change structure of folder samples and move demo_project

samples/CMakeLists.txt

@@ -59,28 +59,194 @@ endif()
 
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
+
+
+
 # targets
 
 set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output")
 
+
+include_directories(
+  ${PRO_DIR}/src
+)
+
+set_outdir(
+  "${OUT_DIR}/lib"
+  "${OUT_DIR}/lib"
+  "${OUT_DIR}/bin"
+)
+
 if(OS_MAC)
 # samples above uvc layer
 
-  add_subdirectory(uvc)
+  make_executable(camera_u
+  SRCS uvc_camera.cc
+  LINK_LIBS mynteye ${OpenCV_LIBS}
+  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+  )
 else()
   # samples above device layer
 
-  add_subdirectory(device)
-
-  # tutorials
-
-  if(WITH_API)
-    add_subdirectory(tutorials)
-  endif()
+  make_executable(camera_use_device
+    SRCS device_camera.cc
+    LINK_LIBS mynteye ${OpenCV_LIBS}
+    DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+  )
 
   # samples above api layer
 
   if(WITH_API)
-    add_subdirectory(api)
+    ## camera_a
+
+    make_executable(camera_use_api
+    SRCS api_camera.cc
+    LINK_LIBS mynteye ${OpenCV_LIBS}
+    DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+    )
+
+    ## get_depth_with_region
+
+    make_executable(get_depth_with_region
+    SRCS api_get_depth_with_region.cc
+    LINK_LIBS mynteye ${OpenCV_LIBS}
+    DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+    )
   endif()
 endif()
+
+
+
+# targets
+
+include_directories(
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+
+# tutorials
+
+if(WITH_API)
+    
+  # make_executable2(NAME
+  #                 [SRCS src1 src2 ...]
+  #                 [WITH_OPENCV]
+  #                 [WITH_PCL])
+  macro(make_executable2 NAME)
+  set(options WITH_OPENCV WITH_PCL)
+  set(oneValueArgs)
+  set(multiValueArgs SRCS)
+  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
+                        "${multiValueArgs}" ${ARGN})
+
+  set(__link_libs mynteye)
+  set(__dll_search_paths ${PRO_DIR}/_install/bin)
+  if(THIS_WITH_OPENCV)
+    list(APPEND __link_libs ${OpenCV_LIBS})
+    list(APPEND __dll_search_paths ${OpenCV_LIB_SEARCH_PATH})
+  endif()
+  if(THIS_WITH_PCL)
+    list(APPEND __link_libs ${PCL_LIBRARIES})
+    #list(APPEND __link_libs pcl::pcl)
+    list(APPEND __dll_search_paths ${PCL_LIB_SEARCH_PATH})
+  endif()
+
+  add_executable(${NAME} ${THIS_SRCS})
+  target_link_libraries(${NAME} ${__link_libs})
+  target_create_scripts(${NAME} DLL_SEARCH_PATHS ${__dll_search_paths})
+
+  if(THIS_WITH_PCL)
+    target_include_directories(${NAME} PRIVATE ${PCL_INCLUDE_DIRS})
+    #target_compile_definitions(${NAME} PRIVATE ${PCL_DEFINITIONS})
+    #target_compile_options(${NAME} PRIVATE ${PCL_COMPILE_OPTIONS})
+  endif()
+  if(OS_WIN)
+    target_compile_definitions(${NAME}
+      PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES
+    )
+  endif()
+  endmacro()
+
+  # packages
+
+  # If you install PCL to different directory, please set CMAKE_PREFIX_PATH to find it.
+  #LIST(APPEND CMAKE_PREFIX_PATH /usr/local/share)
+  find_package(PCL)
+  if(PCL_FOUND)
+    message(STATUS "Found PCL: ${PCL_VERSION}")
+
+    #message(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
+    #message(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
+    #message(STATUS "PCL_LIBRARY_DIRS: ${PCL_LIBRARY_DIRS}")
+    #message(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")
+    #message(STATUS "PCL_COMPILE_OPTIONS: ${PCL_COMPILE_OPTIONS}")
+
+    if(OS_WIN)
+      get_filename_component(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}/../bin" ABSOLUTE)
+    else()
+      set(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}")
+    endif()
+  else()
+    message(WARNING "PCL not found :(")
+  endif()
+
+  # beginner level
+
+  ## data
+
+  make_executable2(get_device_info SRCS data_get_device_info.cc WITH_OPENCV)
+  make_executable2(get_img_params SRCS data_get_img_params.cc WITH_OPENCV)
+  make_executable2(get_imu_params SRCS data_get_imu_params.cc WITH_OPENCV)
+
+  make_executable2(get_stereo SRCS data_get_stereo.cc WITH_OPENCV)
+  make_executable2(get_stereo_rectified SRCS data_get_stereo_rectified.cc WITH_OPENCV)
+  make_executable2(get_disparity SRCS data_get_disparity.cc WITH_OPENCV)
+  make_executable2(get_depth SRCS data_get_depth.cc WITH_OPENCV)
+
+  make_executable2(get_data_without_select SRCS data_get_data_without_select.cc WITH_OPENCV)
+  if(PCL_FOUND)
+    make_executable2(get_points
+      SRCS data_get_points.cc util_pc_viewer.cc
+      WITH_OPENCV WITH_PCL
+    )
+  endif()
+  make_executable2(get_imu_correspondence
+  SRCS data_get_imu_correspondence.cc util_cv_painter.cc
+  WITH_OPENCV
+  )
+  make_executable2(get_imu SRCS data_get_imu.cc util_cv_painter.cc WITH_OPENCV)
+  make_executable2(save_single_image SRCS data_save_single_image.cc WITH_OPENCV)
+  make_executable2(get_from_callbacks
+  SRCS data_get_from_callbacks.cc util_cv_painter.cc
+  WITH_OPENCV
+  )
+  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_low_pass_filter SRCS control_imu_low_pass_filter.cc WITH_OPENCV)
+  make_executable2(ctrl_imu_range SRCS control_imu_range.cc WITH_OPENCV)
+  make_executable2(ctrl_infrared SRCS control_infrared.cc WITH_OPENCV)
+  make_executable2(ctrl_iic_adress SRCS control_iic_address.cc WITH_OPENCV)
+  make_executable2(ctrl_sync_timestamp SRCS control_sync_timestamp.cc WITH_OPENCV)
+  make_executable2(ctrl_auto_exposure
+  SRCS control_auto_exposure.cc util_cv_painter.cc
+  WITH_OPENCV
+  )
+  make_executable2(ctrl_manual_exposure
+  SRCS control_manual_exposure.cc util_cv_painter.cc
+  WITH_OPENCV
+  )
+
+  if(PCL_FOUND)
+
+    make_executable2(get_depth_and_points
+    SRCS intermediate_get_depth_and_points.cc util_cv_painter.cc util_pc_viewer.cc
+    WITH_OPENCV WITH_PCL
+    )
+
+  endif()
+endif()
+
+

samples/api/CMakeLists.txt

@@ -1,37 +0,0 @@
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
-
-set_outdir(
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/bin/${DIR_NAME}"
-)
-
-## camera_a
-
-make_executable(camera_a
-  SRCS camera.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)
-
-## get_depth_with_region
-
-make_executable(get_depth_with_region
-  SRCS get_depth_with_region.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)

samples/control_auto_exposure.cc

@@ -16,7 +16,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/control_manual_exposure.cc

@@ -16,7 +16,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/data_get_from_callbacks.cc

@@ -21,7 +21,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/data_get_imu.cc

@@ -16,7 +16,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/data_get_imu_correspondence.cc

@@ -16,7 +16,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 // #define CHECK_ACCEL_THEN_GYRO
 #define SEQ_FIRST  1  // accel

samples/data_get_points.cc

@@ -16,7 +16,7 @@
 
 #include "mynteye/api/api.h"
 
-#include "util/pc_viewer.h"
+#include "util_pc_viewer.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/demo/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".

samples/demo/project_cmake/CMakeLists.txt

@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 3.0)
+
+project(mynteye_demo VERSION 1.0.0 LANGUAGES C CXX)
+
+# flags
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c++11 -march=native")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -march=native")
+
+# packages
+
+if(MSVC)
+  set(SDK_ROOT "$ENV{MYNTEYES_SDK_ROOT}")
+  if(SDK_ROOT)
+    message(STATUS "MYNTEYES_SDK_ROOT: ${SDK_ROOT}")
+    list(APPEND CMAKE_PREFIX_PATH
+      "${SDK_ROOT}/lib/cmake"
+      "${SDK_ROOT}/3rdparty/opencv/build"
+    )
+  else()
+    message(FATAL_ERROR "MYNTEYES_SDK_ROOT not found, please install SDK firstly")
+  endif()
+endif()
+
+## mynteye
+
+find_package(mynteye REQUIRED)
+message(STATUS "Found mynteye: ${mynteye_VERSION}")
+
+# When SDK build with OpenCV, we can add WITH_OPENCV macro to enable some
+# features depending on OpenCV, such as ToMat().
+if(mynteye_WITH_OPENCV)
+  add_definitions(-DWITH_OPENCV)
+endif()
+
+## OpenCV
+
+# Set where to find OpenCV
+#set(OpenCV_DIR "/usr/share/OpenCV")
+
+# When SDK build with OpenCV, we must find the same version here.
+find_package(OpenCV REQUIRED)
+message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+
+# targets
+
+include_directories(
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+## mynteye_demo
+
+add_executable(mynteye_demo mynteye_demo.cc)
+target_link_libraries(mynteye_demo mynteye ${OpenCV_LIBS})
+
+
+# Build
+#   mkdir _build
+#   cd _build
+#
+#   # win 
+#   cmake -G "Visual Studio 15 2017 Win64" ..
+#   msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
+#
+#   .\Release\mynteye_demo.exe
+#   
+#   # unix
+#   cmake ..
+#   make
+#
+#   ./mynteye_demo

samples/demo/project_cmake/mynteye_demo.cc

@@ -0,0 +1,61 @@
+// 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 <stdio.h>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char const *argv[]) {
+  auto &&api = API::Create(0, nullptr);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+  api->Start(Source::VIDEO_STREAMING);
+
+  double fps;
+  double t = 0.01;
+  std::cout << "fps:" << std::endl;
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}

samples/demo/project_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)
+-->

samples/demo/project_vs2017/mynteyes_demo/.gitignore

@@ -0,0 +1,4 @@
+/.vs/
+/x64/
+/mynteyes_demo/x64/
+/mynteyes_demo/*.user

samples/demo/project_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

samples/demo/project_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>

samples/demo/project_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>

samples/device/CMakeLists.txt

@@ -1,33 +0,0 @@
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
-
-include_directories(
-  ${PRO_DIR}/src
-)
-
-set_outdir(
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/bin/${DIR_NAME}"
-)
-
-## camera_d
-
-make_executable(camera_d
-  SRCS camera.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)

samples/intermediate_get_depth_and_points.cc

@@ -17,8 +17,8 @@
 // #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
-#include "util/pc_viewer.h"
+#include "util_cv_painter.h"
+#include "util_pc_viewer.h"
 
 namespace {
 

samples/mynteye_demo.cc

@@ -0,0 +1,61 @@
+// 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 <stdio.h>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char const *argv[]) {
+  auto &&api = API::Create(0, nullptr);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+  api->Start(Source::VIDEO_STREAMING);
+
+  double fps;
+  double t = 0.01;
+  std::cout << "fps:" << std::endl;
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}

samples/tutorials/CMakeLists.txt

@@ -1,148 +0,0 @@
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
-
-include_directories(
-  ${CMAKE_CURRENT_SOURCE_DIR}
-  ${PRO_DIR}/src
-)
-
-set_outdir(
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/bin/${DIR_NAME}"
-)
-
-# make_executable2(NAME
-#                 [SRCS src1 src2 ...]
-#                 [WITH_OPENCV]
-#                 [WITH_PCL])
-macro(make_executable2 NAME)
-  set(options WITH_OPENCV WITH_PCL)
-  set(oneValueArgs)
-  set(multiValueArgs SRCS)
-  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
-                        "${multiValueArgs}" ${ARGN})
-
-  set(__link_libs mynteye)
-  set(__dll_search_paths ${PRO_DIR}/_install/bin)
-  if(THIS_WITH_OPENCV)
-    list(APPEND __link_libs ${OpenCV_LIBS})
-    list(APPEND __dll_search_paths ${OpenCV_LIB_SEARCH_PATH})
-  endif()
-  if(THIS_WITH_PCL)
-    list(APPEND __link_libs ${PCL_LIBRARIES})
-    #list(APPEND __link_libs pcl::pcl)
-    list(APPEND __dll_search_paths ${PCL_LIB_SEARCH_PATH})
-  endif()
-
-  add_executable(${NAME} ${THIS_SRCS})
-  target_link_libraries(${NAME} ${__link_libs})
-  target_create_scripts(${NAME} DLL_SEARCH_PATHS ${__dll_search_paths})
-
-  if(THIS_WITH_PCL)
-    target_include_directories(${NAME} PRIVATE ${PCL_INCLUDE_DIRS})
-    #target_compile_definitions(${NAME} PRIVATE ${PCL_DEFINITIONS})
-    #target_compile_options(${NAME} PRIVATE ${PCL_COMPILE_OPTIONS})
-  endif()
-  if(OS_WIN)
-    target_compile_definitions(${NAME}
-      PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES
-    )
-  endif()
-endmacro()
-
-# packages
-
-# If you install PCL to different directory, please set CMAKE_PREFIX_PATH to find it.
-#LIST(APPEND CMAKE_PREFIX_PATH /usr/local/share)
-find_package(PCL)
-if(PCL_FOUND)
-  message(STATUS "Found PCL: ${PCL_VERSION}")
-
-  #message(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
-  #message(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
-  #message(STATUS "PCL_LIBRARY_DIRS: ${PCL_LIBRARY_DIRS}")
-  #message(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")
-  #message(STATUS "PCL_COMPILE_OPTIONS: ${PCL_COMPILE_OPTIONS}")
-
-  if(OS_WIN)
-    get_filename_component(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}/../bin" ABSOLUTE)
-  else()
-    set(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}")
-  endif()
-else()
-  message(WARNING "PCL not found :(")
-endif()
-
-# beginner level
-
-## data
-
-make_executable2(get_device_info SRCS data/get_device_info.cc WITH_OPENCV)
-make_executable2(get_img_params SRCS data/get_img_params.cc WITH_OPENCV)
-make_executable2(get_imu_params SRCS data/get_imu_params.cc WITH_OPENCV)
-
-make_executable2(get_stereo SRCS data/get_stereo.cc WITH_OPENCV)
-make_executable2(get_stereo_rectified SRCS data/get_stereo_rectified.cc WITH_OPENCV)
-make_executable2(get_disparity SRCS data/get_disparity.cc WITH_OPENCV)
-make_executable2(get_depth SRCS data/get_depth.cc WITH_OPENCV)
-
-make_executable2(get_data_without_select SRCS data/get_data_without_select.cc WITH_OPENCV)
-if(PCL_FOUND)
-  make_executable2(get_points
-    SRCS data/get_points.cc util/pc_viewer.cc
-    WITH_OPENCV WITH_PCL
-  )
-endif()
-make_executable2(get_imu_correspondence
-  SRCS data/get_imu_correspondence.cc util/cv_painter.cc
-  WITH_OPENCV
-)
-make_executable2(get_imu SRCS data/get_imu.cc util/cv_painter.cc WITH_OPENCV)
-make_executable2(save_single_image SRCS data/save_single_image.cc WITH_OPENCV)
-make_executable2(get_from_callbacks
-  SRCS data/get_from_callbacks.cc util/cv_painter.cc
-  WITH_OPENCV
-)
-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_low_pass_filter SRCS control/imu_low_pass_filter.cc WITH_OPENCV)
-make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
-make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
-make_executable2(ctrl_iic_adress SRCS control/iic_address.cc WITH_OPENCV)
-make_executable2(ctrl_sync_timestamp SRCS control/sync_timestamp.cc WITH_OPENCV)
-make_executable2(ctrl_auto_exposure
-  SRCS control/auto_exposure.cc util/cv_painter.cc
-  WITH_OPENCV
-)
-make_executable2(ctrl_manual_exposure
-  SRCS control/manual_exposure.cc util/cv_painter.cc
-  WITH_OPENCV
-)
-
-if(PCL_FOUND)
-
-make_executable2(get_depth_and_points
-  SRCS intermediate/get_depth_and_points.cc util/cv_painter.cc util/pc_viewer.cc
-  WITH_OPENCV WITH_PCL
-)
-
-endif()
-
-# advanced level

samples/util_cv_painter.cc

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 #include <iomanip>
 #include <iostream>

samples/util_pc_viewer.cc

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "util/pc_viewer.h"
+#include "util_pc_viewer.h"
 
 // #include <pcl/common/common_headers.h>
 

samples/uvc/CMakeLists.txt

@@ -1,33 +0,0 @@
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
-
-set_outdir(
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/bin/${DIR_NAME}"
-)
-
-include_directories(
-  ${PRO_DIR}/src
-)
-
-## camera_u
-
-make_executable(camera_u
-  SRCS camera.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)