list(GET __version_list 0 ${VARIABLE}_MAJOR)
+  endif()
+  if(${__len} GREATER 1)
+    list(GET __version_list 1 ${VARIABLE}_MINOR)
+  endif()
+  if(${__len} GREATER 2)
+    list(GET __version_list 2 ${VARIABLE}_PATCH)
+  endif()
+  if(${__len} GREATER 3)
+    list(GET __version_list 3 ${VARIABLE}_TWEAK)
+  endif()
+endmacro()
+
+# status(TEXT [IF cond text [ELIF cond text] [ELSE cond text]])
+macro(status TEXT)
+  set(options)
+  set(oneValueArgs)
+  set(multiValueArgs IF ELIF ELSE)
+  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
+                        "${multiValueArgs}" ${ARGN})
+
+  #message(STATUS "TEXT: ${TEXT}")
+  #message(STATUS "THIS_IF: ${THIS_IF}")
+  #message(STATUS "THIS_ELIF: ${THIS_ELIF}")
+  #message(STATUS "THIS_ELSE: ${THIS_ELSE}")
+
+  set(__msg_list "${TEXT}")
+  set(__continue TRUE)
+
+  if(__continue AND DEFINED THIS_IF)
+    #message(STATUS "-- THIS_IF: ${THIS_IF}")
+    list(LENGTH THIS_IF __if_len)
+    if(${__if_len} GREATER 1)
+      list(GET THIS_IF 0 __if_cond)
+      if(${__if_cond})
+        list(REMOVE_AT THIS_IF 0)
+        list(APPEND __msg_list ${THIS_IF})
+        set(__continue FALSE)
+      endif()
+    else()
+      message(FATAL_ERROR "status() IF must have cond and text, >= 2 items")
+    endif()
+  endif()
+
+  if(__continue AND DEFINED THIS_ELIF)
+    #message(STATUS "-- THIS_ELIF: ${THIS_ELIF}")
+    list(LENGTH THIS_ELIF __elif_len)
+    if(${__elif_len} GREATER 1)
+      list(GET THIS_ELIF 0 __elif_cond)
+      if(${__elif_cond})
+        list(REMOVE_AT THIS_ELIF 0)
+        list(APPEND __msg_list ${THIS_ELIF})
+        set(__continue FALSE)
+      endif()
+    else()
+      message(FATAL_ERROR "status() ELIF must have cond and text, >= 2 items")
+    endif()
+  endif()
+
+  if(__continue AND DEFINED THIS_ELSE)
+    #message(STATUS "-- THIS_ELSE: ${THIS_ELSE}")
+    list(LENGTH THIS_ELSE __else_len)
+    if(${__else_len} GREATER 0)
+      list(APPEND __msg_list ${THIS_ELSE})
+    else()
+      message(FATAL_ERROR "status() ELSE must have text, >= 1 items")
+    endif()
+  endif()
+
+  string(REPLACE ";" "" __msg_list "${__msg_list}")
+  message(STATUS "${__msg_list}")
+endmacro()
--- a/cmake/templates/pkginfo.sh.in
+++ b/cmake/templates/pkginfo.sh.in
@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+OpenCV_VERSION=@OpenCV_VERSION@
+OpenCV_VERSION_MAJOR=@OpenCV_VERSION_MAJOR@
+OpenCV_VERSION_MINOR=@OpenCV_VERSION_MINOR@
+OpenCV_VERSION_PATCH=@OpenCV_VERSION_PATCH@
+OpenCV_VERSION_STATUS=@OpenCV_VERSION_STATUS@
+
+_contains() {
+  [ `echo $1 | grep -c "$2"` -gt 0 ]
+}
+
+if _contains "@OpenCV_INCLUDE_DIRS@" "/ros/"; then
+  ROS_VERSION=$(rosversion -d)
+  OpenCV_VERSION=ros-$ROS_VERSION
+fi
--- a/config/SN07C624160009071F/device.info
+++ b/config/SN07C624160009071F/device.info
@ -1,10 +0,0 @@
-%YAML:1.0
---
-device_name: MYNT-EYE-S210A
-serial_number: "07C624160009071F"
-firmware_version: "0.1"
-hardware_version: "1.0"
-spec_version: "1.1"
-lens_type: "0000"
-imu_type: "0000"
-nominal_baseline: 0
--- a/config/SN07C624160009071F/img.params
+++ b/config/SN07C624160009071F/img.params
@ -1,53 +0,0 @@
-%YAML:1.0
---
-version: "1.1"
-in_left_map:
-   -
-      width: 640
-      height: 400
-      fx: 1.9739641213416058e+02
-      fy: 1.9772337597617189e+02
-      cx: 3.2611983633916327e+02
-      cy: 1.9986969132833946e+02
-      model: 0
-      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
-          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
-   -
-      width: 1280
-      height: 800
-      fx: 1.9739641213416058e+02
-      fy: 1.9772337597617189e+02
-      cx: 3.2611983633916327e+02
-      cy: 1.9986969132833946e+02
-      model: 0
-      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
-          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
-in_right_map:
-   -
-      width: 640
-      height: 400
-      fx: 2.0335498653655989e+02
-      fy: 2.0453858622699008e+02
-      cx: 3.1589962248180814e+02
-      cy: 2.1871688038954812e+02
-      model: 0
-      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
-          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
-   -
-      width: 1280
-      height: 800
-      fx: 2.0335498653655989e+02
-      fy: 2.0453858622699008e+02
-      cx: 3.1589962248180814e+02
-      cy: 2.1871688038954812e+02
-      model: 0
-      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
-          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
-ex_left_to_right:
-   rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-       -4.3917309443490191e-03, 1.8166060642710027e-03,
-       9.9968925981619028e-01, -2.4861290203142431e-02,
-       4.4382582477776426e-03, 2.4853026274046636e-02,
-       9.9968126367795229e-01 ]
-   translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
-       2.2588034344482368e+00 ]
--- a/config/SN07C624160009071F/imu.params
+++ b/config/SN07C624160009071F/imu.params
@ -1,15 +0,0 @@
-%YAML:1.0
---
-in_accel:
-   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
-   drift: [ 0., 0., 0. ]
-   noise: [ 0., 0., 0. ]
-   bias: [ 0., 0., 0. ]
-in_gyro:
-   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
-   drift: [ 0., 0., 0. ]
-   noise: [ 0., 0., 0. ]
-   bias: [ 0., 0., 0. ]
-ex_left_to_imu:
-   rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
-   translation: [ 0., 0., 0. ]
--- a/doc/build.sh
+++ b/doc/build.sh
@ -40,8 +40,8 @@ OUTPUT="$BASE_DIR/_output"
 _texcjk() {
  tex="$1"; shift;
  _echo_in "add cjk to $tex"
-  sed -i "" -e $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
-  sed -i "" -e $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
+  sed -i "" -E $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
+  sed -i "" -E $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
 }

 for lang in "${LANGS[@]}"; do
@ -52,11 +52,30 @@ for lang in "${LANGS[@]}"; do
    _mkdir "$OUTPUT/$lang"
    _echo_i "doxygen $DOXYFILE"
    doxygen $DOXYFILE
+
+    version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
+      sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
+
+    # html
+    if [ -d "$OUTPUT/$lang/html" ]; then
+      dirname="mynt-eye-s-sdk-apidoc"; \
+        [ -n "$version" ] && dirname="$dirname-$version"; \
+        dirname="$dirname-$lang"
+      cd "$OUTPUT/$lang"
+      [ -d "$dirname" ] && rm -rf "$dirname"
+      mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
+    fi
+
+    # latex
    if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
      _echo_in "doxygen make latex"
+      filename="mynt-eye-s-sdk-apidoc"; \
+        [ -n "$version" ] && filename="$filename-$version"; \
+        filename="$filename-$lang.pdf"
      cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
-      [ -f "refman.pdf" ] && mv "refman.pdf" "../mynteye-apidoc.pdf"
+      [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
    fi
+
    _echo_d "doxygen completed"
  else
    _echo_e "$DOXYFILE not found"
--- a/doc/en/api.doxyfile
+++ b/doc/en/api.doxyfile
--- a/doc/en/mainpage.md
+++ b/doc/en/mainpage.md
@ -0,0 +1,11 @@
+# MYNT EYE S SDK {#mainpage}
+
+* <a class="el" href="annotated.html">API Classes</a>
+* <a class="el" href="modules.html">API Modules</a>
+  * \link enumerations Enumerations\endlink
+  * \link datatypes Datatypes\endlink
+  * \link utils Utiliities\endlink
+  * \link calibration Intrinsics & Extrinsics\endlink
+* <span style="font-weight:bold">Device Specifications</span>
+  * @subpage specs_data
+  * @subpage specs_ctrl
--- a/doc/en/spec_control_api.md
+++ b/doc/en/spec_control_api.md
@ -0,0 +1,26 @@
+# Control Protocols {#spec_control_api}
+
+There are two control modes, one is through UVC standard protocol, the other is through UVC custom protocol with extension unit.
+
+## Standard Protocol
+
+| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Note |
+| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :--- |
+| Gain | gain | 2 | 24 | 0 | 48 | √ | 0x12 | valid if manual-exposure |
+| Brightness | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | valid if manual-exposure |
+| Contrast | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | valid if manual-exposure |
+
+## Custom Protocol
+
+| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note |
+| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- |
+| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
+| IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
+| Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
+| Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |
+| Max exposure time | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | valid if auto-exposure |
+| Desired brightness | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | valid if auto-exposure |
+| IR control | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
+| HDR mode | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0: 10-bit; 1: 12-bit |
+| Zero drift calibration | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| Erase chip | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
--- a/doc/en/spec_control_channel.md
+++ b/doc/en/spec_control_channel.md
@ -0,0 +1,53 @@
+# Control Channels {#spec_control_channel}
+
+| Name | Field | Address | Bandwidth | Node |
+| :----- | :----- | :----- | :----- | :----- |
+| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
+| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
+| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
+| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
+| File channel | XU_FILE_CHANNEL | 5 | 2000 | |
+
+## Camera Control Channel
+
+The channel provides get, set and query (min, max, default).
+
+## Half-Duplex Channel
+
+The channel only provides set, such as zero drift correction.
+
+## IMU Channel
+
+The channel is used to request and response IMU data, see @ref spec_imu_data.
+
+## File Channel
+
+The channel is used to read and write device information, image params, and IMU params.
+
+| Name | Header | Size | File | Checksum |
+| :--- | :- | :--- | :--- | :-------- |
+| Bytes | 1 | 2 | - | 1 |
+| Type | uint8_t | uint16_t | - | uint8_t |
+| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes |
+
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | Device information |
+| 1 | Image params |
+| 2 | IMU params |
+| 3~6 | Undefined |
+| 7 | 0: Get; 1: Set |
+
+### File Content Packet
+
+| Name | ID | Size | Content |
+| :--- | :- | :--- | :------ |
+| Bytes | 1 | 2 | - |
+| Type | uint8_t | uint16_t | - |
+| Description | Content ID | Content size | Content data |
+
+| File | ID | Max Size |
+| :--- | :- | :------- |
+| Device information | 1 | 250 |
+| Image params | 2 | 250 |
+| IMU params | 4 | 500 |
--- a/doc/en/spec_hardware_info.md
+++ b/doc/en/spec_hardware_info.md
@ -0,0 +1,14 @@
+# Device Information {#spec_hardware_info}
+
+| Name | Field | Fixed Value | USB Descriptor | UVC Extension Unit | Bytes | Note |
+| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
+| VID | vid | 0x04B4 | √ | × | 2 | |
+| PID | pid | 0x00F9 | √ | × | 2 | |
+| Device name | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
+| Serial number | serial_number | - | √ | √ Get | 16 | |
+| Firmware version | firmware_version | - | √ | √ Get | 2 | major,minor |
+| Hardware version | hardware_version | - | × | √ Get | 3 | major,minor,flag |
+| Spec version | spec_version | - | × | √ Get | 2 | major,minor |
+| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
+| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
+| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 |
--- a/doc/en/spec_image_data.md
+++ b/doc/en/spec_image_data.md
@ -0,0 +1,20 @@
+# Image Data {#spec_image_data}
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] |
+| Timestamp | timestamp | 10 us | 4 | uint32_t |
+| Exposure Time | exposure_time | 10 us | 2 | uint16_t |
+
+## Image Packet
+
+| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
+| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
+| Bytes | 1 | 1 | 2 | 4 | 2 | 1 |
+| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
+| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes |
+
+* The image packet will be dropped, if checksum is incorrect.
+* The accuracy of the time unit: 0.01 ms / 10 us.
+  * The timestamp could indicate 11.9 hours, it will accumulate again after overflow.
+* The timestamp accumulation starts from the time of power-on, instead of opening.
--- a/doc/en/spec_image_params.md
+++ b/doc/en/spec_image_params.md
@ -0,0 +1,23 @@
+# Image Params {#spec_image_params}
+
+## Image Intrinsics
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Image width | width | px | 2 | uint16_t; [0,65535] |
+| Image height | height | px | 2 | uint16_t; [0,65535] |
+| Focal length | fx | - | 8 | double |
+| ^ | fy | - | 8 | double |
+| Principal point | cx | - | 8 | double |
+| ^ | cy | - | 8 | double |
+| Distortion model | model | - | 1 | uint8_t; pinhole,... |
+| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
+
+## Image Extrinsics
+
+Transformation matrix from left image to right image.
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Rotation matrix | rotation[3][3] | - | 72 | double |
+| Translation vector | translation[3] | - | 24 | double |
--- a/doc/en/spec_imu_data.md
+++ b/doc/en/spec_imu_data.md
@ -0,0 +1,42 @@
+# IMU Data {#spec_imu_data}
+
+## IMU Request Packet
+
+| Name | Header | Serial Number |
+| :--- | :----- | :------------ |
+| Bytes | 1 | 4 |
+| Type | uint8_t | uint32_t |
+| Description | 0x5A | First request should be 0, otherwise the last one |
+
+## IMU Response Packet
+
+The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.
+
+| Name | Header | State | Size | IMU Packets | Checksum |
+| :--- | :----- | :---- | :--- | :---------- | :------- |
+| Bytes | 1 | 1 | 2 | ... | 1 |
+| Type | uint8_t | uint8_t | uint16_t | - | uint8_t |
+| Description | 0x5B | 0 is success, others are failed | Content size | IMU packets | Checksum, XOR of all content bytes |
+
+### IMU Packet
+
+The IMU packet is an array of IMU datas.
+
+| Name | Serial Number | Timestamp | Count | IMU Datas |
+| :--- | :------------ | :-------- | :---- | :-------- |
+| Bytes | 4 | 4 | 1 | ... |
+| Type | uint32_t | uint32_t | uint8_t | - |
+| Description | Serial number | IMU basic timestamp | The number of IMU datas | IMU datas |
+
+### IMU Segment
+
+| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
+| :--- | :----- | :------- | :------------ | :---------- | :-------- |
+| Bytes | 2 | 2 | 6 | 2 | 6 |
+| Type | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
+| Description | The timestamp offset | Image frame ID | Accel x,y,z values | IMU temperature | Gyro x,y,z values |
+
+* Formula for converting the accel & gyro values to real ones: **real = data * range / 0x10000** .
+  * ``accel`` default ``range`` is **8 g**, ``gyro`` default ``range`` is **1000 deg/s**.
+* Formula for converting the temperature to real value: **real = data / ratio + offset** .
+  * default ``ratio`` is **326.8**, default ``offset`` is **25℃**.
--- a/doc/en/spec_imu_params.md
+++ b/doc/en/spec_imu_params.md
@ -0,0 +1,23 @@
+# IMU Params {#spec_imu_params}
+
+## IMU Intrinsics
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Scale matrix | acc_scale[3][3] | - | 72 | double |
+| ^ | gyro_scale[3][3] | - | 72 | double |
+| Zero-drift | acc_drift[3] | - | 24 | double |
+| ^ | gyro_drift[3] | - | 24 | double |
+| Noise density | acc_noise[3] | - | 24 | double |
+| ^ | gyro_noise[3] | - | 24 | double |
+| Random walk | acc_bias[3] | - | 24 | double |
+| ^ | gyro_bias[3] | - | 24 | double |
+
+## IMU Extrinsics
+
+Transformation matrix from left image to IMU.
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Rotation matrix | rotation[3][3] | - | 72 | double |
+| Translation vector | translation[3] | - | 24 | double |
--- a/doc/en/specs_ctrl.md
+++ b/doc/en/specs_ctrl.md
@ -0,0 +1,4 @@
+# Device Control Specification {#specs_ctrl}
+
+* @subpage spec_control_api
+* @subpage spec_control_channel
--- a/doc/en/specs_data.md
+++ b/doc/en/specs_data.md
@ -0,0 +1,7 @@
+# Device Data Specification {#specs_data}
+
+* @subpage spec_hardware_info
+* @subpage spec_image_params
+* @subpage spec_imu_params
+* @subpage spec_image_data
+* @subpage spec_imu_data
--- a/doc/zh-Hans/api.doxyfile
+++ b/doc/zh-Hans/api.doxyfile
@ -1,4 +1,4 @@
-# Doxyfile 1.8.13
+# Doxyfile 1.8.14

 # This file describes the settings to be used by the documentation system
 # doxygen (www.doxygen.org) for a project.
@ -20,8 +20,8 @@
 # This tag specifies the encoding used for all characters in the config file
 # that follow. The default is UTF-8 which is also the encoding used for all text
 # before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
-# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
-# for the list of possible encodings.
+# built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
 # The default value is: UTF-8.

 DOXYFILE_ENCODING      = UTF-8
@ -32,19 +32,19 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.

-PROJECT_NAME           = "MYNT EYE SDK"
+PROJECT_NAME           = "MYNT EYE S SDK"

 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.

-PROJECT_NUMBER         = 2.0.0-rc
+PROJECT_NUMBER         = 2.2.2-rc0

 # 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
 # quick idea about the purpose of the project. Keep the description short.

-PROJECT_BRIEF          = http://www.myntai.com/camera
+PROJECT_BRIEF          = http://www.myntai.com/mynteye/standard

 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
@ -236,7 +236,8 @@ TAB_SIZE               = 2
 # will allow you to put the command \sideeffect (or @sideeffect) in the
 # documentation, which will result in a user-defined paragraph with heading
 # "Side Effects:". You can put \n's in the value part of an alias to insert
-# newlines.
+# newlines (in the resulting output). You can put ^^ in the value part of an
+# alias to insert a newline as if a physical newline was in the original file.

 ALIASES                =

@ -337,7 +338,7 @@ BUILTIN_STL_SUPPORT    = NO
 CPP_CLI_SUPPORT        = NO

 # Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
-# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
 # will parse them like normal C++ but will assume all classes use public instead
 # of private inheritance when no explicit protection keyword is present.
 # The default value is: NO.
@ -708,7 +709,7 @@ LAYOUT_FILE            =
 # The CITE_BIB_FILES tag can be used to specify one or more bib files containing
 # the reference definitions. This must be a list of .bib files. The .bib
 # extension is automatically appended if omitted. This requires the bibtex tool
-# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
 # For LaTeX the style of the bibliography can be controlled using
 # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
 # search path. See also \cite for info how to create references.
@ -791,14 +792,6 @@ WARN_LOGFILE           =
 # Note: If this tag is empty the current directory is searched.

 INPUT                  = mainpage.md \
-                         guides.md \
-                         guide_build_linux.md \
-                         guide_build_win.md \
-                         guide_samples.md \
-                         guide_tools.md \
-                         guide_log.md \
-                         guide_opencv.md \
-                         guide_ros.md \
                         specs_data.md \
                         spec_hardware_info.md \
                         spec_image_params.md \
@ -808,12 +801,12 @@ INPUT                  = mainpage.md \
                         specs_ctrl.md \
                         spec_control_api.md \
                         spec_control_channel.md \
-                         ../../_install/include
+                         /usr/local/include/mynteye

 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
 # libiconv (or the iconv built into libc) for the transcoding. See the libiconv
-# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# documentation (see: https://www.gnu.org/software/libiconv/) for the list of
 # possible encodings.
 # The default value is: UTF-8.

@ -891,7 +884,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.

-EXCLUDE                =
+EXCLUDE                = /usr/local/include/mynteye/logger.h \
+                         /usr/local/include/mynteye/miniglog.h

 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@ -1061,7 +1055,7 @@ SOURCE_TOOLTIPS        = YES
 # If the USE_HTAGS tag is set to YES then the references to source code will
 # point to the HTML generated by the htags(1) tool instead of doxygen built-in
 # source browser. The htags tool is part of GNU's global source tagging system
-# (see http://www.gnu.org/software/global/global.html). You will need version
+# (see https://www.gnu.org/software/global/global.html). You will need version
 # 4.8.6 or higher.
 #
 # To use it do the following:
@ -1206,7 +1200,7 @@ HTML_EXTRA_FILES       =
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to
 # this color. Hue is specified as an angle on a colorwheel, see
-# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
 # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
 # purple, and 360 is red again.
 # Minimum value: 0, maximum value: 359, default value: 220.
@ -1242,6 +1236,17 @@ HTML_COLORSTYLE_GAMMA  = 80

 HTML_TIMESTAMP         = NO

+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via Javascript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have Javascript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
 # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
 # documentation will contain sections that can be hidden and shown after the
 # page has loaded.
@ -1265,12 +1270,12 @@ HTML_INDEX_NUM_ENTRIES = 100

 # If the GENERATE_DOCSET tag is set to YES, additional index files will be
 # generated that can be used as input for Apple's Xcode 3 integrated development
-# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# environment (see: https://developer.apple.com/tools/xcode/), introduced with
 # OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
 # Makefile in the HTML output directory. Running make will produce the docset in
 # that directory and running make install will install the docset in
 # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
-# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# startup. See https://developer.apple.com/tools/creatingdocsetswithdoxygen.html
 # for more information.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
@ -1305,7 +1310,7 @@ DOCSET_PUBLISHER_ID    = com.slightech.mynteye.documentation
 # The default value is: Publisher.
 # This tag requires that the tag GENERATE_DOCSET is set to YES.

-DOCSET_PUBLISHER_NAME  = MYNT EYE SDK
+DOCSET_PUBLISHER_NAME  = MYNT EYE S SDK

 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The
@ -1386,7 +1391,7 @@ QCH_FILE               =

 # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
 # Project output. For more information please see Qt Help Project / Namespace
-# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# (see: http://doc.qt.io/qt-4.8/qthelpproject.html#namespace).
 # The default value is: org.doxygen.Project.
 # This tag requires that the tag GENERATE_QHP is set to YES.

@ -1394,8 +1399,7 @@ QHP_NAMESPACE          = com.slightech.mynteye

 # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
 # Help Project output. For more information please see Qt Help Project / Virtual
-# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
-# folders).
+# Folders (see: http://doc.qt.io/qt-4.8/qthelpproject.html#virtual-folders).
 # The default value is: doc.
 # This tag requires that the tag GENERATE_QHP is set to YES.

@ -1403,23 +1407,21 @@ QHP_VIRTUAL_FOLDER     = doc

 # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
 # filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
-# filters).
+# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.

 QHP_CUST_FILTER_NAME   =

 # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
 # custom filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
-# filters).
+# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.

 QHP_CUST_FILTER_ATTRS  =

 # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
 # project's filter section matches. Qt Help Project / Filter Attributes (see:
-# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# http://doc.qt.io/qt-4.8/qthelpproject.html#filter-attributes).
 # This tag requires that the tag GENERATE_QHP is set to YES.

 QHP_SECT_FILTER_ATTRS  =
@ -1512,7 +1514,7 @@ EXT_LINKS_IN_WINDOW    = NO

 FORMULA_FONTSIZE       = 10

-# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
 # generated for formulas are transparent PNGs. Transparent PNGs are not
 # supported properly for IE 6.0, but are supported on all modern browsers.
 #
@ -1524,7 +1526,7 @@ FORMULA_FONTSIZE       = 10
 FORMULA_TRANSPARENT    = YES

 # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
-# http://www.mathjax.org) which uses client side Javascript for the rendering
+# https://www.mathjax.org) which uses client side Javascript for the rendering
 # instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
 # installed or if you want to formulas look prettier in the HTML output. When
 # enabled you may also need to install MathJax separately and configure the path
@ -1551,11 +1553,11 @@ MATHJAX_FORMAT         = HTML-CSS
 # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
 # Content Delivery Network so you can quickly see the result without installing
 # MathJax. However, it is strongly recommended to install a local copy of
-# MathJax from http://www.mathjax.org before deployment.
-# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# MathJax from https://www.mathjax.org before deployment.
+# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/.
 # This tag requires that the tag USE_MATHJAX is set to YES.

-MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+MATHJAX_RELPATH        = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/

 # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
 # extension names that should be enabled during MathJax rendering. For example
@ -1613,7 +1615,7 @@ SERVER_BASED_SEARCH    = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/).
+# Xapian (see: https://xapian.org/).
 #
 # See the section "External Indexing and Searching" for details.
 # The default value is: NO.
@ -1626,7 +1628,7 @@ EXTERNAL_SEARCH        = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Xapian (see: https://xapian.org/). See the section "External Indexing and
 # Searching" for details.
 # This tag requires that the tag SEARCHENGINE is set to YES.

@ -1815,7 +1817,7 @@ LATEX_SOURCE_CODE      = NO

 # The LATEX_BIB_STYLE tag can be used to specify the style to use for the
 # bibliography, e.g. plainnat, or ieeetr. See
-# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
 # The default value is: plain.
 # This tag requires that the tag GENERATE_LATEX is set to YES.

@ -1998,9 +2000,9 @@ DOCBOOK_PROGRAMLISTING = NO
 #---------------------------------------------------------------------------

 # If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
-# AutoGen Definitions (see http://autogen.sf.net) file that captures the
-# structure of the code including all documentation. Note that this feature is
-# still experimental and incomplete at the moment.
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
 # The default value is: NO.

 GENERATE_AUTOGEN_DEF   = NO
--- a/doc/zh-Hans/guide_build_linux.md
+++ b/doc/zh-Hans/guide_build_linux.md
@ -5,13 +5,13 @@
 ## 获取代码

 ```bash
-git clone https://github.com/slightech/MYNT-EYE-SDK-2.git
+git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
 ```

 ## 准备依赖

 ```bash
-cd mynt-eye-sdk-2/
+cd mynt-eye-s-sdk/
 make init
 ```

--- a/doc/zh-Hans/guide_build_win.md
+++ b/doc/zh-Hans/guide_build_win.md
@ -72,13 +72,13 @@ GNU Make 4.2.1
 ## 获取代码

 ```cmd
->git clone https://github.com/slightech/MYNT-EYE-SDK-2.git
+>git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
 ```

 ## 准备依赖

 ```cmd
->cd mynt-eye-sdk-2
+>cd mynt-eye-s-sdk
 >make init
 Make init
 Init deps
--- a/doc/zh-Hans/mainpage.md
+++ b/doc/zh-Hans/mainpage.md
@ -1,9 +1,11 @@
-# MYNT EYE SDK {#mainpage}
+# MYNT EYE S SDK {#mainpage}

-* API 模块
+* <a class="el" href="annotated.html">API 类</a>
+* <a class="el" href="modules.html">API 模块</a>
  * \link enumerations 枚举类型\endlink
  * \link datatypes 数据类型\endlink
+  * \link utils 工具函数\endlink
  * \link calibration 内参与外参\endlink
-* 设备说明
+* <span style="font-weight:bold">设备说明</span>
  * @subpage specs_data
  * @subpage specs_ctrl
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@ -1,4 +1,4 @@
-# 控制 API 说明 {#spec_contorl_api}
+# 控制 API 说明 {#spec_control_api}

 控制有两种实现方式，一是通过 UVC 标准协议，二是通过 UVC 拓展通道自定义协议。

@ -24,3 +24,4 @@
 | 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |
 | 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
 | 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | |
+
--- a/doc/zh-Hans/spec_control_channel.md
+++ b/doc/zh-Hans/spec_control_channel.md
@ -1,4 +1,4 @@
-# 拓展通道说明 {#spec_contorl_channel}
+# 拓展通道说明 {#spec_control_channel}

 | 名称 | 字段 | 地址 | 带宽 | 说明 |
 | :----- | :----- | :----- | :----- | :----- |
@ -14,7 +14,7 @@

 ## 半双工通道

-半双工通道是那些仅需 Get 或 Set 的控制通道，如请求零漂矫正。
+半双工通道是那些仅需 Set 的控制通道，如请求零漂矫正。

 ## IMU 通道

@ -25,18 +25,18 @@
 用来读写硬件信息、图像参数、 IMU 参数的通道。

 | Name | Header | Size | File | Checksum |
-| :--- | :- | :--- | :--- | :-------- |
+| :--- | :----- | :--- | :--- | :-------- |
 | 字节数 | 1 | 2 | - | 1 |
 | 类型 | uint8_t | uint16_t | - | uint8_t |
 | 描述 | 标识 | 文件内容大小 | 文件内容 | 校验码（文件内容所有字节异或） |

-| Header bit | Description |
-| :--------- | :---------- |
-| 0 | 0: Get; 1: Set |
-| 1~4 | 未定义 |
-| 5 | IMU 参数 |
-| 6 | 图像参数 |
-| 7 | 硬件信息 |
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | 硬件信息 |
+| 1 | 图像参数 |
+| 2 | IMU 参数 |
+| 3~6 | 未定义 |
+| 7 | 0: Get; 1: Set |

 ### 文件内容包

--- a/doc/zh-Hans/spec_image_params.md
+++ b/doc/zh-Hans/spec_image_params.md
@ -13,7 +13,7 @@
 | 畸变模型 | model | - | 1 | uint8_t; pinhole,... |
 | 畸变参数 | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |

-> 图像内参不同分辨率会不同。如果多分辨率的话，就会有多个。
+> 图像分辨率不同，内参不同。多分辨率的话，需有多个内参。

 ## 图像外参

--- a/doc/zh-Hans/specs_ctrl.md
+++ b/doc/zh-Hans/specs_ctrl.md
@ -1,4 +1,4 @@
 # 设备控制说明 {#specs_ctrl}

-* @subpage spec_contorl_api
-* @subpage spec_contorl_channel
+* @subpage spec_control_api
+* @subpage spec_control_channel
--- a/include/deprecated/mynteye/api.h
+++ b/include/deprecated/mynteye/api.h
@ -0,0 +1 @@
+#include "mynteye/api/api.h"
--- a/include/deprecated/mynteye/callbacks.h
+++ b/include/deprecated/mynteye/callbacks.h
@ -0,0 +1 @@
+#include "mynteye/device/callbacks.h"
--- a/include/deprecated/mynteye/context.h
+++ b/include/deprecated/mynteye/context.h
@ -0,0 +1 @@
+#include "mynteye/device/context.h"
--- a/include/deprecated/mynteye/device.h
+++ b/include/deprecated/mynteye/device.h
@ -0,0 +1 @@
+#include "mynteye/device/device.h"
--- a/include/deprecated/mynteye/files.h
+++ b/include/deprecated/mynteye/files.h
@ -0,0 +1 @@
+#include "mynteye/util/files.h"
--- a/include/deprecated/mynteye/glog_init.h
+++ b/include/deprecated/mynteye/glog_init.h
@ -0,0 +1 @@
+#include "mynteye/logger.h"
--- a/include/deprecated/mynteye/object.h
+++ b/include/deprecated/mynteye/object.h
@ -0,0 +1 @@
+#include "mynteye/api/object.h"
--- a/include/deprecated/mynteye/plugin.h
+++ b/include/deprecated/mynteye/plugin.h
@ -0,0 +1 @@
+#include "mynteye/api/plugin.h"
--- a/include/deprecated/mynteye/strings.h
+++ b/include/deprecated/mynteye/strings.h
@ -0,0 +1 @@
+#include "mynteye/util/strings.h"
--- a/include/deprecated/mynteye/times.h
+++ b/include/deprecated/mynteye/times.h
@ -0,0 +1 @@
+#include "mynteye/util/times.h"
--- a/include/deprecated/mynteye/utils.h
+++ b/include/deprecated/mynteye/utils.h
@ -0,0 +1 @@
+#include "mynteye/device/utils.h"
--- a/include/mynteye/api/api.h
+++ b/include/mynteye/api/api.h
@ -11,17 +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 MYNTEYE_API_H_  // NOLINT
-#define MYNTEYE_API_H_
+#ifndef MYNTEYE_API_API_H_
+#define MYNTEYE_API_API_H_
 #pragma once

-#include <opencv2/core/core.hpp>
-
 #include <limits>
 #include <memory>
 #include <string>
 #include <vector>

+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"

@ -49,6 +49,8 @@ struct MYNTEYE_API StreamData {
  cv::Mat frame;
  /** Raw frame. */
  std::shared_ptr<device::Frame> frame_raw;
+  /** Frame ID. */
+  std::uint16_t frame_id;

  bool operator==(const StreamData &other) const {
    if (img && other.img) {
@ -292,4 +294,4 @@ class MYNTEYE_API API {

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_API_H_ NOLINT
+#endif  // MYNTEYE_API_API_H_
--- a/include/mynteye/api/object.h
+++ b/include/mynteye/api/object.h
@ -11,18 +11,20 @@
 // 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_OBJECT_H_  // NOLINT
-#define MYNTEYE_OBJECT_H_
+#ifndef MYNTEYE_API_OBJECT_H_
+#define MYNTEYE_API_OBJECT_H_
 #pragma once

-#include <opencv2/core/core.hpp>
-
 #include <memory>

+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"

 MYNTEYE_BEGIN_NAMESPACE

+struct ImgData;
+
 /**
 * Input & output object.
 */
@ -56,14 +58,22 @@ struct MYNTEYE_API Object {
 */
 struct MYNTEYE_API ObjMat : public Object {
  ObjMat() = default;
-  explicit ObjMat(const cv::Mat &value) : value(value) {}
+  ObjMat(const cv::Mat &value, std::uint16_t id,
+         const std::shared_ptr<ImgData> &data)
+      : value(value), id(id), data(data) {}

  /** The value */
  cv::Mat value;
+  /** The id **/
+  std::uint16_t id;
+  /** The data **/
+  std::shared_ptr<ImgData> data;

  Object *Clone() const {
    ObjMat *mat = new ObjMat;
    mat->value = value.clone();
+    mat->id = id;
+    mat->data = data;
    return mat;
  }

@ -77,19 +87,35 @@ struct MYNTEYE_API ObjMat : public Object {
 */
 struct MYNTEYE_API ObjMat2 : public Object {
  ObjMat2() = default;
-  ObjMat2(const cv::Mat &first, const cv::Mat &second)
-      : first(first), second(second) {}
+  ObjMat2(const cv::Mat &first, std::uint16_t first_id,
+          const std::shared_ptr<ImgData> &first_data,
+          const cv::Mat &second, std::uint16_t second_id,
+          const std::shared_ptr<ImgData> &second_data)
+      : first(first), first_id(first_id), first_data(first_data),
+        second(second), second_id(second_id), second_data(second_data) {}

  /** The first value */
  cv::Mat first;
+  /** The first id **/
+  std::uint16_t first_id;
+  /** The first data **/
+  std::shared_ptr<ImgData> first_data;

  /** The second value */
  cv::Mat second;
+  /** The second id **/
+  std::uint16_t second_id;
+  /** The second data **/
+  std::shared_ptr<ImgData> second_data;

  Object *Clone() const {
    ObjMat2 *mat2 = new ObjMat2;
    mat2->first = first.clone();
+    mat2->first_id = first_id;
+    mat2->first_data = first_data;
    mat2->second = second.clone();
+    mat2->second_id = second_id;
+    mat2->second_data = second_data;
    return mat2;
  }

@ -100,4 +126,4 @@ struct MYNTEYE_API ObjMat2 : public Object {

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_OBJECT_H_  NOLINT
+#endif  // MYNTEYE_API_OBJECT_H_
--- a/include/mynteye/api/plugin.h
+++ b/include/mynteye/api/plugin.h
@ -11,14 +11,14 @@
 // 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_PLUGIN_H_  // NOLINT
-#define MYNTEYE_PLUGIN_H_
+#ifndef MYNTEYE_API_PLUGIN_H_
+#define MYNTEYE_API_PLUGIN_H_
 #pragma once

-#include <opencv2/core/core.hpp>
-
 #include <cstdint>

+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"

 #ifndef MYNTEYE_PLUGIN_VERSION_CODE
@ -53,8 +53,8 @@ class MYNTEYE_API Plugin {
   * @return `true` if you process rectify.
   */
  virtual bool OnRectifyProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@ -65,8 +65,8 @@ class MYNTEYE_API Plugin {
   * @return `true` if you process disparity.
   */
  virtual bool OnDisparityProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@ -78,8 +78,8 @@ class MYNTEYE_API Plugin {
   */
  virtual bool OnDisparityNormalizedProcess(
      Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@ -90,8 +90,8 @@ class MYNTEYE_API Plugin {
   * @return `true` if you process points.
   */
  virtual bool OnPointsProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@ -102,8 +102,8 @@ class MYNTEYE_API Plugin {
   * @return `true` if you process depth.
   */
  virtual bool OnDepthProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@ -135,6 +135,7 @@ MYNTEYE_API mynteye::Plugin *plugin_create();
 * Destroy the plugin.
 */
 MYNTEYE_API void plugin_destroy(mynteye::Plugin *plugin);
+
 }

-#endif  // MYNTEYE_PLUGIN_H_ NOLINT
+#endif  // MYNTEYE_API_PLUGIN_H_
--- a/include/mynteye/device/callbacks.h
+++ b/include/mynteye/device/callbacks.h
@ -11,8 +11,8 @@
 // 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_CALLBACKS_H_  // NOLINT
-#define MYNTEYE_CALLBACKS_H_
+#ifndef MYNTEYE_DEVICE_CALLBACKS_H_
+#define MYNTEYE_DEVICE_CALLBACKS_H_
 #pragma once

 #include <cstdint>
@ -113,6 +113,8 @@ struct MYNTEYE_API StreamData {
  std::shared_ptr<ImgData> img;
  /** Frame. */
  std::shared_ptr<Frame> frame;
+  /** Frame ID. */
+  std::uint16_t frame_id;
 };

 /**
@ -131,4 +133,4 @@ using MotionCallback = std::function<void(const MotionData &data)>;

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_CALLBACKS_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_CALLBACKS_H_
--- a/include/mynteye/device/context.h
+++ b/include/mynteye/device/context.h
@ -11,8 +11,8 @@
 // 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_CONTEXT_H_  // NOLINT
-#define MYNTEYE_CONTEXT_H_
+#ifndef MYNTEYE_DEVICE_CONTEXT_H_
+#define MYNTEYE_DEVICE_CONTEXT_H_
 #pragma once

 #include <memory>
@ -53,4 +53,4 @@ class MYNTEYE_API Context {

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_CONTEXT_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_CONTEXT_H_
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@ -11,21 +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 MYNTEYE_DEVICE_H_  // NOLINT
-#define MYNTEYE_DEVICE_H_
+#ifndef MYNTEYE_DEVICE_DEVICE_H_
+#define MYNTEYE_DEVICE_DEVICE_H_
 #pragma once

-#include <limits>
 #include <map>
 #include <memory>
 #include <mutex>
 #include <string>
 #include <vector>

-#include "internal/channels.h"
-#include "mynteye/callbacks.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
+#include "mynteye/device/callbacks.h"

 MYNTEYE_BEGIN_NAMESPACE

@ -253,8 +251,11 @@ class MYNTEYE_API Device {
  /**
   * Enable cache motion datas.
   */
-  void EnableMotionDatas(
-      std::size_t max_size = std::numeric_limits<std::size_t>::max());
+  void EnableMotionDatas();
+  /**
+   * Enable cache motion datas.
+   */
+  void EnableMotionDatas(std::size_t max_size);
  /**
   * Get the motion datas.
   */
@ -339,4 +340,4 @@ class MYNTEYE_API Device {

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_DEVICE_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_DEVICE_H_
--- a/include/mynteye/device/utils.h
+++ b/include/mynteye/device/utils.h
@ -11,11 +11,12 @@
 // 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_UTILS_H_  // NOLINT
-#define MYNTEYE_UTILS_H_
+#ifndef MYNTEYE_DEVICE_UTILS_H_
+#define MYNTEYE_DEVICE_UTILS_H_
 #pragma once

 #include <memory>
+#include <string>

 #include "mynteye/mynteye.h"

@ -55,8 +56,22 @@ namespace utils {
 MYNTEYE_API float get_real_exposure_time(
    std::int32_t frame_rate, std::uint16_t exposure_time);

+/**
+ * @ingroup utils
+ * 
+ * Get sdk root dir.
+ */
+MYNTEYE_API std::string get_sdk_root_dir();
+
+/**
+ * @ingroup utils
+ * 
+ * Get sdk install dir.
+ */
+MYNTEYE_API std::string get_sdk_install_dir();
+
 }  // namespace utils

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_UTILS_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_UTILS_H_
--- a/include/mynteye/global.h
+++ b/include/mynteye/global.h
@ -16,72 +16,70 @@
 #pragma once

 #ifdef _WIN32
-#define OS_WIN
+  #define MYNTEYE_OS_WIN
  #ifdef _WIN64
-#define OS_WIN64
+    #define MYNTEYE_OS_WIN64
  #else
-#define OS_WIN32
+    #define MYNTEYE_OS_WIN32
  #endif
  #if defined(__MINGW32__) || defined(__MINGW64__)
-#define OS_MINGW
+    #define MYNTEYE_OS_MINGW
    #ifdef __MINGW64__
-#define OS_MINGW64
+      #define MYNTEYE_OS_MINGW64
    #else
-#define OS_MINGW32
+      #define MYNTEYE_OS_MINGW32
    #endif
  #elif defined(__CYGWIN__) || defined(__CYGWIN32__)
-#define OS_CYGWIN
+    #define MYNTEYE_OS_CYGWIN
  #endif
 #elif __APPLE__
-#include "TargetConditionals.h"
+  #include <TargetConditionals.h>
  #if TARGET_IPHONE_SIMULATOR
-#define OS_IPHONE
-#define OS_IPHONE_SIMULATOR
+    #define MYNTEYE_OS_IPHONE
+    #define MYNTEYE_OS_IPHONE_SIMULATOR
  #elif TARGET_OS_IPHONE
-#define OS_IPHONE
+    #define MYNTEYE_OS_IPHONE
  #elif TARGET_OS_MAC
-#define OS_MAC
+    #define MYNTEYE_OS_MAC
  #else
    #error "Unknown Apple platform"
  #endif
 #elif __ANDROID__
-#define OS_ANDROID
+  #define MYNTEYE_OS_ANDROID
 #elif __linux__
-#define OS_LINUX
+  #define MYNTEYE_OS_LINUX
 #elif __unix__
-#define OS_UNIX
+  #define MYNTEYE_OS_UNIX
 #elif defined(_POSIX_VERSION)
-#define OS_POSIX
+  #define MYNTEYE_OS_POSIX
 #else
  #error "Unknown compiler"
 #endif

-#ifdef OS_WIN
-#define DECL_EXPORT __declspec(dllexport)
-#define DECL_IMPORT __declspec(dllimport)
-#define DECL_HIDDEN
+#ifdef MYNTEYE_OS_WIN
+#define MYNTEYE_DECL_EXPORT __declspec(dllexport)
+#define MYNTEYE_DECL_IMPORT __declspec(dllimport)
+#define MYNTEYE_DECL_HIDDEN
 #else
-#define DECL_EXPORT __attribute__((visibility("default")))
-#define DECL_IMPORT __attribute__((visibility("default")))
-#define DECL_HIDDEN __attribute__((visibility("hidden")))
+#define MYNTEYE_DECL_EXPORT __attribute__((visibility("default")))
+#define MYNTEYE_DECL_IMPORT __attribute__((visibility("default")))
+#define MYNTEYE_DECL_HIDDEN __attribute__((visibility("hidden")))
 #endif

-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && \
+  !defined(MYNTEYE_OS_CYGWIN)
 #define MYNTEYE_OS_SEP "\\"
 #else
 #define MYNTEYE_OS_SEP "/"
 #endif

-#define STRINGIFY_HELPER(X) #X
-#define STRINGIFY(X) STRINGIFY_HELPER(X)
+#define MYNTEYE_STRINGIFY_HELPER(X) #X
+#define MYNTEYE_STRINGIFY(X) MYNTEYE_STRINGIFY_HELPER(X)

-#define DISABLE_COPY(Class)      \
+#define MYNTEYE_DISABLE_COPY(Class) \
  Class(const Class &) = delete; \
  Class &operator=(const Class &) = delete;

-#define UNUSED(x) (void)x;
-
-template <typename... T>
-void unused(T &&...) {}
+#define MYNTEYE_UNUSED(x) (void)x;

 #endif  // MYNTEYE_GLOBAL_H_
--- a/include/mynteye/miniglog.h
+++ b/include/mynteye/miniglog.h
@ -144,10 +144,13 @@ const int INFO = ::INFO;
 class MYNTEYE_API LogSink {
 public:
  virtual ~LogSink() {}
-  virtual void send(
-      LogSeverity severity, const char *full_filename,
-      const char *base_filename, int line, const struct tm *tm_time,
-      const char *message, size_t message_len) = 0;
+  virtual void send(LogSeverity severity,
+                    const char* full_filename,
+                    const char* base_filename,
+                    int line,
+                    const struct tm* tm_time,
+                    const char* message,
+                    size_t message_len) = 0;
  virtual void WaitTillSent() = 0;
 };

@ -205,8 +208,8 @@ class MYNTEYE_API MessageLogger {

    // Bound the logging level.
    const int kMaxVerboseLevel = 2;
-    int android_level_index =
-        std::min(std::max(FATAL, severity_), kMaxVerboseLevel) - FATAL;
+    int android_level_index = std::min(std::max(FATAL, severity_),
+                                       kMaxVerboseLevel) - FATAL;
    int android_log_level = android_log_levels[android_level_index];

    // Output the log string the Android log at the appropriate level.
@ -214,7 +217,9 @@ class MYNTEYE_API MessageLogger {

    // Indicate termination if needed.
    if (severity_ == FATAL) {
-      __android_log_write(ANDROID_LOG_FATAL, tag_.c_str(), "terminating.\n");
+      __android_log_write(ANDROID_LOG_FATAL,
+                          tag_.c_str(),
+                          "terminating.\n");
    }
 #else
    // If not building on Android, log all output to std::cerr.
@ -232,9 +237,7 @@ class MYNTEYE_API MessageLogger {
  }

  // Return the stream associated with the logger object.
-  std::stringstream &stream() {
-    return stream_;
-  }
+  std::stringstream &stream() { return stream_; }

 private:
  void LogToSinks(int severity) {
@ -247,9 +250,8 @@ class MYNTEYE_API MessageLogger {
    // Send the log message to all sinks.
    for (iter = google::log_sinks_global.begin();
         iter != google::log_sinks_global.end(); ++iter) {
-      (*iter)->send(
-          severity, file_.c_str(), filename_only_.c_str(), line_, timeinfo,
-          stream_.str().c_str(), stream_.str().size());
+      (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
+                    timeinfo, stream_.str().c_str(), stream_.str().size());
    }
  }

@ -313,11 +315,9 @@ class MYNTEYE_API LoggerVoidify {

 // Log only if condition is met.  Otherwise evaluates to void.
 #define LOG_IF(severity, condition) \
-  (static_cast<int>(severity) > google::log_severity_global || !(condition)) \
-      ? (void)0                                                              \
-      : LoggerVoidify() &                                                    \
-            MessageLogger((char *)__FILE__, __LINE__, "native", severity)    \
-                .stream()
+  (static_cast<int>(severity) > google::log_severity_global || !(condition)) ? \
+  (void) 0 : LoggerVoidify() &                                          \
+  MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()

 // Log only if condition is NOT met.  Otherwise evaluates to void.
 #define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
@ -370,13 +370,11 @@ class MYNTEYE_API LoggerVoidify {
 #ifndef NDEBUG
 #  define DLOG LOG
 #else
-#define DLOG(severity)                                                     \
-  true ? (void)0                                                           \
-       : LoggerVoidify() &                                                 \
-             MessageLogger((char *)__FILE__, __LINE__, "native", severity) \
-                 .stream()
+#  define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
+      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
 #endif

+
 // Log a message and terminate.
 template<class T>
 void LogMessageFatal(const char *file, int line, const T &message) {
@ -386,26 +384,24 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 // ---------------------------- CHECK macros ---------------------------------

 // Check for a given boolean condition.
-#define CHECK(condition) \
-  LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
+#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+        << "Check failed: " #condition " "

 #ifndef NDEBUG
 // Debug only version of CHECK
-#define DCHECK(condition) \
-  LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
+#  define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+          << "Check failed: " #condition " "
 #else
 // Optimized version - generates no code.
-#define DCHECK(condition) \
-  if (false)              \
-  LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
+#  define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \
+          << "Check failed: " #condition " "
 #endif  // NDEBUG

 // ------------------------- CHECK_OP macros ---------------------------------

 // Generic binary operator check macro. This should not be directly invoked,
 // instead use the binary comparison macros defined below.
-#define CHECK_OP(val1, val2, op)      \
-  LOG_IF_FALSE(FATAL, (val1 op val2)) \
+#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, (val1 op val2)) \
  << "Check failed: " #val1 " " #op " " #val2 " "

 // Check_op macro definitions
@ -426,24 +422,12 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 #  define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
 #else
 // These versions generate no code in optimized mode.
-#define DCHECK_EQ(val1, val2) \
-  if (false)                  \
-  CHECK_OP(val1, val2, ==)
-#define DCHECK_NE(val1, val2) \
-  if (false)                  \
-  CHECK_OP(val1, val2, !=)
-#define DCHECK_LE(val1, val2) \
-  if (false)                  \
-  CHECK_OP(val1, val2, <=)
-#define DCHECK_LT(val1, val2) \
-  if (false)                  \
-  CHECK_OP(val1, val2, <)
-#define DCHECK_GE(val1, val2) \
-  if (false)                  \
-  CHECK_OP(val1, val2, >=)
-#define DCHECK_GT(val1, val2) \
-  if (false)                  \
-  CHECK_OP(val1, val2, >)
+#  define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
+#  define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
+#  define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
+#  define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
+#  define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
+#  define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
 #endif  // NDEBUG

 // ---------------------------CHECK_NOTNULL macros ---------------------------
@ -478,8 +462,7 @@ T &CheckNotNull(const char *file, int line, const char *names, T &t) {
  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
 #else
 // Optimized version - generates no code.
-#define DCHECK_NOTNULL(val) \
-  if (false)                \
+#define DCHECK_NOTNULL(val) if (false)\
  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
 #endif  // NDEBUG

--- a/include/mynteye/mynteye.h.in
+++ b/include/mynteye/mynteye.h.in
@ -21,9 +21,9 @@
 # define MYNTEYE_API
 #else
 # ifdef MYNTEYE_EXPORTS
-#  define MYNTEYE_API DECL_EXPORT
+#  define MYNTEYE_API MYNTEYE_DECL_EXPORT
 # else
-#  define MYNTEYE_API DECL_IMPORT
+#  define MYNTEYE_API MYNTEYE_DECL_IMPORT
 # endif
 #endif

@ -45,7 +45,7 @@ MYNTEYE_API_VERSION_CHECK( \
  ((major<<16)|(minor<<8)|(patch))  // NOLINT

 /* MYNTEYE_API_VERSION in "X.Y.Z" format */
-#define MYNTEYE_API_VERSION_STR (STRINGIFY(MYNTEYE_API_VERSION_MAJOR.MYNTEYE_API_VERSION_MINOR.MYNTEYE_API_VERSION_PATCH))  // NOLINT
+#define MYNTEYE_API_VERSION_STR (MYNTEYE_STRINGIFY(MYNTEYE_API_VERSION_MAJOR.MYNTEYE_API_VERSION_MINOR.MYNTEYE_API_VERSION_PATCH))  // NOLINT

 #cmakedefine MYNTEYE_NAMESPACE @MYNTEYE_NAMESPACE@
 #if defined(MYNTEYE_NAMESPACE)
@ -58,7 +58,14 @@ MYNTEYE_API_VERSION_CHECK( \
 # define MYNTEYE_USE_NAMESPACE
 #endif

-constexpr char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
-constexpr char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
+const char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
+const char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
+
+MYNTEYE_BEGIN_NAMESPACE
+
+template <typename... T>
+void UNUSED(T &&...) {}
+
+MYNTEYE_END_NAMESPACE

 #endif  // MYNTEYE_MYNTEYE_H_
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@ -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.
-#ifndef MYNTEYE_TYPES_H_  // NOLINT
+#ifndef MYNTEYE_TYPES_H_
 #define MYNTEYE_TYPES_H_
 #pragma once

@ -198,6 +198,7 @@ enum class Option : std::uint8_t {
  /** Erase chip */
  ERASE_CHIP,
  /**
+<<<<<<< HEAD
   * min exposure time, valid if auto-exposure
   *
   *   range: [0,1000], default: 0
@ -207,11 +208,17 @@ enum class Option : std::uint8_t {
   * The range of accelerometer
   *
   *   values: {6,12,24,48}, default: 6
+=======
+   * The range of accelerometer
+   *
+   *   values: {4,8,16,32}, default: 8
+>>>>>>> origin/develop
   */
  ACCELEROMETER_RANGE,
  /**
   * The range of gyroscope
   *
+<<<<<<< HEAD
   *   values: {250,500,1000,2000,4000}, default: 1000
   */
  GYROSCOPE_RANGE,
@ -227,6 +234,11 @@ enum class Option : std::uint8_t {
   *   values: {23,64}, default: 64
   */
  GYROSCOPE_LOW_PASS_FILTER,
+=======
+   *   values: {500,1000,2000,4000}, default: 1000
+   */
+  GYROSCOPE_RANGE,
+>>>>>>> origin/develop
  /** Last guard */
  LAST
 };
@ -601,4 +613,4 @@ std::ostream &operator<<(std::ostream &os, const OptionInfo &info);

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_TYPES_H_ NOLINT
+#endif  // MYNTEYE_TYPES_H_
--- a/include/mynteye/util/files.h
+++ b/include/mynteye/util/files.h
@ -11,8 +11,8 @@
 // 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_INTERNAL_FILES_H_  // NOLINT
-#define MYNTEYE_INTERNAL_FILES_H_
+#ifndef MYNTEYE_UTIL_FILES_H_
+#define MYNTEYE_UTIL_FILES_H_
 #pragma once

 #include <string>
@ -29,4 +29,4 @@ MYNTEYE_API bool mkdir(const std::string &path);

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_INTERNAL_FILES_H_ NOLINT
+#endif  // MYNTEYE_UTIL_FILES_H_
--- a/include/mynteye/util/strings.h
+++ b/include/mynteye/util/strings.h
@ -11,8 +11,8 @@
 // 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_INTERNAL_STRINGS_H_  // NOLINT
-#define MYNTEYE_INTERNAL_STRINGS_H_
+#ifndef MYNTEYE_UTIL_STRINGS_H_
+#define MYNTEYE_UTIL_STRINGS_H_
 #pragma once

 #include <stdexcept>
@ -59,4 +59,4 @@ std::string trim_copy(const std::string &text);

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_INTERNAL_STRINGS_H_ NOLINT
+#endif  // MYNTEYE_UTIL_STRINGS_H_
--- a/include/mynteye/util/times.h
+++ b/include/mynteye/util/times.h
@ -11,8 +11,8 @@
 // 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_INTERNAL_TIMES_H_  // NOLINT
-#define MYNTEYE_INTERNAL_TIMES_H_
+#ifndef MYNTEYE_UTIL_TIMES_H_
+#define MYNTEYE_UTIL_TIMES_H_
 #pragma once

 #include <chrono>
@ -186,7 +186,7 @@ inline std::string to_string(
    const system_clock::time_point &t, const std::tm *tm,
    const char *fmt = "%F %T", std::int32_t precision = 6) {
  std::stringstream ss;
-#if defined(OS_ANDROID) || defined(OS_LINUX)
+#if defined(MYNTEYE_OS_ANDROID) || defined(MYNTEYE_OS_LINUX)
  char foo[20];
  strftime(foo, sizeof(foo), fmt, tm);
  ss << foo;
@ -220,4 +220,4 @@ inline std::string to_utc_string(

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_INTERNAL_TIMES_H_ NOLINT
+#endif  // MYNTEYE_UTIL_TIMES_H_
--- a/mynteye-config.cmake.in
+++ b/mynteye-config.cmake.in
@ -16,4 +16,7 @@
 set(mynteye_WITH_API @WITH_API@)
 set(mynteye_WITH_GLOG @WITH_GLOG@)

+set(mynteye_WITH_API @WITH_API@)
+set(mynteye_WITH_GLOG @WITH_GLOG@)
+
 include("${CMAKE_CURRENT_LIST_DIR}/mynteye-targets.cmake")
--- a/platforms/projects/vs2017/README.md
+++ b/platforms/projects/vs2017/README.md
@ -0,0 +1,76 @@
+# How to use MYNT® EYE S SDK with Visual Studio 2017
+
+This tutorial will create a project with Visual Studio 2017 to start using MYNT® EYE S SDK.
+
+## Preparation
+
+Install the win pack of MYNT® EYE S SDK.
+
+## Create Project
+
+Open Visual Studio 2017, then `File > New > Project`,
+
+![](images/1_new_pro.png)
+
+Select "Windows Console Application", set the project's name and location, click "OK",
+
+![](images/2_new_pro.png)
+
+Finally, you will see the new project like this,
+
+![](images/3_new_pro.png)
+
+## Config Properties
+
+Right click the project, and open its "Properties" window,
+
+![](images/4_config.png)
+
+Change "Configuration" to "All Configurations", then add the following paths to "Additional Include Directories",
+
+```bash
+$(MYNTEYES_SDK_ROOT)\include
+$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include
+```
+
+![](images/5_config_include.png)
+
+Add the following paths to "Additional Library Directories",
+
+```bash
+$(MYNTEYES_SDK_ROOT)\lib
+$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib
+```
+
+![](images/6_config_lib_dir.png)
+
+
+Add the following libs to "Additional Dependencies",
+
+```bash
+mynteye.lib
+opencv_world343.lib
+```
+
+![](images/7_config_lib.png)
+
+If you wanna debug, could change "Configuration" to "Debug" and add these debug libs,
+
+```bash
+mynteyed.lib
+opencv_world343d.lib
+```
+
+![](images/8_config_debug_lib.png)
+
+## Start using SDK
+
+Include the headers of SDK and start using its APIs,
+
+![](images/9_run_x64.png)
+
+Select "Release x64" or "Debug x64" to run the project.
+
+<!--
+![](images/10_path.png)
+-->
--- a/platforms/projects/vs2017/images/10_path.png
+++ b/platforms/projects/vs2017/images/10_path.png
--- a/platforms/projects/vs2017/images/1_new_pro.png
+++ b/platforms/projects/vs2017/images/1_new_pro.png
--- a/platforms/projects/vs2017/images/2_new_pro.png
+++ b/platforms/projects/vs2017/images/2_new_pro.png
--- a/platforms/projects/vs2017/images/3_new_pro.png
+++ b/platforms/projects/vs2017/images/3_new_pro.png
--- a/platforms/projects/vs2017/images/4_config.png
+++ b/platforms/projects/vs2017/images/4_config.png
--- a/platforms/projects/vs2017/images/5_config_include.png
+++ b/platforms/projects/vs2017/images/5_config_include.png
--- a/platforms/projects/vs2017/images/6_config_lib_dir.png
+++ b/platforms/projects/vs2017/images/6_config_lib_dir.png
--- a/platforms/projects/vs2017/images/7_config_lib.png
+++ b/platforms/projects/vs2017/images/7_config_lib.png
--- a/platforms/projects/vs2017/images/8_config_debug_lib.png
+++ b/platforms/projects/vs2017/images/8_config_debug_lib.png
--- a/platforms/projects/vs2017/images/9_run_x64.png
+++ b/platforms/projects/vs2017/images/9_run_x64.png
--- a/platforms/projects/vs2017/mynteyes_demo/.gitignore
+++ b/platforms/projects/vs2017/mynteyes_demo/.gitignore
@ -0,0 +1,4 @@
+/.vs/
+/x64/
+/mynteyes_demo/x64/
+/mynteyes_demo/*.user
--- a/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo.sln
+++ b/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo.sln
@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.27703.2018
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "mynteyes_demo", "mynteyes_demo\mynteyes_demo.vcxproj", "{49798F84-3EA3-4CB5-A873-6163DB4B4A43}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Debug|x64.ActiveCfg = Debug|x64
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Debug|x64.Build.0 = Debug|x64
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Debug|x86.ActiveCfg = Debug|Win32
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Debug|x86.Build.0 = Debug|Win32
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Release|x64.ActiveCfg = Release|x64
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Release|x64.Build.0 = Release|x64
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Release|x86.ActiveCfg = Release|Win32
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {F6C50224-4EC6-46EB-AA63-7E32FC6F0648}
+	EndGlobalSection
+EndGlobal
--- a/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.cpp
+++ b/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.cpp
--- a/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj
+++ b/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj
@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <VCProjectVersion>15.0</VCProjectVersion>
+    <ProjectGuid>{49798F84-3EA3-4CB5-A873-6163DB4B4A43}</ProjectGuid>
+    <Keyword>Win32Proj</Keyword>
+    <RootNamespace>mynteyesdemo</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0.17134.0</WindowsTargetPlatformVersion>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="Shared">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include;$(MYNTEYES_SDK_ROOT)\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib;$(MYNTEYES_SDK_ROOT)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>mynteyed.lib;opencv_world343d.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include;$(MYNTEYES_SDK_ROOT)\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib;$(MYNTEYES_SDK_ROOT)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>mynteyed.lib;opencv_world343d.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include;$(MYNTEYES_SDK_ROOT)\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib;$(MYNTEYES_SDK_ROOT)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>mynteye.lib;opencv_world343.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include;$(MYNTEYES_SDK_ROOT)\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib;$(MYNTEYES_SDK_ROOT)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>mynteye.lib;opencv_world343.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClInclude Include="stdafx.h" />
+    <ClInclude Include="targetver.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="mynteyes_demo.cpp" />
+    <ClCompile Include="stdafx.cpp">
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
+    </ClCompile>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>
--- a/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj.filters
+++ b/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj.filters
@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;hm;inl;inc;ipp;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="stdafx.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="targetver.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="stdafx.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="mynteyes_demo.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+</Project>
--- a/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/stdafx.cpp
+++ b/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/stdafx.cpp
--- a/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/stdafx.h
+++ b/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/stdafx.h
--- a/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/targetver.h
+++ b/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/targetver.h
--- a/platforms/win/README.txt
+++ b/platforms/win/README.txt
@ -0,0 +1,176 @@
+# MYNT® EYE S SDK
+
+################################################################################
+Language: 简体中文
+################################################################################
+
+## 如何开始使用 SDK
+
+1) 运行样例程序
+
+安装完 SDK 的 exe 安装包后，桌面会生成 SDK 根目录的快捷方式。
+
+进入 "<SDK_ROOT_DIR>\bin\samples\tutorials" 目录，双击 "get_stereo.exe" 运行，即可看到双目实时画面。
+
+2）生成样例工程
+
+首先，安装好 Visual Studio 2017 <https://visualstudio.microsoft.com/> 和 CMake <https://cmake.org/> 。
+
+接着，进入 "<SDK_ROOT_DIR>\samples" 目录， 双击 "generate.bat" 即可生成样例工程。
+
+p.s. 样例教程，可见 https://slightech.github.io/MYNT-EYE-S-SDK/ 主页给出的 Guide 文档。
+
+p.p.s. 运行结果，参考下方英文内容。
+
+3）如何于 Visual Studio 2017 下使用 SDK
+
+进入 "<SDK_ROOT_DIR>\projects\vs2017" ，见 "README.md" 说明。
+
+################################################################################
+Language: English
+################################################################################
+
+## How to start using SDK
+
+1) Run the prebuilt samples, ensure the SDK works well.
+
+After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop.
+
+First, you should plug the MYNT® EYE camera in a USB 3.0 port.
+
+Second, goto the "<SDK_ROOT_DIR>\bin\samples\tutorials" directory and click "get_stereo.exe" to run.
+
+Finally, you will see the window that display the realtime frame of the camera.
+
+2) Generate samples project of Visual Studio 2017.
+
+First, you should install Visual Studio 2017 <https://visualstudio.microsoft.com/> and CMake <https://cmake.org/>.
+
+Second, goto the "<SDK_ROOT_DIR>\samples" directory and click "generate.bat" to run.
+
+Finally, you could click `_build\mynteye_samples.sln` to open the samples project.
+
+p.s. The tutorials of samples are here: https://slightech.github.io/MYNT-EYE-S-SDK-Guide/src/data/contents.html.
+
+p.p.s. The example result of "generate.bat",
+
+```cmd
+-- The C compiler identification is MSVC 19.14.26429.4
+-- The CXX compiler identification is MSVC 19.14.26429.4
+-- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.14.26428/bin/Hostx86/x64/cl.exe
+-- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.14.26428/bin/Hostx86/x64/cl.exe -- works
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.14.26428/bin/Hostx86/x64/cl.exe
+-- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.14.26428/bin/Hostx86/x64/cl.exe -- 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
+-- OpenCV ARCH: x64
+-- OpenCV RUNTIME: vc15
+-- OpenCV STATIC: OFF
+-- Found OpenCV: C:/Users/John/AppData/Roaming/Slightech/MYNTEYES/SDK/2.2.1/3rdparty/opencv/build (found version "3.4.3")
+-- Found OpenCV 3.4.3 in C:/Users/John/AppData/Roaming/Slightech/MYNTEYES/SDK/2.2.1/3rdparty/opencv/build/x64/vc15/lib
+-- You might need to add C:\Users\John\AppData\Roaming\Slightech\MYNTEYES\SDK\2.2.1\3rdparty\opencv\build\x64\vc15\bin to your PATH to be able to run your applications.
+-- Found OpenCV: 3.4.3
+CMake Warning at C:/Program Files/CMake/share/cmake-3.10/Modules/FindBoost.cmake:567 (message):
+  Imported targets and dependency information not available for Boost version
+  (all versions older than 1.33)
+Call Stack (most recent call first):
+  C:/Program Files/CMake/share/cmake-3.10/Modules/FindBoost.cmake:907 (_Boost_COMPONENT_DEPENDENCIES)
+  C:/Program Files/CMake/share/cmake-3.10/Modules/FindBoost.cmake:1542 (_Boost_MISSING_DEPENDENCIES)
+  C:/Users/John/AppData/Roaming/Slightech/MYNTEYES/SDK/2.2.1/cmake/Option.cmake:47 (find_package)
+  CMakeLists.txt:26 (include)
+
+
+-- Could NOT find Boost
+--
+-- Platform:
+--   HOST_OS: Win
+--   HOST_NAME: Win
+--   HOST_ARCH: x86_64
+--   HOST_COMPILER: MSVC
+--     COMPILER_VERSION: 19.14.26429.4
+--     COMPILER_VERSION_MAJOR: 19
+--     COMPILER_VERSION_MINOR: 14
+--     COMPILER_VERSION_PATCH: 26429
+--     COMPILER_VERSION_TWEAK: 4
+--   CUDA_VERSION: 9.2
+--     CUDA_VERSION_MAJOR: 9
+--     CUDA_VERSION_MINOR: 2
+--     CUDA_VERSION_STRING: 9.2
+--   OpenCV_VERSION: 3.4.3
+--     OpenCV_VERSION_MAJOR: 3
+--     OpenCV_VERSION_MINOR: 4
+--     OpenCV_VERSION_PATCH: 3
+--     OpenCV_VERSION_TWEAK: 0
+--     OpenCV_VERSION_STATUS:
+--     OpenCV_WITH_WORLD: TRUE
+--
+-- Options:
+--   WITH_API: ON
+--     OpenCV: YES
+--     OpenCV_VERSION: 3.4.3
+--     OpenCV_WORLD: YES
+--   WITH_DEVICE_INFO_REQUIRED: ON
+--   WITH_BOOST: ON
+--     Boost: NO
+--   WITH_GLOG: OFF
+--
+-- Features:
+--   Filesystem: native
+--
+-- Visual Studio >= 2010, MSVC >= 10.0
+-- C_FLAGS: /DWIN32 /D_WINDOWS /W3 -Wall -march=native
+-- CXX_FLAGS: /DWIN32 /D_WINDOWS /W3 /GR /EHsc -Wall -march=native
+-- Found mynteye: 2.2.1
+-- Generating camera_a.bat
+-- Generating get_depth_with_region.bat
+-- Generating camera_d.bat
+-- Generating camera_u.bat
+CMake Warning at tutorials/CMakeLists.txt:70 (find_package):
+  By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has
+  asked CMake to find a package configuration file provided by "PCL", but
+  CMake did not find one.
+
+  Could not find a package configuration file provided by "PCL" with any of
+  the following names:
+
+    PCLConfig.cmake
+    pcl-config.cmake
+
+  Add the installation prefix of "PCL" to CMAKE_PREFIX_PATH or set "PCL_DIR"
+  to a directory containing one of the above files.  If "PCL" provides a
+  separate development package or SDK, be sure it has been installed.
+
+
+CMake Warning at tutorials/CMakeLists.txt:86 (message):
+  PCL not found :(
+
+
+-- Generating get_device_info.bat
+-- Generating get_img_params.bat
+-- Generating get_imu_params.bat
+-- Generating get_stereo.bat
+-- Generating get_stereo_rectified.bat
+-- Generating get_disparity.bat
+-- Generating get_depth.bat
+-- Generating get_imu.bat
+-- Generating get_from_callbacks.bat
+-- Generating get_with_plugin.bat
+-- Generating ctrl_framerate.bat
+-- Generating ctrl_auto_exposure.bat
+-- Generating ctrl_manual_exposure.bat
+-- Generating ctrl_infrared.bat
+-- Generating get_all_device_info.bat
+-- Configuring done
+-- Generating done
+-- Build files have been written to: C:/Users/John/AppData/Roaming/Slightech/MYNTEYES/SDK/2.2.1/samples/_build
+Press any key to continue . . .
+```
+
+3) Start using MYNT® EYE S SDK with Visual Studio 2017
+
+Goto the "<SDK_ROOT_DIR>\projects\vs2017", see the "README.md".
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@ -47,7 +47,6 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")

 # packages

-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
@ -80,4 +79,6 @@ add_subdirectory(uvc)

 # tutorials

+if(WITH_API)
  add_subdirectory(tutorials)
+endif()
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@ -13,9 +13,9 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include "mynteye/api.h"
 #include "mynteye/logger.h"
-#include "mynteye/times.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"

 MYNTEYE_USE_NAMESPACE

--- a/samples/api/get_depth_with_region.cc
+++ b/samples/api/get_depth_with_region.cc
@ -14,10 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>

-#include "mynteye/api.h"
-
-#define WIN_FLAGS \
-  cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
+#include "mynteye/api/api.h"

 namespace {

@ -32,7 +29,7 @@ class DepthRegion {
   * 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
   */
  void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
    if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
      return;
    }
@ -157,14 +154,14 @@ int main(int argc, char *argv[]) {

  api->Start(Source::VIDEO_STREAMING);

-  cv::namedWindow("frame", WIN_FLAGS);
-  cv::namedWindow("depth", WIN_FLAGS);
-  cv::namedWindow("region", WIN_FLAGS);
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+  cv::namedWindow("region");

  DepthRegion depth_region(3);
  auto depth_info = [](
      const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
    std::ostringstream os;
    os << "depth pos: [" << point.y << ", " << point.x << "]"
       << "±" << n << ", unit: mm";
@ -187,7 +184,7 @@ int main(int argc, char *argv[]) {
      // Show disparity instead of depth, but show depth values in region.
      auto &&depth_frame = disp_data.frame;

-#ifdef USE_OPENCV3
+#ifdef WITH_OPENCV3
      // ColormapTypes
      //   http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
      cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@ -15,11 +15,17 @@
 #include <opencv2/imgproc/imgproc.hpp>

 #include "mynteye/logger.h"
+<<<<<<< HEAD

 #include "mynteye/device.h"
 #include "mynteye/utils.h"

 #include "mynteye/times.h"
+=======
+#include "mynteye/device/device.h"
+#include "mynteye/device/utils.h"
+#include "mynteye/util/times.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/CMakeLists.txt
+++ b/samples/tutorials/CMakeLists.txt
@ -64,7 +64,7 @@ macro(make_executable2 NAME)
  endif()
 endmacro()

-if(WITH_API)
+# packages

 # If you install PCL to different directory, please set CMAKE_PREFIX_PATH to find it.
 #LIST(APPEND CMAKE_PREFIX_PATH /usr/local/share)
@ -115,6 +115,7 @@ make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
 ## control

 make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV)
+make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
 make_executable2(ctrl_auto_exposure
  SRCS control/auto_exposure.cc util/cv_painter.cc
  WITH_OPENCV
@ -125,8 +126,6 @@ make_executable2(ctrl_manual_exposure
 )
 make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)

-endif()
-
 # intermediate level

 make_executable2(get_all_device_info SRCS intermediate/get_all_device_info.cc WITH_OPENCV)
--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@ -13,8 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 #include "util/cv_painter.h"

--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@ -11,6 +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.
+<<<<<<< HEAD
 #include <opencv2/highgui/highgui.hpp>

 #include <atomic>
@ -18,6 +19,15 @@
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
 #include "mynteye/times.h"
+=======
+#include <atomic>
+
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/control/imu_range.cc
+++ b/samples/tutorials/control/imu_range.cc
@ -0,0 +1,89 @@
+// 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 <atomic>
+
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
+
+  // ACCELEROMETER_RANGE values: 4, 8, 16, 32
+  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
+  // GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
+  api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
+
+  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
+            << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
+  LOG(INFO) << "Set GYROSCOPE_RANGE to "
+            << api->GetOptionValue(Option::GYROSCOPE_RANGE);
+
+  // Count img
+  std::atomic_uint img_count(0);
+  api->SetStreamCallback(
+      Stream::LEFT, [&img_count](const api::StreamData &data) {
+        CHECK_NOTNULL(data.img);
+        ++img_count;
+      });
+
+  // Count imu
+  std::atomic_uint imu_count(0);
+  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
+    CHECK_NOTNULL(data.imu);
+    ++imu_count;
+  });
+
+  api->Start(Source::ALL);
+
+  cv::namedWindow("frame");
+
+  auto &&time_beg = times::now();
+  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;
+    }
+  }
+  auto &&time_end = times::now();
+
+  api->Stop(Source::ALL);
+
+  // Calculate img fps and imu hz
+  float elapsed_ms =
+      times::count<times::microseconds>(time_end - time_beg) * 0.001f;
+  LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
+            << ", end: " << times::to_local_string(time_end)
+            << ", cost: " << elapsed_ms << "ms";
+  LOG(INFO) << "Img count: " << img_count
+            << ", fps: " << (1000.f * img_count / elapsed_ms);
+  LOG(INFO) << "Imu count: " << imu_count
+            << ", hz: " << (1000.f * imu_count / elapsed_ms);
+  return 0;
+}
--- a/samples/tutorials/control/infrared.cc
+++ b/samples/tutorials/control/infrared.cc
@ -13,8 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@ -13,8 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 #include "util/cv_painter.h"

--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.cc
@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/data/get_device_info.cc
+++ b/samples/tutorials/data/get_device_info.cc
@ -11,8 +11,13 @@
 // 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.
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@ -13,9 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD

 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/data/get_from_callbacks.cc
+++ b/samples/tutorials/data/get_from_callbacks.cc
@ -11,15 +11,25 @@
 // 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.
+<<<<<<< HEAD
 #include <opencv2/highgui/highgui.hpp>

+=======
+>>>>>>> origin/develop
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <sstream>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 #include "util/cv_painter.h"

@ -52,7 +62,7 @@ int main(int argc, char *argv[]) {
  api->SetStreamCallback(
      Stream::DEPTH,
      [&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
-        UNUSED(data)
+        MYNTEYE_UNUSED(data)
        ++depth_count;
        {
          std::lock_guard<std::mutex> _(depth_mtx);
--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@ -11,8 +11,13 @@
 // 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.
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

@ -24,8 +29,8 @@ int main(int argc, char *argv[]) {
  LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
  LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
            << "}";
-  LOG(INFO) << "Extrinsics left to right: {"
-            << api->GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+  LOG(INFO) << "Extrinsics right to left: {"
+            << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";

  return 0;
 }
--- a/samples/tutorials/data/get_imu.cc
+++ b/samples/tutorials/data/get_imu.cc
@ -13,8 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 #include "util/cv_painter.h"

--- a/samples/tutorials/data/get_imu_params.cc
+++ b/samples/tutorials/data/get_imu_params.cc
@ -11,8 +11,13 @@
 // 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.
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 #include "util/pc_viewer.h"

--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.cc
@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/data/get_stereo_rectified.cc
+++ b/samples/tutorials/data/get_stereo_rectified.cc
@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop

 MYNTEYE_USE_NAMESPACE

--- a/Show More
+++ b/Show More