Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.3.2 LANGUAGES C CXX)
+project(mynteye VERSION 2.3.3 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -199,9 +199,6 @@ set(MYNTEYE_SRCS
   src/mynteye/device/standard2/channels_adapter_s2.cc
   src/mynteye/device/standard2/device_s2.cc
   src/mynteye/device/standard2/streams_adapter_s2.cc
-  src/mynteye/device/standard2/channels_adapter_s210a.cc
-  src/mynteye/device/standard2/device_s210a.cc
-  src/mynteye/device/standard2/streams_adapter_s210a.cc
   src/mynteye/device/streams.cc
   src/mynteye/device/types.cc
   src/mynteye/device/utils.cc

README.md

@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.3-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
@@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations
 
 * [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/2913110/mynt-eye-s-sdk-apidoc-2.3.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913111/mynt-eye-s-sdk-apidoc-2.3.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2939071/mynt-eye-s-sdk-apidoc-2.3.3-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2939073/mynt-eye-s-sdk-apidoc-2.3.3-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/2913112/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2913113/mynt-eye-s-sdk-apidoc-2.3.2-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-2.3.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.2-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2939074/mynt-eye-s-sdk-apidoc-2.3.3-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2939076/mynt-eye-s-sdk-apidoc-2.3.3-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-2.3.3-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.3-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/2913052/mynt-eye-s-sdk-guide-2.3.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913053/mynt-eye-s-sdk-guide-2.3.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2938988/mynt-eye-s-sdk-guide-2.3.3-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2938990/mynt-eye-s-sdk-guide-2.3.3-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/2913054/mynt-eye-s-sdk-guide-2.3.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2913056/mynt-eye-s-sdk-guide-2.3.2-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-2.3.2-zh-Hans/mynt-eye-s-sdk-guide-2.3.2-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2938991/mynt-eye-s-sdk-guide-2.3.3-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2938992/mynt-eye-s-sdk-guide-2.3.3-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-2.3.3-zh-Hans/mynt-eye-s-sdk-guide-2.3.3-zh-Hans/index.html)
 
 > Supported languages: `en`, `zh-Hans`.
 

doc/en/api.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.3.2
+PROJECT_NUMBER         = 2.3.3
 
 # 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

doc/zh-Hans/api.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.3.2
+PROJECT_NUMBER         = 2.3.3
 
 # 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

include/mynteye/api/api.h

@@ -237,6 +237,11 @@ class MYNTEYE_API API {
   void SetDisparityComputingMethodType(
       const DisparityComputingMethod &MethodType);
 
+  /**
+   * Set if the duplicate frames is enable.
+   */
+  void setDuplicate(bool isEnable);
+
   /**
    * Set the option value.
    */
@@ -290,7 +295,7 @@ class MYNTEYE_API API {
   /**
    * Enable the data of stream.
    * callback function will call before the father processor enable.
-   * when try_tag is true, the function will do nothing except callback. 
+   * when try_tag is true, the function will do nothing except callback.
    */
   void EnableStreamData(
       const Stream &stream,
@@ -304,7 +309,7 @@ class MYNTEYE_API API {
   /**
    * Disable the data of stream.
    * callback function will call before the children processor disable.
-   * when try_tag is true, the function will do nothing except callback. 
+   * when try_tag is true, the function will do nothing except callback.
    */
   void DisableStreamData(
       const Stream &stream,
@@ -334,7 +339,8 @@ class MYNTEYE_API API {
   /**
    * Enable motion datas with timestamp correspondence of some stream.
    */
-  void EnableTimestampCorrespondence(const Stream &stream);
+  void EnableTimestampCorrespondence(const Stream &stream,
+        bool keep_accel_then_gyro = true);
 
   /**
    * Enable the plugin.

include/mynteye/logger.h

@@ -77,6 +77,7 @@ struct glog_init {
 #include "mynteye/mynteye.h"
 
 #define MYNTEYE_MAX_LOG_LEVEL google::INFO
+// #define MYNTEYE_MAX_LOG_LEVEL 2
 
 #include "mynteye/miniglog.h"
 

include/mynteye/miniglog.h

@@ -157,9 +157,6 @@ class MYNTEYE_API LogSink {
 // Global set of log sinks. The actual object is defined in logging.cc.
 MYNTEYE_API extern std::set<LogSink *> log_sinks_global;
 
-// Added by chachi - a runtime global maximum log level. Defined in logging.cc
-MYNTEYE_API extern int log_severity_global;
-
 inline void InitGoogleLogging(char */*argv*/) {
   // Do nothing; this is ignored.
 }
@@ -315,9 +312,8 @@ 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)) ? \
+  !(condition) ? (void) 0 : LoggerVoidify() & \
-  (void) 0 : LoggerVoidify() &                                          \
+    MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
-  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))

include/mynteye/mynteye.h.in

@@ -27,9 +27,9 @@
 # endif
 #endif
 
-#define MYNTEYE_API_VERSION_MAJOR @PROJECT_VERSION_MAJOR@
+#define MYNTEYE_API_VERSION_MAJOR @mynteye_VERSION_MAJOR@
-#define MYNTEYE_API_VERSION_MINOR @PROJECT_VERSION_MINOR@
+#define MYNTEYE_API_VERSION_MINOR @mynteye_VERSION_MINOR@
-#define MYNTEYE_API_VERSION_PATCH @PROJECT_VERSION_PATCH@
+#define MYNTEYE_API_VERSION_PATCH @mynteye_VERSION_PATCH@
 
 /* MYNTEYE_API_VERSION is (major << 16) + (minor << 8) + patch */
 #define MYNTEYE_API_VERSION \

samples/tutorials/data/get_depth.cc

@@ -11,7 +11,9 @@
 // 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 <string>
 #include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/api/api.h"
 
@@ -26,22 +28,24 @@ int main(int argc, char *argv[]) {
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
   api->EnableStreamData(Stream::DEPTH);
 
   api->Start(Source::VIDEO_STREAMING);
 
   cv::namedWindow("frame");
   cv::namedWindow("depth");
-
   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()) {
-    cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::Mat img;
-    cv::imshow("frame", img);
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
+    }
 
     auto &&depth_data = api->GetStreamData(Stream::DEPTH);
     if (!depth_data.frame.empty()) {

samples/tutorials/data/get_disparity.cc

@@ -34,8 +34,8 @@ int main(int argc, char *argv[]) {
   api->Start(Source::VIDEO_STREAMING);
 
   cv::namedWindow("frame");
-  // cv::namedWindow("disparity");
+  cv::namedWindow("disparity");
-  cv::namedWindow("disparity_normalized");
+  // cv::namedWindow("disparity_normalized");
 
   while (true) {
     api->WaitForStreams();
@@ -43,20 +43,22 @@ int main(int argc, char *argv[]) {
     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()) {
-    cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::Mat img;
-    cv::imshow("frame", img);
+      cv::hconcat(left_data.frame, right_data.frame, img);
-
+      cv::imshow("frame", img);
-    // auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
-    // if (!disp_data.frame.empty()) {
-    //   cv::imshow("disparity", disp_data.frame);
-    // }
-
-    auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
-    if (!disp_norm_data.frame.empty()) {
-      cv::imshow("disparity_normalized", disp_norm_data.frame);  // CV_8UC1
     }
 
+    auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
+    if (!disp_data.frame.empty()) {
+      cv::imshow("disparity", disp_data.frame);
+    }
+
+    // auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
+    // if (!disp_norm_data.frame.empty()) {
+    //   cv::imshow("disparity_normalized", disp_norm_data.frame);  // CV_8UC1
+    // }
+
     char key = static_cast<char>(cv::waitKey(1));
     if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
       break;

samples/tutorials/data/get_imu.cc

@@ -44,30 +44,32 @@ int main(int argc, char *argv[]) {
     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()) {
-    cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::Mat img;
+      cv::hconcat(left_data.frame, right_data.frame, img);
 
-    auto &&motion_datas = api->GetMotionDatas();
+      auto &&motion_datas = api->GetMotionDatas();
-    /*
+      /*
-    for (auto &&data : motion_datas) {
+      for (auto &&data : motion_datas) {
-      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
+        LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
-                << ", timestamp: " << data.imu->timestamp
+                  << ", timestamp: " << data.imu->timestamp
-                << ", accel_x: " << data.imu->accel[0]
+                  << ", accel_x: " << data.imu->accel[0]
-                << ", accel_y: " << data.imu->accel[1]
+                  << ", accel_y: " << data.imu->accel[1]
-                << ", accel_z: " << data.imu->accel[2]
+                  << ", accel_z: " << data.imu->accel[2]
-                << ", gyro_x: " << data.imu->gyro[0]
+                  << ", gyro_x: " << data.imu->gyro[0]
-                << ", gyro_y: " << data.imu->gyro[1]
+                  << ", gyro_y: " << data.imu->gyro[1]
-                << ", gyro_z: " << data.imu->gyro[2]
+                  << ", gyro_z: " << data.imu->gyro[2]
-                << ", temperature: " << data.imu->temperature;
+                  << ", temperature: " << data.imu->temperature;
+      }
+      */
+
+      painter.DrawImgData(img, *left_data.img);
+      if (!motion_datas.empty()) {
+        painter.DrawImuData(img, *motion_datas[0].imu);
+      }
+
+      cv::imshow("frame", img);
     }
-    */
-
-    painter.DrawImgData(img, *left_data.img);
-    if (!motion_datas.empty()) {
-      painter.DrawImuData(img, *motion_datas[0].imu);
-    }
-
-    cv::imshow("frame", img);
 
     char key = static_cast<char>(cv::waitKey(1));
     if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q

samples/tutorials/data/get_imu_correspondence.cc

@@ -18,6 +18,10 @@
 
 #include "util/cv_painter.h"
 
+// #define CHECK_ACCEL_THEN_GYRO
+#define SEQ_FIRST  1  // accel
+#define SEQ_SECOND 2  // gyro
+
 MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
@@ -40,39 +44,88 @@ int main(int argc, char *argv[]) {
 
   std::uint64_t prev_img_stamp = 0;
   std::uint64_t prev_imu_stamp = 0;
+#ifdef CHECK_ACCEL_THEN_GYRO
+  std::uint8_t prev_imu_flag = 0;
+  std::uint64_t imu_count = 0;
+  std::uint64_t imu_disorder_count = 0;
+  bool exit = false;
+#endif
   while (true) {
     api->WaitForStreams();
 
     auto &&left_data = api->GetStreamData(Stream::LEFT);
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
+    if (!left_data.frame.empty() || !right_data.frame.empty()) {
+      auto img_stamp = left_data.img->timestamp;
+      LOG(INFO) << "Img timestamp: " << img_stamp
+          << ", diff_prev=" << (img_stamp - prev_img_stamp);
+      prev_img_stamp = img_stamp;
 
-    auto img_stamp = left_data.img->timestamp;
+      cv::Mat img;
-    LOG(INFO) << "Img timestamp: " << img_stamp
+      cv::hconcat(left_data.frame, right_data.frame, img);
-        << ", diff_prev=" << (img_stamp - prev_img_stamp);
-    prev_img_stamp = img_stamp;
 
-    cv::Mat img;
+      auto &&motion_datas = api->GetMotionDatas();
-    cv::hconcat(left_data.frame, right_data.frame, img);
+      LOG(INFO) << "Imu count: " << motion_datas.size();
+      if (motion_datas.size() == 0) {
+        continue;
+      }
+      for (size_t i = 0, n = motion_datas.size() - 1; i <= n; ++i) {
+        auto data = motion_datas[i];
+        auto imu_flag = data.imu->flag;
+        auto imu_stamp = data.imu->timestamp;
 
-    auto &&motion_datas = api->GetMotionDatas();
+        std::stringstream ss;
-    LOG(INFO) << "Imu count: " << motion_datas.size();
+        if (imu_flag == 0) {  // accel + gyro
-    for (auto &&data : motion_datas) {
+          ss << "Imu";
-      auto imu_stamp = data.imu->timestamp;
+        } else if (imu_flag == 1) {  // accel
-      LOG(INFO) << "Imu timestamp: " << imu_stamp
+          ss << "Accel";
-          << ", diff_prev=" << (imu_stamp - prev_imu_stamp)
+        } else if (imu_flag == 2) {  // gyro
-          << ", diff_img=" << (1.f + imu_stamp - img_stamp);
+          ss << "Gyro";
-      prev_imu_stamp = imu_stamp;
+        }
+        ss << " timestamp: " << imu_stamp
+            << ", diff_prev=" << (imu_stamp - prev_imu_stamp)
+            << ", diff_img=" << (1.0f + imu_stamp - img_stamp);
+  #ifdef CHECK_ACCEL_THEN_GYRO
+        if (imu_flag > 0) {
+          bool ok = false;
+          if (i == 0) {  // first
+            ok = (imu_flag == SEQ_FIRST);
+          } else if (i == n) {  // last
+            ok = (imu_flag == SEQ_SECOND);
+          } else {
+            if (imu_flag == SEQ_FIRST) {
+              ok = (prev_imu_flag == SEQ_SECOND);
+            } else if (imu_flag == SEQ_SECOND) {
+              ok = (prev_imu_flag == SEQ_FIRST);
+            }
+          }
+          ss << (ok ? " ✓" : " x");
+          if (!ok) ++imu_disorder_count;
+          prev_imu_flag = imu_flag;
+          if (!exit) {
+            if (!ok) exit = true;
+          }
+        }
+  #endif
+        LOG(INFO) << ss.str();
+
+        prev_imu_stamp = imu_stamp;
+      }
+      LOG(INFO);
+  #ifdef CHECK_ACCEL_THEN_GYRO
+      imu_count += motion_datas.size();
+      if (exit) break;
+  #endif
+
+      /*
+      painter.DrawImgData(img, *left_data.img);
+      if (!motion_datas.empty()) {
+        painter.DrawImuData(img, *motion_datas[0].imu);
+      }
+      */
+
+      cv::imshow("frame", img);
     }
-    LOG(INFO);
-
-    /*
-    painter.DrawImgData(img, *left_data.img);
-    if (!motion_datas.empty()) {
-      painter.DrawImuData(img, *motion_datas[0].imu);
-    }
-    */
-
-    cv::imshow("frame", img);
 
     char key = static_cast<char>(cv::waitKey(1));
     if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
@@ -81,5 +134,14 @@ int main(int argc, char *argv[]) {
   }
 
   api->Stop(Source::ALL);
+
+#ifdef CHECK_ACCEL_THEN_GYRO
+  if (imu_disorder_count > 0) {
+    LOG(INFO) << "accel_then_gyro, disorder_count: " << imu_disorder_count
+        << "/" << imu_count;
+  } else {
+    LOG(INFO) << "accel_then_gyro, ok";
+  }
+#endif
   return 0;
 }

samples/tutorials/data/get_points.cc

@@ -27,6 +27,7 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->EnableStreamData(Stream::POINTS);
 
@@ -40,10 +41,11 @@ int main(int argc, char *argv[]) {
 
     auto &&left_data = api->GetStreamData(Stream::LEFT);
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
-
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
-    cv::Mat img;
+      cv::Mat img;
-    cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::hconcat(left_data.frame, right_data.frame, img);
-    cv::imshow("frame", img);
+      cv::imshow("frame", img);
+    }
 
     auto &&points_data = api->GetStreamData(Stream::POINTS);
     if (!points_data.frame.empty()) {

samples/tutorials/data/get_stereo.cc

@@ -25,7 +25,7 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
-
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
   api->Start(Source::VIDEO_STREAMING);
 
   cv::namedWindow("frame");
@@ -37,8 +37,10 @@ int main(int argc, char *argv[]) {
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
 
     cv::Mat img;
-    cv::hconcat(left_data.frame, right_data.frame, img);
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
-    cv::imshow("frame", 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

samples/tutorials/data/get_stereo_rectified.cc

@@ -25,6 +25,7 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->EnableStreamData(Stream::LEFT_RECTIFIED);
   api->EnableStreamData(Stream::RIGHT_RECTIFIED);

samples/tutorials/data/get_with_plugin.cc

@@ -26,6 +26,8 @@ int main(int argc, char *argv[]) {
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
+  api->setDuplicate(true);
+
   api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so");
 
   api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
@@ -41,13 +43,15 @@ int main(int argc, char *argv[]) {
     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()) {
-    cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::Mat img;
-    cv::imshow("frame", img);
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
 
-    auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
+      auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
-    if (!disp_data.frame.empty()) {
+      if (!disp_data.frame.empty()) {
-      cv::imshow("disparity", disp_data.frame);
+        cv::imshow("disparity", disp_data.frame);
+      }
     }
 
     char key = static_cast<char>(cv::waitKey(1));

samples/tutorials/intermediate/get_depth_and_points.cc

@@ -154,6 +154,7 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->SetOptionValue(Option::IR_CONTROL, 80);
 

src/mynteye/api/api.cc

@@ -518,9 +518,11 @@ std::vector<api::MotionData> API::GetMotionDatas() {
   }
 }
 
-void API::EnableTimestampCorrespondence(const Stream &stream) {
+void API::EnableTimestampCorrespondence(const Stream &stream,
+    bool keep_accel_then_gyro) {
   if (correspondence_ == nullptr) {
     correspondence_.reset(new Correspondence(device_, stream));
+    correspondence_->KeepAccelThenGyro(keep_accel_then_gyro);
     {
       device_->DisableMotionDatas();
       if (callback_) {
@@ -558,6 +560,10 @@ void API::EnablePlugin(const std::string &path) {
   synthetic_->SetPlugin(plugin);
 }
 
+void API::setDuplicate(bool isEnable) {
+  synthetic_->setDuplicate(isEnable);
+}
+
 void API::SetDisparityComputingMethodType(
       const DisparityComputingMethod &MethodType) {
   synthetic_->SetDisparityComputingMethodType(MethodType);

src/mynteye/api/correspondence.cc

@@ -16,11 +16,15 @@
 #include "mynteye/device/device.h"
 #include "mynteye/logger.h"
 
+#define MYNTEYE_IMU_SEQ_FIRST  1  // accel
+#define MYNTEYE_IMU_SEQ_SECOND 2  // gyro
+
 MYNTEYE_BEGIN_NAMESPACE
 
 Correspondence::Correspondence(const std::shared_ptr<Device> &device,
     const Stream &stream)
-  : device_(device), stream_(stream), ready_image_timestamp_(0) {
+  : device_(device), stream_(stream), ready_image_timestamp_(0),
+    keep_accel_then_gyro_(false) {
   VLOG(2) << __func__;
   // set matched stream to be watched too,
   // aim to make stream and matched stream correspondence
@@ -54,6 +58,10 @@ bool Correspondence::Watch(const Stream &stream) const {
   return false;
 }
 
+void Correspondence::KeepAccelThenGyro(bool enabled) {
+  keep_accel_then_gyro_ = enabled;
+}
+
 void Correspondence::OnStreamDataCallback(
     const Stream &stream, const api::StreamData &data) {
   if (!Watch(stream)) {
@@ -143,7 +151,27 @@ std::vector<api::StreamData> Correspondence::GetStreamDatas(
 }
 
 std::vector<api::MotionData> Correspondence::GetMotionDatas() {
-  return GetReadyMotionDatas();
+  auto &&datas = GetReadyMotionDatas();
+  /*
+  for (auto data : datas) {
+    auto imu_flag = data.imu->flag;
+    auto imu_stamp = data.imu->timestamp;
+    std::stringstream ss;
+    if (imu_flag == 0) {  // accel + gyro
+      ss << "Imu";
+    } else if (imu_flag == 1) {  // accel
+      ss << "Accel";
+    } else if (imu_flag == 2) {  // gyro
+      ss << "Gyro";
+    }
+    ss << " timestamp: " << imu_stamp;
+    LOG(INFO) << ss.str();
+  }
+  */
+  if (keep_accel_then_gyro_ && device_->GetModel() != Model::STANDARD) {
+    KeepAccelThenGyro(datas);  // only s2 need do this
+  }
+  return datas;
 }
 
 void Correspondence::EnableStreamMatch() {
@@ -274,4 +302,66 @@ std::vector<api::MotionData> Correspondence::GetReadyMotionDatas() {
   return result;
 }
 
+void Correspondence::KeepAccelThenGyro(std::vector<api::MotionData> &datas) {
+  if (datas.size() == 0) return;
+
+  static std::shared_ptr<ImuData> last_imu = nullptr;
+
+  // process last imu
+  if (datas[0].imu->flag == MYNTEYE_IMU_SEQ_SECOND) {
+    if (last_imu && last_imu->flag == MYNTEYE_IMU_SEQ_FIRST) {
+      datas.insert(datas.begin(), {last_imu});
+    }
+  }
+  last_imu = nullptr;
+
+  // if only one
+  if (datas.size() == 1) {
+    last_imu = datas[0].imu;
+    datas.clear();
+    return;
+  }
+
+  std::uint8_t prev_flag = 0;
+  for (auto it = datas.begin(); it != datas.end(); ) {
+    auto flag = it->imu->flag;
+    if (flag == 0) {
+      ++it;  // unexpected, keep it
+      continue;
+    }
+
+    bool is_first = (it == datas.begin());
+    bool is_last = (it == datas.end() - 1);
+    bool ok = false;
+    if (is_first) {
+      ok = (flag == MYNTEYE_IMU_SEQ_FIRST);
+    } else {
+      if (flag == MYNTEYE_IMU_SEQ_FIRST) {
+        ok = (prev_flag == MYNTEYE_IMU_SEQ_SECOND);
+      } else if (flag == MYNTEYE_IMU_SEQ_SECOND) {
+        ok = (prev_flag == MYNTEYE_IMU_SEQ_FIRST);
+      }
+    }
+
+    if (ok) {
+      prev_flag = flag;
+      ++it;
+    } else {
+      if (is_last) {
+        // if tail not ok, retain last imu
+        last_imu = it->imu;
+      }
+      it = datas.erase(it);
+    }
+  }
+
+  // if tail is not second
+  if (datas.size() > 0) {
+    auto it = datas.end() - 1;
+    if (it->imu->flag != MYNTEYE_IMU_SEQ_SECOND) {
+      datas.erase(it);
+    }
+  }
+}
+
 MYNTEYE_END_NAMESPACE

src/mynteye/api/correspondence.h

@@ -32,6 +32,7 @@ class Correspondence {
   ~Correspondence();
 
   bool Watch(const Stream &stream) const;
+  void KeepAccelThenGyro(bool enabled);
 
   void OnStreamDataCallback(const Stream &stream, const api::StreamData &data);
   void OnMotionDataCallback(const device::MotionData &data);
@@ -55,6 +56,8 @@ class Correspondence {
   std::vector<api::StreamData> GetReadyStreamData(bool matched);
   std::vector<api::MotionData> GetReadyMotionDatas();
 
+  void KeepAccelThenGyro(std::vector<api::MotionData> &datas);  // NOLINT
+
   std::shared_ptr<Device> device_;
   Stream stream_;
   Stream stream_match_;
@@ -73,6 +76,8 @@ class Correspondence {
   std::condition_variable_any cond_stream_datas_;
 
   std::uint64_t ready_image_timestamp_;
+
+  bool keep_accel_then_gyro_;
 };
 
 MYNTEYE_END_NAMESPACE

src/mynteye/api/processor.cc

@@ -24,7 +24,10 @@
 MYNTEYE_BEGIN_NAMESPACE
 
 Processor::Processor(std::int32_t proc_period)
-    : proc_period_(std::move(proc_period)),
+    : last_frame_id_cd(0),
+      last_frame_id_cd_vice(0),
+      is_enable_cd(false),
+      proc_period_(std::move(proc_period)),
       activated_(false),
       input_ready_(false),
       idle_(true),
@@ -42,9 +45,9 @@ Processor::Processor(std::int32_t proc_period)
 Processor::~Processor() {
   VLOG(2) << __func__;
   Deactivate();
-  input_.reset(nullptr);
+  input_ = nullptr;
-  output_.reset(nullptr);
+  output_ = nullptr;
-  output_result_.reset(nullptr);
+  output_result_ = nullptr;
   childs_.clear();
 }
 
@@ -122,7 +125,7 @@ bool Processor::IsIdle() {
   return idle_;
 }
 
-bool Processor::Process(const Object &in) {
+bool Processor::Process(std::shared_ptr<Object> in) {
   if (!activated_)
     return false;
   if (!idle_) {
@@ -132,13 +135,17 @@ bool Processor::Process(const Object &in) {
       return false;
     }
   }
-  if (!in.DecValidity()) {
+  if (in && !in->DecValidity()) {
     LOG(WARNING) << Name() << " process with invalid input";
     return false;
   }
   {
     std::lock_guard<std::mutex> lk(mtx_input_ready_);
-    input_.reset(in.Clone());
+    if (ProcessInputConnection() == WITH_CLONE) {
+      input_.reset(in->Clone());
+    } else {
+      input_ = in;
+    }
     input_ready_ = true;
   }
   cond_input_ready_.notify_all();
@@ -229,12 +236,16 @@ void Processor::Run() {
     }
     {
       std::unique_lock<std::mutex> lk(mtx_result_);
-      output_result_.reset(output_->Clone());
+      if (ProcessOutputConnection() == WITH_CLONE) {
+        output_result_.reset(output_->Clone());
+      } else {
+        output_result_ = output_;
+      }
     }
 
     if (!childs_.empty()) {
       for (auto child : childs_) {
-        child->Process(*output_);
+        child->Process(output_);
       }
     }
 
@@ -246,6 +257,14 @@ void Processor::Run() {
   VLOG(2) << Name() << " thread end";
 }
 
+Processor::process_type Processor::ProcessOutputConnection() {
+  return WITH_CLONE;
+}
+
+Processor::process_type Processor::ProcessInputConnection() {
+  return WITH_CLONE;
+}
+
 api::StreamData Processor::GetStreamData(const Stream &stream) {
   auto sum = getStreamsSum();
   auto &&out = GetOutput();
@@ -260,11 +279,19 @@ api::StreamData Processor::GetStreamData(const Stream &stream) {
   if (enable_mode == Synthetic::MODE_ON) {
     if (sum == 1) {
       if (out != nullptr) {
-        auto &&output = Object::Cast<ObjMat>(out);
+        auto output = Object::Cast<ObjMat>(out);
         if (output != nullptr) {
+          if (!is_enable_cd) {
+            if (output->data &&
+                last_frame_id_cd == output->data->frame_id) {
+              // cut the duplicate frame.
+              return {};
+            }
+            last_frame_id_cd = output->data->frame_id;
+          }
           return obj_data(output);
         }
-        VLOG(2) << "Rectify not ready now";
+        VLOG(2) << "Frame not ready now";
       }
     } else if (sum == 2) {
       static std::shared_ptr<ObjMat2> output = nullptr;
@@ -277,15 +304,31 @@ api::StreamData Processor::GetStreamData(const Stream &stream) {
         for (auto it : streams) {
           if (it.stream == stream) {
             if (num == 1) {
+              if (!is_enable_cd) {
+                if (output->first_data &&
+                  last_frame_id_cd == output->first_data->frame_id) {
+                  // cut the duplicate frame.
+                  return {};
+                }
+                last_frame_id_cd = output->first_data->frame_id;
+              }
               return obj_data_first(output);
             } else {
+              // last_frame_id_cd = output->second_data->frame_id;
+              if (!is_enable_cd) {
+                if (output->second_data &&
+                    last_frame_id_cd_vice == output->second_data->frame_id) {
+                  return {};
+                }
+                last_frame_id_cd_vice = output->second_data->frame_id;
+              }
               return obj_data_second(output);
             }
           }
           num++;
         }
       }
-      VLOG(2) << "Rectify not ready now";
+      VLOG(2) << "Frame not ready now";
     } else {
       LOG(ERROR) << "error: invalid sum!";
     }

src/mynteye/api/processor.h

@@ -64,7 +64,7 @@ class Processor :
   bool IsIdle();
 
   /** Returns dropped or not. */
-  bool Process(const Object &in);
+  bool Process(std::shared_ptr<Object> in);
 
   virtual api::StreamData GetStreamData(const Stream &stream);
 
@@ -77,13 +77,25 @@ class Processor :
   std::shared_ptr<Object> GetOutput();
 
   std::uint64_t GetDroppedCount();
+  inline void setDupEnable(bool isEnable) {
+    is_enable_cd = isEnable;
+  }
 
  protected:
   virtual Object *OnCreateOutput() = 0;
   virtual bool OnProcess(
       Object *const in, Object *const out,
       std::shared_ptr<Processor> const parent) = 0;
+  enum process_type{
+    WITH_CLONE,
+    WITHOUT_CLONE
+  };
 
+  virtual process_type ProcessOutputConnection();
+  virtual process_type ProcessInputConnection();
+  std::uint16_t last_frame_id_cd;
+  std::uint16_t last_frame_id_cd_vice;
+  bool is_enable_cd;
  private:
   /** Run in standalone thread. */
   void Run();
@@ -102,10 +114,10 @@ class Processor :
   std::uint64_t dropped_count_;
   std::mutex mtx_state_;
 
-  std::unique_ptr<Object> input_;
+  std::shared_ptr<Object> input_;
-  std::unique_ptr<Object> output_;
+  std::shared_ptr<Object> output_;
 
-  std::unique_ptr<Object> output_result_;
+  std::shared_ptr<Object> output_result_;
   std::mutex mtx_result_;
 
   PreProcessCallback pre_callback_;

src/mynteye/api/processor/depth_processor.h

@@ -34,6 +34,9 @@ class DepthProcessor : public Processor {
   std::string Name() override;
 
  protected:
+  // inline Processor::process_type ProcessInputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/disparity_normalized_processor.h

@@ -31,6 +31,12 @@ class DisparityNormalizedProcessor : public Processor {
   std::string Name() override;
 
  protected:
+  // inline Processor::process_type ProcessOutputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
+  // inline Processor::process_type ProcessInputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/disparity_processor.h

@@ -41,6 +41,9 @@ class DisparityProcessor : public Processor {
   void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType);
 
  protected:
+  // inline Processor::process_type ProcessOutputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/points_processor.h

@@ -36,6 +36,9 @@ class PointsProcessor : public Processor {
   std::string Name() override;
 
  protected:
+  // inline Processor::process_type ProcessOutputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/points_processor_ocv.h

@@ -37,6 +37,12 @@ class PointsProcessorOCV : public Processor {
   bool OnProcess(
       Object *const in, Object *const out,
       std::shared_ptr<Processor> const parent) override;
+  // inline Processor::process_type ProcessOutputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
+  // inline Processor::process_type ProcessInputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
 
  private:
   cv::Mat Q_;

src/mynteye/api/processor/rectify_processor.h

@@ -79,6 +79,12 @@ class RectifyProcessor : public Processor {
   bool OnProcess(
       Object *const in, Object *const out,
       std::shared_ptr<Processor> const parent) override;
+//   inline Processor::process_type ProcessOutputConnection() override {
+//     return Processor::WITHOUT_CLONE;
+//   }
+//   inline Processor::process_type ProcessInputConnection() override {
+//     return Processor::WITHOUT_CLONE;
+//   }
 
  private:
   void InitParams(IntrinsicsEquidistant in_left,

src/mynteye/api/processor/rectify_processor_ocv.h

@@ -49,6 +49,13 @@ class RectifyProcessorOCV : public Processor {
   cv::Mat map11, map12, map21, map22;
 
  protected:
+  // inline Processor::process_type ProcessOutputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
+  // inline Processor::process_type ProcessInputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
+
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/root_camera_processor.cc

@@ -73,7 +73,7 @@ void s1s2Processor::ProcessNativeStream(
   }
   if (left_data.img && right_data.img &&
       left_data.img->frame_id == right_data.img->frame_id) {
-    Process(data_obj(left_data, right_data));
+    Process(std::make_shared<ObjMat2>(data_obj(left_data, right_data)));
   }
   return;
 }
@@ -90,10 +90,6 @@ void s1s2Processor::StartVideoStreaming() {
       [this, stream, callback](const device::StreamData &data) {
         auto &&stream_data = data2api(data);
         ProcessNativeStream(stream, stream_data);
-        // Need mutex if set callback after start
-        if (callback) {
-          callback(stream_data);
-        }
       },
       true);
   }
@@ -120,7 +116,15 @@ api::StreamData s1s2Processor::GetStreamData(const Stream &stream) {
     }
   }
   if (enable_mode == Synthetic::MODE_ON) {
-    return data2api(device_->GetStreamData(stream));
+    auto res = data2api(device_->GetStreamData(stream));
+    if (res.img == nullptr ||
+        res.img->timestamp == last_frame_id_cd ||
+        res.frame.empty()) {
+      return {};
+    }
+    last_frame_id_cd = res.img->timestamp;
+    return res;
+    // return data2api(device_->GetStreamData(stream));
   }
   LOG(ERROR) << "Failed to get device stream data of " << stream
                << ", unsupported or disabled";

src/mynteye/api/processor/root_camera_processor.h

@@ -56,6 +56,12 @@ class s1s2Processor : public RootProcessor {
   api::StreamData GetStreamData(const Stream &stream) override;
   std::vector<api::StreamData> GetStreamDatas(const Stream &stream) override; // NOLINT
  protected:
+  // inline Processor::process_type ProcessOutputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
+  // inline Processor::process_type ProcessInputConnection() override {
+  //   return Processor::WITHOUT_CLONE;
+  // }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/synthetic.cc

@@ -86,6 +86,7 @@ Synthetic::Synthetic(API *api, CalibrationModel calib_model)
 
 Synthetic::~Synthetic() {
   VLOG(2) << __func__;
+  processors_.clear();
   if (processor_) {
     processor_->Deactivate(true);
     processor_ = nullptr;
@@ -173,6 +174,12 @@ bool Synthetic::Supports(const Stream &stream) const {
   return checkControlDateWithStream(stream);
 }
 
+void Synthetic::setDuplicate(bool isEnable) {
+  for (auto it : processors_) {
+    it->setDupEnable(isEnable);
+  }
+}
+
 void Synthetic::EnableStreamData(
     const Stream &stream, stream_switch_callback_t callback,
     bool try_tag) {
@@ -364,6 +371,10 @@ void Synthetic::InitProcessors() {
     return;
   }
 
+  root_processor->addTargetStreams(
+      {Stream::LEFT, Mode::MODE_OFF, nullptr});
+  root_processor->addTargetStreams(
+      {Stream::RIGHT, Mode::MODE_OFF, nullptr});
   rectify_processor->addTargetStreams(
       {Stream::LEFT_RECTIFIED, Mode::MODE_OFF, nullptr});
   rectify_processor->addTargetStreams(
@@ -376,10 +387,6 @@ void Synthetic::InitProcessors() {
       {Stream::POINTS, Mode::MODE_OFF, nullptr});
   depth_processor->addTargetStreams(
       {Stream::DEPTH, Mode::MODE_OFF, nullptr});
-  root_processor->addTargetStreams(
-      {Stream::LEFT, Mode::MODE_OFF, nullptr});
-  root_processor->addTargetStreams(
-      {Stream::RIGHT, Mode::MODE_OFF, nullptr});
 
   processors_.push_back(root_processor);
   processors_.push_back(rectify_processor);
@@ -421,7 +428,8 @@ bool Synthetic::OnDeviceProcess(
     Object *const in, Object *const out,
     std::shared_ptr<Processor> const parent) {
   MYNTEYE_UNUSED(parent)
-  return GetStreamEnabledMode(Stream::LEFT) != MODE_ON;
+  return GetStreamEnabledMode(Stream::LEFT) != MODE_ON
+      || GetStreamEnabledMode(Stream::RIGHT) != MODE_ON;
 }
 
 bool Synthetic::OnRectifyProcess(
@@ -431,8 +439,8 @@ bool Synthetic::OnRectifyProcess(
   if (plugin_ && plugin_->OnRectifyProcess(in, out)) {
     return true;
   }
-  return GetStreamEnabledMode(Stream::LEFT_RECTIFIED) != MODE_ON;
+  return GetStreamEnabledMode(Stream::LEFT_RECTIFIED) != MODE_ON
-  // && GetStreamEnabledMode(Stream::RIGHT_RECTIFIED) != MODE_ON
+      && GetStreamEnabledMode(Stream::RIGHT_RECTIFIED) != MODE_ON;
 }
 
 bool Synthetic::OnDisparityProcess(

src/mynteye/api/synthetic.h

@@ -83,6 +83,8 @@ class Synthetic {
   void SetPlugin(std::shared_ptr<Plugin> plugin);
   bool HasPlugin() const;
 
+  void setDuplicate(bool isEnable);
+
   const struct stream_control_t getControlDateWithStream(
       const Stream& stream) const;
   void setControlDateCallbackWithStream(

src/mynteye/api/version_checker.cc

@@ -34,21 +34,28 @@ const char* WARN_DESCRIPTION_F =
 const char* WARN_DESCRIPTION_S =
     "We suggest that you should update the SDK";
 const char* PASS_DESCRIPTION = "pass";
+const char* PASS_OUTOF_TABLE_WARNING = "You're using a custom mynteye device";
 
 /** firmware/sdk version matched table */
 /**----device type-----sdk version---firmware version-----pass tag-----*/
 static const firmware_version_match_table_unit FSVM_TABLE[] ={
 /** S1030 */
-  {"MYNT-EYE-S1030",    ">2.3.0",         ">2.2.0",   PASS_DESCRIPTION},
+  {"MYNT-EYE-S1030",    ">2.3.3",         ">2.3.0",   PASS_DESCRIPTION},
-  {"MYNT-EYE-S1030",    ">2.3.0",         "2.2.0",    WARN_DESCRIPTION_F},
+  {"MYNT-EYE-S1030",    ">2.3.3",         "<2.4.0",   WARN_DESCRIPTION_F},
-  {"MYNT-EYE-S1030",    ">2.3.0",         "<2.2.0",   ERRO_DESCRIPTION_F},
+  {"MYNT-EYE-S1030",    ">0.0.0",         ">2.2.0",   PASS_DESCRIPTION},
-  {"MYNT-EYE-S1030",    "<2.3.1",         "<2.2.0",   WARN_DESCRIPTION_S},
+  {"MYNT-EYE-S1030",    ">0.0.0",         "<2.3.0",   WARN_DESCRIPTION_F},
 /** S2100 */
-  {"MYNT-EYE-S2100",    ">2.3.0",         "1.0",      PASS_DESCRIPTION},
+  {"MYNT-EYE-S2100",    ">2.3.3",         ">1.0",      PASS_DESCRIPTION},
-  {"MYNT-EYE-S2100",    "<2.3.1",         "1.0",      ERRO_DESCRIPTION_S},
+  {"MYNT-EYE-S2100",    ">2.3.3",         "<1.1",      WARN_DESCRIPTION_F},
+  {"MYNT-EYE-S2100",    ">2.3.0",         ">0.9",      PASS_DESCRIPTION},
+  {"MYNT-EYE-S2100",    ">0.0.0",         ">0.9",      WARN_DESCRIPTION_S},
+  {"MYNT-EYE-S2100",    ">0.0.0",         "<1.0",      WARN_DESCRIPTION_F},
 /** S210A */
-  {"MYNT-EYE-S210A",    ">2.3.0",         "1.0",      PASS_DESCRIPTION},
+  {"MYNT-EYE-S210A",    ">2.3.3",         ">1.0",      PASS_DESCRIPTION},
-  {"MYNT-EYE-S210A",    "<2.3.1",         "1.0",      ERRO_DESCRIPTION_S},
+  {"MYNT-EYE-S210A",    ">2.3.3",         "<1.1",      WARN_DESCRIPTION_F},
+  {"MYNT-EYE-S210A",    ">2.3.0",         ">0.9",      PASS_DESCRIPTION},
+  {"MYNT-EYE-S210A",    ">0.0.0",         ">0.9",      WARN_DESCRIPTION_S},
+  {"MYNT-EYE-S210A",    ">0.0.0",         "<1.0",      WARN_DESCRIPTION_F},
 };
 
 void getVersion(const std::string &str, char *version) {
@@ -112,11 +119,27 @@ STATUS_UNIT checkUnit(const std::string& sdkv,
   return ST_NOT_PASS;
 }
 
+bool checkIfDeviceInTable(const std::string& devn) {
+  for (size_t i =0;
+      i < sizeof(FSVM_TABLE)/sizeof(firmware_version_match_table_unit);
+      i++) {
+    if (FSVM_TABLE[i].device_type == devn) {
+      return true;
+    }
+  }
+  return false;
+}
+
 bool checkFirmwareVersion(const std::shared_ptr<API> api) {
   auto sdkv = api->GetSDKVersion();
   auto devn = api->GetInfo(Info::DEVICE_NAME);
   auto firmv = api->GetInfo(Info::FIRMWARE_VERSION);
 
+  if (!checkIfDeviceInTable(devn)) {
+    LOG(WARNING) << PASS_OUTOF_TABLE_WARNING;
+    return true;
+  }
+
   for (size_t i =0;
       i < sizeof(FSVM_TABLE)/sizeof(firmware_version_match_table_unit);
       i++) {

src/mynteye/device/channel/channels.cc

@@ -460,7 +460,6 @@ bool Channels::GetFiles(
     while (i < end) {
       std::uint8_t file_id = *(data + i);
       std::uint16_t file_size = bytes::_from_data<std::uint16_t>(data + i + 1);
-      LOG(INFO) << "GetFiles:data_size : " << file_size;
       VLOG(2) << "GetFiles id: " << static_cast<int>(file_id)
               << ", size: " << file_size;
       i += 3;

src/mynteye/device/channel/file_channel.cc

@@ -32,7 +32,6 @@ std::size_t FileChannel::GetDeviceInfoFromData(
     const std::uint8_t *data, const std::uint16_t &data_size,
     device_info_t *info) {
   auto n = dev_info_parser_->GetFromData(data, data_size, info);
-  LOG(INFO) << "GetDeviceInfoFromData:data_size : " << data_size;
   auto spec_version = info->spec_version;
   img_params_parser_->SetSpecVersion(spec_version);
   imu_params_parser_->SetSpecVersion(spec_version);

src/mynteye/device/config.cc

@@ -61,7 +61,8 @@ const std::map<Model, std::map<Capabilities, StreamRequests>>
 stream_requests_map = {
   {Model::STANDARD,
     {{Capabilities::STEREO, {
-      {752, 480, Format::YUYV, 60}}
+      {752, 480, Format::YUYV, 60},
+      {376, 240, Format::YUYV, 60}}
     }}
   },
   {Model::STANDARD2,

src/mynteye/device/device.cc

@@ -26,7 +26,6 @@
 #include "mynteye/device/motions.h"
 #include "mynteye/device/standard/device_s.h"
 #include "mynteye/device/standard2/device_s2.h"
-#include "mynteye/device/standard2/device_s210a.h"
 #include "mynteye/device/streams.h"
 #include "mynteye/device/types.h"
 #include "mynteye/util/strings.h"
@@ -104,7 +103,6 @@ std::shared_ptr<Device> Device::Create(
   if (name == "MYNTEYE") {
     return std::make_shared<StandardDevice>(device);
   } else if (strings::starts_with(name, "MYNT-EYE-")) {
-    // TODO(JohnZhao): Create different device by name, such as MYNT-EYE-S1000
     std::string model_s = name.substr(9, 5);
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
@@ -113,9 +111,9 @@ std::shared_ptr<Device> Device::Create(
         return std::make_shared<StandardDevice>(device);
       } else if (model.generation == '2') {
         if (model.custom_code == '0') {
-          return std::make_shared<Standard2Device>(device);
+          return std::make_shared<Standard2Device>(Model::STANDARD2, device);
         } else if (model.custom_code == 'A') {
-          return std::make_shared<Standard210aDevice>(device);
+          return std::make_shared<Standard2Device>(Model::STANDARD210A, device);
         } else {
           LOG(FATAL) << "No such custom code now";
         }
@@ -618,9 +616,9 @@ void Device::ReadAllInfos() {
       img_params_ok = true;
       SetIntrinsics(Stream::LEFT, img_params.in_left);
       SetIntrinsics(Stream::RIGHT, img_params.in_right);
-      SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
+      SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
-      VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
+      VLOG(2) << "Intrinsics left: {" << *GetIntrinsics(Stream::LEFT) << "}";
-      VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+      VLOG(2) << "Intrinsics right: {" << *GetIntrinsics(Stream::RIGHT) << "}";
       VLOG(2) << "Extrinsics left to right: {"
               << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
       break;
@@ -664,8 +662,8 @@ void Device::UpdateStreamIntrinsics(
       SetIntrinsics(Stream::LEFT, img_params.in_left);
       SetIntrinsics(Stream::RIGHT, img_params.in_right);
       SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
-      VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
+      VLOG(2) << "Intrinsics left: {" << *GetIntrinsics(Stream::LEFT) << "}";
-      VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+      VLOG(2) << "Intrinsics right: {" << *GetIntrinsics(Stream::RIGHT) << "}";
       VLOG(2) << "Extrinsics left to right: {"
               << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
       break;

src/mynteye/device/standard2/channels_adapter_s2.cc

@@ -90,8 +90,8 @@ void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
 
 }  // namespace
 
-Standard2ChannelsAdapter::Standard2ChannelsAdapter()
+Standard2ChannelsAdapter::Standard2ChannelsAdapter(const Model &model)
-  : ChannelsAdapter(Model::STANDARD2) {
+  : ChannelsAdapter(model) {
 }
 
 Standard2ChannelsAdapter::~Standard2ChannelsAdapter() {

src/mynteye/device/standard2/channels_adapter_s2.h

@@ -25,7 +25,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class Standard2ChannelsAdapter : public ChannelsAdapter {
  public:
-  Standard2ChannelsAdapter();
+  explicit Standard2ChannelsAdapter(const Model &model);
   virtual ~Standard2ChannelsAdapter();
 
   std::int32_t GetAccelRangeDefault() override;

src/mynteye/device/standard2/channels_adapter_s210a.cc

@@ -1,121 +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.
-#include "mynteye/device/standard2/channels_adapter_s210a.h"
-
-#include "mynteye/logger.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-namespace {
-
-#pragma pack(push, 1)
-struct ImuData {
-  std::uint32_t frame_id;
-  std::uint64_t timestamp;
-  std::uint8_t flag;
-  std::int16_t temperature;
-  std::int16_t accel_or_gyro[3];
-
-  ImuData() = default;
-  explicit ImuData(const std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(const std::uint8_t *data) {
-    std::uint32_t timestamp_l;
-    std::uint32_t timestamp_h;
-
-    frame_id = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
-                    *(data + 3);
-    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
-                  (*(data + 6) << 8) | *(data + 7);
-    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
-                  (*(data + 10) << 8) | *(data + 11);
-    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
-    flag = *(data + 12);
-    temperature = (*(data + 13) << 8) | *(data + 14);
-    accel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
-    accel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
-    accel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
-  }
-};
-#pragma pack(pop)
-
-void unpack_imu_segment(const ImuData &imu, ImuSegment *seg) {
-  seg->frame_id = imu.frame_id;
-  seg->timestamp = imu.timestamp;
-  seg->flag = imu.flag;
-  seg->temperature = imu.temperature;
-  seg->accel[0] = (seg->flag == 1) ? imu.accel_or_gyro[0] : 0;
-  seg->accel[1] = (seg->flag == 1) ? imu.accel_or_gyro[1] : 0;
-  seg->accel[2] = (seg->flag == 1) ? imu.accel_or_gyro[2] : 0;
-  seg->gyro[0] = (seg->flag == 2) ? imu.accel_or_gyro[0] : 0;
-  seg->gyro[1] = (seg->flag == 2) ? imu.accel_or_gyro[1] : 0;
-  seg->gyro[2] = (seg->flag == 2) ? imu.accel_or_gyro[2] : 0;
-}
-
-void unpack_imu_packet(const std::uint8_t *data, ImuPacket *pkg) {
-  std::size_t data_n = sizeof(ImuData);  // 21
-  for (std::size_t i = 0; i < pkg->count; i++) {
-    ImuSegment seg;
-    unpack_imu_segment(ImuData(data + data_n * i), &seg);
-    pkg->segments.push_back(seg);
-  }
-  pkg->serial_number = pkg->segments.back().frame_id;
-}
-
-void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
-  res->header = *data;
-  res->state = *(data + 1);
-  res->size = (*(data + 2) << 8) | *(data + 3);
-
-  std::size_t data_n = sizeof(ImuData);  // 21
-  ImuPacket packet;
-  packet.count = res->size / data_n;
-  unpack_imu_packet(data + 4, &packet);
-  res->packets.push_back(packet);
-  res->checksum = *(data + 4 + res->size);
-}
-
-}  // namespace
-
-Standard210aChannelsAdapter::Standard210aChannelsAdapter()
-  : ChannelsAdapter(Model::STANDARD210A) {
-}
-
-Standard210aChannelsAdapter::~Standard210aChannelsAdapter() {
-}
-
-std::int32_t Standard210aChannelsAdapter::GetAccelRangeDefault() {
-  return 12;
-}
-
-std::vector<std::int32_t> Standard210aChannelsAdapter::GetAccelRangeValues() {
-  return {6, 12, 24, 48};
-}
-
-std::int32_t Standard210aChannelsAdapter::GetGyroRangeDefault() {
-  return 1000;
-}
-
-std::vector<std::int32_t> Standard210aChannelsAdapter::GetGyroRangeValues() {
-  return {250, 500, 1000, 2000, 4000};
-}
-
-void Standard210aChannelsAdapter::GetImuResPacket(
-    const std::uint8_t *data, ImuResPacket *res) {
-  unpack_imu_res_packet(data, res);
-}
-
-MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/channels_adapter_s210a.h

@@ -1,42 +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.
-#ifndef MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S210A_H_
-#define MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S210A_H_
-#pragma once
-
-#include <cstdint>
-#include <set>
-#include <vector>
-
-#include "mynteye/device/channel/channels.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-class Standard210aChannelsAdapter : public ChannelsAdapter {
- public:
-  Standard210aChannelsAdapter();
-  virtual ~Standard210aChannelsAdapter();
-
-  std::int32_t GetAccelRangeDefault() override;
-  std::vector<std::int32_t> GetAccelRangeValues() override;
-
-  std::int32_t GetGyroRangeDefault() override;
-  std::vector<std::int32_t> GetGyroRangeValues() override;
-
-  void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S210A_H_

src/mynteye/device/standard2/device_s2.cc

@@ -20,11 +20,13 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
-Standard2Device::Standard2Device(std::shared_ptr<uvc::device> device)
+Standard2Device::Standard2Device(const Model &model,
-  : Device(Model::STANDARD2, device,
+    std::shared_ptr<uvc::device> device)
-           std::make_shared<Standard2StreamsAdapter>(),
+  : Device(model, device,
-           std::make_shared<Standard2ChannelsAdapter>()) {
+           std::make_shared<Standard2StreamsAdapter>(model),
+           std::make_shared<Standard2ChannelsAdapter>(model)) {
   VLOG(2) << __func__;
+  CHECK(model == Model::STANDARD2 || model == Model::STANDARD210A);
 }
 
 Standard2Device::~Standard2Device() {

src/mynteye/device/standard2/device_s2.h

@@ -24,7 +24,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class Standard2Device : public Device {
  public:
-  explicit Standard2Device(std::shared_ptr<uvc::device> device);
+  Standard2Device(const Model &model, std::shared_ptr<uvc::device> device);
   virtual ~Standard2Device();
 
   Capabilities GetKeyStreamCapability() const override;

src/mynteye/device/standard2/device_s210a.cc

@@ -1,45 +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.
-#include "mynteye/device/standard2/device_s210a.h"
-
-#include "mynteye/logger.h"
-#include "mynteye/device/motions.h"
-#include "mynteye/device/standard2/channels_adapter_s210a.h"
-#include "mynteye/device/standard2/streams_adapter_s210a.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-Standard210aDevice::Standard210aDevice(std::shared_ptr<uvc::device> device)
-  : Device(Model::STANDARD210A, device,
-           std::make_shared<Standard210aStreamsAdapter>(),
-           std::make_shared<Standard210aChannelsAdapter>()) {
-  VLOG(2) << __func__;
-}
-
-Standard210aDevice::~Standard210aDevice() {
-  VLOG(2) << __func__;
-}
-
-Capabilities Standard210aDevice::GetKeyStreamCapability() const {
-  return Capabilities::STEREO_COLOR;
-}
-
-void Standard210aDevice::OnStereoStreamUpdate() {
-  if (motion_tracking_) {
-    auto &&motions = this->motions();
-    motions->DoMotionTrack();
-  }
-}
-
-MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/device_s210a.h

@@ -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.
-#ifndef MYNTEYE_DEVICE_STANDARD2_DEVICE_S210A_H_
-#define MYNTEYE_DEVICE_STANDARD2_DEVICE_S210A_H_
-#pragma once
-
-#include <memory>
-#include <vector>
-
-#include "mynteye/device/device.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-class Standard210aDevice : public Device {
- public:
-  explicit Standard210aDevice(std::shared_ptr<uvc::device> device);
-  virtual ~Standard210aDevice();
-
-  Capabilities GetKeyStreamCapability() const override;
-
-  void OnStereoStreamUpdate() override;
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_DEVICE_STANDARD2_DEVICE_S210A_H_

src/mynteye/device/standard2/streams_adapter_s2.cc

@@ -120,12 +120,12 @@ bool unpack_stereo_img_data(
             << static_cast<int>(img_packet.header) << " now";
     return false;
   }
-
+/*
   std::uint8_t checksum = 0;
   for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
     checksum = (checksum ^ packet[i]);
   }
-/*
+
   if (img_packet.checksum != checksum) {
     VLOG(2) << "Image packet checksum should be 0x" << std::hex
             << std::uppercase << std::setw(2) << std::setfill('0')
@@ -143,7 +143,58 @@ bool unpack_stereo_img_data(
 
 }  // namespace
 
-Standard2StreamsAdapter::Standard2StreamsAdapter() {
+namespace s210a {
+
+// image pixels
+
+bool unpack_left_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::BGR888);
+  CHECK_EQ(frame->format(), Format::BGR888);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = 3;
+  std::size_t w = frame->width();
+  std::size_t h = frame->height();
+  for (std::size_t i = 0; i < h; i++) {
+    for (std::size_t j = 0; j < w; j++) {
+      frame->data()[(i * w + j) * n] =
+        *(data_new + (2 * i * w + j) * n + 2);
+      frame->data()[(i * w + j) * n + 1] =
+        *(data_new + (2 * i * w + j) * n + 1);
+      frame->data()[(i * w + j) * n + 2] =
+        *(data_new + (2 * i * w + j) * n);
+    }
+  }
+  return true;
+}
+
+bool unpack_right_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::BGR888);
+  CHECK_EQ(frame->format(), Format::BGR888);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = 3;
+  std::size_t w = frame->width();
+  std::size_t h = frame->height();
+  for (std::size_t i = 0; i < h; i++) {
+    for (std::size_t j = 0; j < w; j++) {
+      frame->data()[(i * w + j) * n] =
+        *(data_new + ((2 * i + 1) * w + j) * n + 2);
+      frame->data()[(i * w + j) * n + 1] =
+        *(data_new + ((2 * i + 1) * w + j) * n + 1);
+      frame->data()[(i * w + j) * n + 2] =
+        *(data_new + ((2 * i + 1) * w + j) * n);
+    }
+  }
+  return true;
+}
+
+}  // namespace s210a
+
+Standard2StreamsAdapter::Standard2StreamsAdapter(const Model &model)
+  : model_(model) {
 }
 
 Standard2StreamsAdapter::~Standard2StreamsAdapter() {
@@ -167,10 +218,19 @@ Standard2StreamsAdapter::GetUnpackImgDataMap() {
 
 std::map<Stream, Streams::unpack_img_pixels_t>
 Standard2StreamsAdapter::GetUnpackImgPixelsMap() {
-  return {
+  switch (model_) {
-    {Stream::LEFT, unpack_left_img_pixels},
+    case Model::STANDARD210A:
-    {Stream::RIGHT, unpack_right_img_pixels}
+      return {
-  };
+        {Stream::LEFT, s210a::unpack_left_img_pixels},
+        {Stream::RIGHT, s210a::unpack_right_img_pixels}
+      };
+    case Model::STANDARD2:
+    default:
+      return {
+        {Stream::LEFT, unpack_left_img_pixels},
+        {Stream::RIGHT, unpack_right_img_pixels}
+      };
+  }
 }
 
 MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/streams_adapter_s2.h

@@ -25,7 +25,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class Standard2StreamsAdapter : public StreamsAdapter {
  public:
-  Standard2StreamsAdapter();
+  explicit Standard2StreamsAdapter(const Model &model);
   virtual ~Standard2StreamsAdapter();
 
   std::vector<Stream> GetKeyStreams() override;
@@ -35,6 +35,9 @@ class Standard2StreamsAdapter : public StreamsAdapter {
   GetUnpackImgDataMap() override;
   std::map<Stream, Streams::unpack_img_pixels_t>
   GetUnpackImgPixelsMap() override;
+
+ private:
+  Model model_;
 };
 
 MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/streams_adapter_s210a.cc

@@ -1,186 +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.
-#include "mynteye/device/standard2/streams_adapter_s210a.h"
-
-#include <iomanip>
-
-#include "mynteye/logger.h"
-#include "mynteye/device/types.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-namespace {
-
-// image info
-
-#pragma pack(push, 1)
-struct ImagePacket {
-  std::uint8_t header;
-  std::uint8_t size;
-  std::uint16_t frame_id;
-  std::uint64_t timestamp;
-  std::uint16_t exposure_time;
-  std::uint8_t checksum;
-
-  ImagePacket() = default;
-  explicit ImagePacket(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    std::uint32_t timestamp_l;
-    std::uint32_t timestamp_h;
-
-    header = *data;
-    size = *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
-                  (*(data + 6) << 8) | *(data + 7);
-    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
-                  (*(data + 10) << 8) | *(data + 11);
-    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
-    exposure_time = (*(data + 12) << 8) | *(data + 13);
-    checksum = *(data + 14);
-  }
-};
-#pragma pack(pop)
-
-// image pixels
-
-bool unpack_left_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::BGR888);
-  CHECK_EQ(frame->format(), Format::BGR888);
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = 3;
-  std::size_t w = frame->width();
-  std::size_t h = frame->height();
-  for (std::size_t i = 0; i < h; i++) {
-    for (std::size_t j = 0; j < w; j++) {
-      frame->data()[(i * w + j) * n] =
-        *(data_new + (2 * i * w + j) * n + 2);
-      frame->data()[(i * w + j) * n + 1] =
-        *(data_new + (2 * i * w + j) * n + 1);
-      frame->data()[(i * w + j) * n + 2] =
-        *(data_new + (2 * i * w + j) * n);
-    }
-  }
-  return true;
-}
-
-bool unpack_right_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::BGR888);
-  CHECK_EQ(frame->format(), Format::BGR888);
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = 3;
-  std::size_t w = frame->width();
-  std::size_t h = frame->height();
-  for (std::size_t i = 0; i < h; i++) {
-    for (std::size_t j = 0; j < w; j++) {
-      frame->data()[(i * w + j) * n] =
-        *(data_new + ((2 * i + 1) * w + j) * n + 2);
-      frame->data()[(i * w + j) * n + 1] =
-        *(data_new + ((2 * i + 1) * w + j) * n + 1);
-      frame->data()[(i * w + j) * n + 2] =
-        *(data_new + ((2 * i + 1) * w + j) * n);
-    }
-  }
-  return true;
-}
-
-bool unpack_stereo_img_data(
-    const void *data, const StreamRequest &request, ImgData *img) {
-  CHECK_NOTNULL(img);
-
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t data_n =
-      request.width * request.height * bytes_per_pixel(request.format);
-  auto data_end = data_new + data_n;
-
-  std::size_t packet_n = sizeof(ImagePacket);
-  std::vector<std::uint8_t> packet(packet_n);
-  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
-
-  ImagePacket img_packet(packet.data());
-  // LOG(INFO) << "ImagePacket: header=0x" << std::hex <<
-  // static_cast<int>(img_packet.header)
-  //   << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
-  //   << ", frame_id="<< std::dec << img_packet.frame_id
-  //   << ", timestamp="<< std::dec << img_packet.timestamp
-  //   << ", exposure_time="<< std::dec << img_packet.exposure_time
-  //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
-
-  if (img_packet.header != 0x3B) {
-    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
-            << std::uppercase << std::setw(2) << std::setfill('0')
-            << static_cast<int>(img_packet.header) << " now";
-    return false;
-  }
-
-  std::uint8_t checksum = 0;
-  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
-    checksum = (checksum ^ packet[i]);
-  }
-/*
-  if (img_packet.checksum != checksum) {
-    VLOG(2) << "Image packet checksum should be 0x" << std::hex
-            << std::uppercase << std::setw(2) << std::setfill('0')
-            << static_cast<int>(img_packet.checksum) << ", but 0x"
-            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
-            << " now";
-    return false;
-  }
-*/
-  img->frame_id = img_packet.frame_id;
-  img->timestamp = img_packet.timestamp;
-  img->exposure_time = img_packet.exposure_time;
-  return true;
-}
-
-}  // namespace
-
-Standard210aStreamsAdapter::Standard210aStreamsAdapter() {
-}
-
-Standard210aStreamsAdapter::~Standard210aStreamsAdapter() {
-}
-
-std::vector<Stream> Standard210aStreamsAdapter::GetKeyStreams() {
-  return {Stream::LEFT, Stream::RIGHT};
-}
-
-std::vector<Capabilities> Standard210aStreamsAdapter::GetStreamCapabilities() {
-  return {Capabilities::STEREO_COLOR};
-}
-
-std::map<Stream, Streams::unpack_img_data_t>
-Standard210aStreamsAdapter::GetUnpackImgDataMap() {
-  return {
-    {Stream::LEFT, unpack_stereo_img_data},
-    {Stream::RIGHT, unpack_stereo_img_data}
-  };
-}
-
-std::map<Stream, Streams::unpack_img_pixels_t>
-Standard210aStreamsAdapter::GetUnpackImgPixelsMap() {
-  return {
-    {Stream::LEFT, unpack_left_img_pixels},
-    {Stream::RIGHT, unpack_right_img_pixels}
-  };
-}
-
-MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/streams_adapter_s210a.h

@@ -1,42 +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.
-#ifndef MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S210A_H_
-#define MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S210A_H_
-#pragma once
-
-#include <map>
-#include <memory>
-#include <vector>
-
-#include "mynteye/device/streams.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-class Standard210aStreamsAdapter : public StreamsAdapter {
- public:
-  Standard210aStreamsAdapter();
-  virtual ~Standard210aStreamsAdapter();
-
-  std::vector<Stream> GetKeyStreams() override;
-  std::vector<Capabilities> GetStreamCapabilities() override;
-
-  std::map<Stream, Streams::unpack_img_data_t>
-  GetUnpackImgDataMap() override;
-  std::map<Stream, Streams::unpack_img_pixels_t>
-  GetUnpackImgPixelsMap() override;
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S210A_H_

src/mynteye/miniglog.cc

@@ -36,6 +36,4 @@ namespace google {
 // that there is only one instance of this across the entire program.
 std::set<google::LogSink *> log_sinks_global;
 
-int log_severity_global(INFO);
-
 }  // namespace google

src/mynteye/types.cc

@@ -166,6 +166,7 @@ const char *to_string(const Format &value) {
     CASE(GREY)
     CASE(YUYV)
     CASE(BGR888)
+    CASE(RGB888)
     default:
       return "Format::UNKNOWN";
   }

src/mynteye/uvc/linux/uvc-v4l2.cc

@@ -330,6 +330,9 @@ struct device {
     for (int i = 0; i < 10; ++i) {
       if (xioctl(fd, VIDIOC_STREAMON, &type) < 0) {
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      } else {
+        is_capturing = true;
+        return;
       }
     }
     if (xioctl(fd, VIDIOC_STREAMON, &type) < 0)

wrappers/android/mynteye/.gitignore

@@ -0,0 +1,8 @@
+*.iml
+.gradle
+/local.properties
+/.idea/
+.DS_Store
+/build
+/captures
+.externalNativeBuild

wrappers/android/mynteye/README.md

@@ -0,0 +1,11 @@
+# MYNT® EYE Android Wrapper
+
+## Prerequisites
+
+Android device need be rooted and support [USB3 OTG](https://en.wikipedia.org/wiki/USB_On-The-Go) feature.
+
+## Build & Run
+
+1. Download and install [Android Studio](https://developer.android.com/studio/index.html)
+2. Start Android Studio and [download the NDK and build tools](https://developer.android.com/studio/projects/add-native-code)
+3. Open this project using `Open an existing Android Studio project`

wrappers/android/mynteye/app/.gitignore

@@ -0,0 +1 @@
+/build

wrappers/android/mynteye/app/build.gradle

@@ -0,0 +1,45 @@
+apply plugin: 'com.android.application'
+
+android {
+  compileSdkVersion xversions.compileSdk
+  defaultConfig {
+    applicationId "com.slightech.mynteye.demo"
+    minSdkVersion xversions.minSdk
+    targetSdkVersion xversions.targetSdk
+    versionCode 1
+    versionName "1.0"
+    testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+    ndk {
+      abiFilters xabis
+    }
+  }
+  buildTypes {
+    release {
+      minifyEnabled false
+      proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+    }
+  }
+  compileOptions {
+    sourceCompatibility JavaVersion.VERSION_1_8
+    targetCompatibility JavaVersion.VERSION_1_8
+  }
+}
+
+dependencies {
+  implementation fileTree(dir: 'libs', include: ['*.jar'])
+
+  implementation 'androidx.appcompat:appcompat:1.1.0-alpha01'
+  implementation 'androidx.constraintlayout:constraintlayout:2.0.0-alpha3'
+
+  implementation 'com.jakewharton.timber:timber:4.7.1'
+
+  implementation 'com.jakewharton:butterknife:10.0.0'
+  annotationProcessor 'com.jakewharton:butterknife-compiler:10.0.0'
+
+  implementation project(':libmynteye')
+  implementation project(':libshell')
+
+  testImplementation 'junit:junit:4.12'
+  androidTestImplementation 'androidx.test:runner:1.1.1'
+  androidTestImplementation 'androidx.test.espresso:espresso-core:3.1.1'
+}

wrappers/android/mynteye/app/proguard-rules.pro

@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile

wrappers/android/mynteye/app/src/androidTest/java/com/slightech/mynteye/demo/ExampleInstrumentedTest.java

@@ -0,0 +1,26 @@
+package com.slightech.mynteye.demo;
+
+import android.content.Context;
+import androidx.test.InstrumentationRegistry;
+import androidx.test.runner.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+  @Test
+  public void useAppContext() {
+    // Context of the app under test.
+    Context appContext = InstrumentationRegistry.getTargetContext();
+
+    assertEquals("com.slightech.mynteye.demo", appContext.getPackageName());
+  }
+}

wrappers/android/mynteye/app/src/main/AndroidManifest.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    package="com.slightech.mynteye.demo">
+
+  <uses-permission android:name="android.permission.CAMERA" />
+  <uses-permission android:name="android.permission.INTERNET" />
+  <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
+
+  <application
+      android:allowBackup="false"
+      android:label="@string/app_name"
+      android:name=".MyApplication"
+      android:supportsRtl="true"
+      android:theme="@style/AppTheme"
+      tools:ignore="GoogleAppIndexingWarning">
+    <activity android:name=".ui.MainActivity"
+        android:screenOrientation="landscape">
+      <intent-filter>
+        <action android:name="android.intent.action.MAIN"/>
+        <category android:name="android.intent.category.LAUNCHER"/>
+      </intent-filter>
+    </activity>
+  </application>
+
+</manifest>

wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/MyApplication.java

@@ -0,0 +1,35 @@
+package com.slightech.mynteye.demo;
+
+import android.app.Application;
+import timber.log.Timber;
+
+//import com.stericson.RootShell.RootShell;
+
+public class MyApplication extends Application {
+
+  static {
+    try {
+      System.loadLibrary("mynteye_jni");
+    } catch (UnsatisfiedLinkError e) {
+      System.err.println("mynteye_jni library failed to load.\n" + e);
+    }
+  }
+
+  @Override public void onCreate() {
+    super.onCreate();
+    Timber.plant(new Timber.DebugTree());
+    //RootShell.debugMode = true;
+  }
+
+  @Override public void onLowMemory() {
+    super.onLowMemory();
+  }
+
+  @Override public void onTrimMemory(int level) {
+    super.onTrimMemory(level);
+  }
+
+  @Override public void onTerminate() {
+    super.onTerminate();
+  }
+}

wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/camera/Mynteye.java

@@ -0,0 +1,213 @@
+package com.slightech.mynteye.demo.camera;
+
+import android.os.Handler;
+import android.os.HandlerThread;
+import com.slightech.mynteye.Device;
+import com.slightech.mynteye.DeviceUsbInfo;
+import com.slightech.mynteye.Info;
+import com.slightech.mynteye.MotionData;
+import com.slightech.mynteye.MotionIntrinsics;
+import com.slightech.mynteye.Option;
+import com.slightech.mynteye.Source;
+import com.slightech.mynteye.Stream;
+import com.slightech.mynteye.StreamData;
+import com.slightech.mynteye.StreamRequest;
+import java.util.ArrayList;
+import java.util.Map;
+import timber.log.Timber;
+
+public final class Mynteye implements Runnable {
+
+  private Device mDevice;
+
+  private HandlerThread mBackgroundThread;
+  private Handler mBackgroundHandler;
+
+  private boolean mOpened;
+  private boolean mImuEnabled;
+
+  public interface OnStreamDataReceiveListener {
+    void onStreamDataReceive(Stream stream, StreamData data, Handler handler);
+    void onStreamLeftReceive(StreamData data, Handler handler);
+    void onStreamRightReceive(StreamData data, Handler handler);
+  }
+
+  public interface OnMotionDataReceiveListener {
+    void onMotionDataReceive(ArrayList<MotionData> datas, Handler handler);
+  }
+
+  private OnStreamDataReceiveListener mOnStreamDataReceiveListener;
+  private OnMotionDataReceiveListener mOnMotionDataReceiveListener;
+
+  private StreamRequest mStreamRequest;
+
+  public Mynteye(DeviceUsbInfo info) {
+    mDevice = Device.create(info);
+    mOpened = false;
+    mImuEnabled = false;
+  }
+
+  public void setOnStreamDataReceiveListener(OnStreamDataReceiveListener l) {
+    mOnStreamDataReceiveListener = l;
+  }
+
+  public void setOnMotionDataReceiveListener(OnMotionDataReceiveListener l) {
+    mOnMotionDataReceiveListener = l;
+  }
+
+  public ArrayList<StreamRequest> getStreamRequests() {
+    return mDevice.getStreamRequests();
+  }
+
+  public String getDeviceInfos() {
+    StringBuffer sb = new StringBuffer();
+    for (Info info : Info.values()) {
+      sb.append(info.toString());
+      sb.append(": ");
+      sb.append(mDevice.getInfo(info));
+      sb.append('\n');
+    }
+    return sb.toString();
+  }
+
+  public String getImageParams() {
+    StringBuffer sb = new StringBuffer();
+    sb.append(Stream.LEFT).append('\n').append(mDevice.getIntrinsics(Stream.LEFT));
+    sb.append("\n\n");
+    sb.append(Stream.RIGHT).append('\n').append(mDevice.getIntrinsics(Stream.RIGHT));
+    sb.append("\n\n");
+    sb.append(Stream.LEFT).append(" > ").append(Stream.RIGHT);
+    sb.append('\n');
+    sb.append(mDevice.getExtrinsics(Stream.LEFT, Stream.RIGHT));
+    return sb.toString();
+  }
+
+  public String getImuParams() {
+    StringBuffer sb = new StringBuffer();
+    MotionIntrinsics in = mDevice.getMotionIntrinsics();
+    sb.append("Accel\n").append(in.getAccel());
+    sb.append("\n\n");
+    sb.append("Gyro\n").append(in.getGyro());
+    sb.append("\n\n");
+    sb.append("Imu > ").append(Stream.LEFT).append('\n')
+        .append(mDevice.getMotionExtrinsics(Stream.LEFT));
+    return sb.toString();
+  }
+
+  public String getOptionInfos() {
+    StringBuffer sb = new StringBuffer();
+    for (Option op : Option.values()) {
+      if (!mDevice.supportsOption(op)) {
+        continue;
+      }
+      sb.append(op.toString());
+      sb.append(": ");
+      sb.append(mDevice.getOptionValue(op));
+      sb.append("\n  ");
+      sb.append(mDevice.getOptionInfo(op));
+      sb.append('\n');
+    }
+    return sb.toString();
+  }
+
+  public boolean isOpened() {
+    return mOpened;
+  }
+
+  public boolean isImuEnabled() {
+    return mImuEnabled;
+  }
+
+  public void setImuEnabled(boolean enabled) {
+    mImuEnabled = enabled;
+    if (mOpened) {
+      Timber.w("Will enable imu when open next time");
+    }
+  }
+
+  public void open() {
+    if (mOpened) return;
+    if (mStreamRequest == null) {
+      Timber.w("Should open with stream request");
+      return;
+    }
+    open(mStreamRequest);
+  }
+
+  public void open(StreamRequest request) {
+    if (mOpened) return;
+    mOpened = true;
+    mStreamRequest = request;
+
+    startBackgroundThread();
+
+    mDevice.configStreamRequest(request);
+    if (mImuEnabled) {
+      mDevice.enableMotionDatas(Integer.MAX_VALUE);
+      mDevice.start(Source.ALL);
+    } else {
+      mDevice.start(Source.VIDEO_STREAMING);
+    }
+
+    mBackgroundHandler.post(this);
+  }
+
+  public void close() {
+    if (!mOpened) return;
+    mOpened = false;
+    stopBackgroundThread();
+    mDevice.stop(Source.ALL);
+  }
+
+  @Override
+  public void run() {
+    //Timber.i("wait streams");
+    mDevice.waitForStreams();
+
+    //Timber.i("get streams");
+    {
+      StreamData data = mDevice.getStreamData(Stream.LEFT);
+      if (mOnStreamDataReceiveListener != null) {
+        mOnStreamDataReceiveListener.onStreamDataReceive(Stream.LEFT, data, mBackgroundHandler);
+        mOnStreamDataReceiveListener.onStreamLeftReceive(data, mBackgroundHandler);
+      }
+    }
+    {
+      StreamData data = mDevice.getStreamData(Stream.RIGHT);
+      if (mOnStreamDataReceiveListener != null) {
+        mOnStreamDataReceiveListener.onStreamDataReceive(Stream.RIGHT, data, mBackgroundHandler);
+        mOnStreamDataReceiveListener.onStreamRightReceive(data, mBackgroundHandler);
+      }
+    }
+
+    //Timber.i("get motions");
+    if (mImuEnabled) {
+      ArrayList<MotionData> datas = mDevice.getMotionDatas();
+      if (mOnMotionDataReceiveListener != null) {
+        mOnMotionDataReceiveListener.onMotionDataReceive(datas, mBackgroundHandler);
+      }
+    }
+
+    if (mOpened) mBackgroundHandler.post(this);
+  }
+
+  private void startBackgroundThread() {
+    mBackgroundThread = new HandlerThread("MynteyeBackground");
+    mBackgroundThread.start();
+    mBackgroundHandler = new Handler(mBackgroundThread.getLooper());
+  }
+
+  private void stopBackgroundThread() {
+    mBackgroundThread.quitSafely();
+    //mBackgroundThread.interrupt();
+    try {
+      mBackgroundHandler.removeCallbacksAndMessages(null);
+      mBackgroundThread.join();
+      mBackgroundThread = null;
+      mBackgroundHandler = null;
+    } catch (InterruptedException e) {
+      e.printStackTrace();
+    }
+  }
+
+}

wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/ui/BaseActivity.java

@@ -0,0 +1,63 @@
+package com.slightech.mynteye.demo.ui;
+
+import android.annotation.SuppressLint;
+import android.content.pm.PackageManager;
+import android.os.Bundle;
+import android.widget.Toast;
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.appcompat.app.AppCompatActivity;
+import androidx.core.app.ActivityCompat;
+import androidx.core.content.ContextCompat;
+
+import static android.Manifest.permission.CAMERA;
+import static android.Manifest.permission.WRITE_EXTERNAL_STORAGE;
+
+@SuppressLint("Registered")
+public class BaseActivity extends AppCompatActivity {
+
+  private final int REQ_PERMISSIONS = 1;
+
+  @Override
+  protected void onCreate(@Nullable Bundle savedInstanceState) {
+    super.onCreate(savedInstanceState);
+    requestPermissions();
+  }
+
+  private void requestPermissions() {
+    final String[] permissions = new String[]{WRITE_EXTERNAL_STORAGE, CAMERA};
+
+    boolean granted = true;
+    for (String permission : permissions) {
+      if (ContextCompat.checkSelfPermission(this, permission)
+          != PackageManager.PERMISSION_GRANTED) {
+        granted = false;
+      }
+    }
+    if (granted) return;
+
+    ActivityCompat.requestPermissions(this, permissions, REQ_PERMISSIONS);
+  }
+
+  @Override
+  public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions,
+      @NonNull int[] grantResults) {
+    if (requestCode == REQ_PERMISSIONS) {
+      boolean granted = true;
+      if (grantResults.length < 1) {
+        granted = false;
+      } else {
+        for (int result : grantResults) {
+          if (result != PackageManager.PERMISSION_GRANTED) {
+            granted = false;
+          }
+        }
+      }
+      if (!granted) {
+        Toast.makeText(this, "Permission denied :(", Toast.LENGTH_LONG).show();
+      }
+    } else {
+      super.onRequestPermissionsResult(requestCode, permissions, grantResults);
+    }
+  }
+}

wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/ui/MainActivity.java

@@ -0,0 +1,323 @@
+package com.slightech.mynteye.demo.ui;
+
+import android.graphics.Bitmap;
+import android.hardware.usb.UsbDevice;
+import android.os.Bundle;
+import android.os.Handler;
+import android.text.TextUtils;
+import android.view.Menu;
+import android.view.MenuItem;
+import android.widget.ArrayAdapter;
+import android.widget.ImageView;
+import android.widget.ListView;
+import android.widget.TextView;
+import android.widget.Toast;
+import androidx.appcompat.app.AlertDialog;
+import butterknife.BindView;
+import butterknife.ButterKnife;
+import com.slightech.mynteye.DeviceUsbInfo;
+import com.slightech.mynteye.Frame;
+import com.slightech.mynteye.ImuData;
+import com.slightech.mynteye.MotionData;
+import com.slightech.mynteye.Stream;
+import com.slightech.mynteye.StreamData;
+import com.slightech.mynteye.StreamRequest;
+import com.slightech.mynteye.demo.R;
+import com.slightech.mynteye.demo.camera.Mynteye;
+import com.slightech.mynteye.usb.CameraDialog;
+import com.slightech.mynteye.usb.USBMonitor;
+import com.slightech.mynteye.usb.USBMonitor.OnDeviceConnectListener;
+import com.slightech.mynteye.usb.USBMonitor.UsbControlBlock;
+import com.slightech.mynteye.util.BitmapUtils;
+import java.util.ArrayList;
+import java.util.Locale;
+import timber.log.Timber;
+
+public class MainActivity extends BaseActivity implements CameraDialog.CameraDialogParent,
+    Mynteye.OnStreamDataReceiveListener, Mynteye.OnMotionDataReceiveListener {
+
+  @BindView(R.id.text) TextView mTextView;
+  @BindView(R.id.image_left) ImageView mLeftImageView;
+  @BindView(R.id.image_right) ImageView mRightImageView;
+
+  private USBMonitor mUSBMonitor;
+
+  private Mynteye mMynteye;
+  private Bitmap mLeftBitmap, mRightBitmap;
+
+  private boolean mImuEnabled;
+
+  @Override
+  protected void onCreate(Bundle savedInstanceState) {
+    super.onCreate(savedInstanceState);
+    setContentView(R.layout.activity_main);
+    ButterKnife.bind(this);
+    mUSBMonitor = new USBMonitor(this, mOnDeviceConnectListener);
+  }
+
+  @Override
+  protected void onStart() {
+    super.onStart();
+    mUSBMonitor.register();
+    if (mMynteye == null) {
+      //actionOpen();
+    }
+  }
+
+  @Override
+  protected void onStop() {
+    super.onStop();
+    if (mUSBMonitor != null) {
+      mUSBMonitor.unregister();
+    }
+  }
+
+  @Override
+  protected void onDestroy() {
+    if (mMynteye != null) {
+      mMynteye.close();
+      mMynteye = null;
+    }
+    if (mUSBMonitor != null) {
+      mUSBMonitor.destroy();
+      mUSBMonitor = null;
+    }
+    super.onDestroy();
+  }
+
+  private final OnDeviceConnectListener mOnDeviceConnectListener = new OnDeviceConnectListener() {
+
+    @Override
+    public void onAttach(final UsbDevice device) {
+      toast("USB_DEVICE_ATTACHED");
+    }
+
+    @Override
+    public void onConnect(final UsbDevice device, final UsbControlBlock ctrlBlock, final boolean createNew) {
+      toast(String.format(Locale.getDefault(), "CONNECT, %s: %s", ctrlBlock.getProductName(), ctrlBlock.getSerial()));
+      openDevice(new DeviceUsbInfo(
+          ctrlBlock.getVenderId(),
+          ctrlBlock.getProductId(),
+          ctrlBlock.getFileDescriptor(),
+          ctrlBlock.getBusNum(),
+          ctrlBlock.getDevNum(),
+          getUSBFSName(ctrlBlock),
+          ctrlBlock.getProductName(),
+          ctrlBlock.getSerial()));
+    }
+
+    @Override
+    public void onDisconnect(final UsbDevice device, final UsbControlBlock ctrlBlock) {
+      toast(String.format(Locale.getDefault(), "DISCONNECT, %s: %s", ctrlBlock.getProductName(), ctrlBlock.getSerial()));
+    }
+
+    @Override
+    public void onDetach(final UsbDevice device) {
+      toast("USB_DEVICE_DETACHED");
+    }
+
+    @Override
+    public void onCancel(final UsbDevice device) {
+    }
+
+    private static final String DEFAULT_USBFS = "/dev/bus/usb";
+
+    private final String getUSBFSName(final UsbControlBlock ctrlBlock) {
+      String result = null;
+      final String name = ctrlBlock.getDeviceName();
+      final String[] v = !TextUtils.isEmpty(name) ? name.split("/") : null;
+      if ((v != null) && (v.length > 2)) {
+        final StringBuilder sb = new StringBuilder(v[0]);
+        for (int i = 1; i < v.length - 2; i++)
+          sb.append("/").append(v[i]);
+        result = sb.toString();
+      }
+      if (TextUtils.isEmpty(result)) {
+        Timber.w("failed to get USBFS path, try to use default path: %s", name);
+        result = DEFAULT_USBFS;
+      }
+      return result;
+    }
+  };
+
+  @Override
+  public boolean onCreateOptionsMenu(Menu menu) {
+    getMenuInflater().inflate(R.menu.menu_main, menu);
+    return true;
+  }
+
+  @Override
+  public boolean onPrepareOptionsMenu(Menu menu) {
+    if (mMynteye == null) {
+      menu.findItem(R.id.action_open).setVisible(true);
+      menu.findItem(R.id.action_close).setVisible(false);
+    } else {
+      menu.findItem(R.id.action_open).setVisible(!mMynteye.isOpened());
+      menu.findItem(R.id.action_close).setVisible(mMynteye.isOpened());
+    }
+    menu.findItem(R.id.check_imu_data).setChecked(mImuEnabled);
+    boolean featuresUsable = mMynteye != null && mMynteye.isOpened();
+    menu.findItem(R.id.show_device_infos).setEnabled(featuresUsable);
+    menu.findItem(R.id.show_image_params).setEnabled(featuresUsable);
+    menu.findItem(R.id.show_imu_params).setEnabled(featuresUsable);
+    menu.findItem(R.id.show_option_infos).setEnabled(featuresUsable);
+    return super.onPrepareOptionsMenu(menu);
+  }
+
+  @Override
+  public boolean onOptionsItemSelected(MenuItem item) {
+    switch (item.getItemId()) {
+      case R.id.action_open:
+        actionOpen();
+        return true;
+      case R.id.action_close:
+        actionClose();
+        return true;
+      case R.id.check_imu_data:
+        mImuEnabled = !mImuEnabled;
+        item.setChecked(mImuEnabled);
+        return true;
+      case R.id.show_device_infos:
+        alert(R.string.device_infos, mMynteye.getDeviceInfos());
+        return true;
+      case R.id.show_image_params:
+        alert(R.string.image_params, mMynteye.getImageParams());
+        return true;
+      case R.id.show_imu_params:
+        alert(R.string.imu_params, mMynteye.getImuParams());
+        return true;
+      case R.id.show_option_infos:
+        alert(R.string.option_infos, mMynteye.getOptionInfos());
+        return true;
+      default:
+        return super.onOptionsItemSelected(item);
+    }
+  }
+
+  private void actionOpen() {
+    mTextView.setText("");
+    if (mMynteye == null) {
+      CameraDialog.showDialog(this);
+    } else {
+      mMynteye.setImuEnabled(mImuEnabled);
+      mMynteye.open();
+    }
+  }
+
+  private void actionClose() {
+    if (mMynteye != null) {
+      mMynteye.close();
+      mMynteye = null;
+    }
+    invalidateOptionsMenu();
+  }
+
+  private void openDevice(DeviceUsbInfo info) {
+    mMynteye = new Mynteye(info);
+    ArrayList<StreamRequest> requests = mMynteye.getStreamRequests();
+    if (requests.isEmpty()) {
+      alert("Warning", "There are no streams to request :(");
+      mMynteye = null;
+    } else {
+      ArrayList<String> items = new ArrayList<>();
+      for (StreamRequest req : requests) {
+        items.add(req.toString());
+      }
+
+      AlertDialog dialog = new AlertDialog.Builder(this)
+          .setTitle("StreamRequests")
+          .create();
+      ListView listView = new ListView(this);
+      listView.setAdapter(new ArrayAdapter<>(this, android.R.layout.simple_list_item_1, items));
+      listView.setOnItemClickListener((parent, view, position, id) -> {
+        dialog.dismiss();
+        mMynteye.setOnStreamDataReceiveListener(this);
+        mMynteye.setOnMotionDataReceiveListener(this);
+        mMynteye.setImuEnabled(mImuEnabled);
+        mMynteye.open(requests.get(position));
+        invalidateOptionsMenu();
+      });
+      dialog.setOnCancelListener(dlg -> {
+        mMynteye = null;
+      });
+      dialog.setView(listView);
+      dialog.show();
+    }
+  }
+
+  @Override
+  public USBMonitor getUSBMonitor() {
+    return mUSBMonitor;
+  }
+
+  @Override
+  public void onDialogResult(boolean canceled) {
+  }
+
+  @Override
+  public void onStreamDataReceive(Stream stream, StreamData data, Handler handler) {
+  }
+
+  @Override
+  public void onStreamLeftReceive(StreamData data, Handler handler) {
+    //Timber.i("onStreamLeftReceive");
+    Frame frame = data.frame();
+    if (mLeftBitmap == null) {
+      mLeftBitmap = Bitmap.createBitmap(frame.width(), frame.height(), Bitmap.Config.ARGB_8888);
+    }
+    BitmapUtils.copyPixels(frame, mLeftBitmap);
+    mLeftImageView.post(() -> mLeftImageView.setImageBitmap(mLeftBitmap));
+  }
+
+  @Override
+  public void onStreamRightReceive(StreamData data, Handler handler) {
+    //Timber.i("onStreamRightReceive");
+    Frame frame = data.frame();
+    if (mRightBitmap == null) {
+      mRightBitmap = Bitmap.createBitmap(frame.width(), frame.height(), Bitmap.Config.ARGB_8888);
+    }
+    BitmapUtils.copyPixels(frame, mRightBitmap);
+    mRightImageView.post(() -> mRightImageView.setImageBitmap(mRightBitmap));
+  }
+
+  @Override
+  public void onMotionDataReceive(ArrayList<MotionData> datas, Handler handler) {
+    if (datas.isEmpty()) return;
+    ImuData data = datas.get(0).imu();
+    mTextView.post(() -> {
+      StringBuffer sb = new StringBuffer();
+      final int flag = data.getFlag();
+      if (flag == 0) {  // accel & gyro
+        sb.append("Accel: ").append(data.getAccel());
+        sb.append("\nGyro: ").append(data.getGyro());
+      } else if (flag == 1) {  // accel
+        sb.append("Accel: ").append(data.getAccel());
+        sb.append("\nGyro: -");
+      } else if (flag == 2) {  // gyro
+        sb.append("Accel: -");
+        sb.append("\nGyro: ").append(data.getGyro());
+      }
+      mTextView.setText(sb.toString());
+    });
+  }
+
+  private void toast(int textId) {
+    toast(getString(textId));
+  }
+
+  private void toast(CharSequence text) {
+    Toast.makeText(this, text, Toast.LENGTH_LONG).show();
+  }
+
+  private void alert(int titleId, CharSequence message) {
+    alert(getString(titleId), message);
+  }
+
+  private void alert(CharSequence title, CharSequence message) {
+    new AlertDialog.Builder(this)
+        .setTitle(title)
+        .setMessage(message)
+        .setPositiveButton(android.R.string.ok, null)
+        .show();
+  }
+}

wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/util/RootUtils.java

@@ -0,0 +1,76 @@
+package com.slightech.mynteye.demo.util;
+
+import com.stericson.RootShell.RootShell;
+import com.stericson.RootShell.exceptions.RootDeniedException;
+import com.stericson.RootShell.execution.Command;
+import com.stericson.RootShell.execution.Shell;
+import java.io.IOException;
+import java.util.concurrent.TimeoutException;
+import timber.log.Timber;
+
+public final class RootUtils {
+
+  public interface OnRequestAccessibleListener {
+    void onRequestAccessible(boolean ok);
+  }
+
+  public static boolean isRooted() {
+    if (!RootShell.isRootAvailable()) {
+      Timber.e("Root not found");
+      return false;
+    }
+
+    try {
+      RootShell.getShell(true);
+    } catch (IOException e) {
+      e.printStackTrace();
+      return false;
+    } catch (TimeoutException e) {
+      Timber.e("TIMEOUT EXCEPTION!");
+      e.printStackTrace();
+      return false;
+    } catch (RootDeniedException e) {
+      Timber.e("ROOT DENIED EXCEPTION!");
+      e.printStackTrace();
+      return false;
+    }
+
+    try {
+      if (!RootShell.isAccessGiven()) {
+        Timber.e("ERROR: No root access to this device.");
+        return false;
+      }
+    } catch (Exception e) {
+      Timber.e("ERROR: could not determine root access to this device.");
+      return false;
+    }
+
+    return true;
+  }
+
+  public static void requestAccessible(OnRequestAccessibleListener l) {
+    try {
+      Shell sh = RootShell.getShell(true);
+      sh.add(new Command(1, "chmod 666 /dev/video*") {
+        @Override
+        public void commandOutput(int id, String line) {
+          Timber.d("commandOutput: %s", line);
+          super.commandOutput(id, line);
+        }
+        @Override
+        public void commandTerminated(int id, String reason) {
+          Timber.d("commandTerminated: %s", reason);
+        }
+        @Override
+        public void commandCompleted(int id, int exitcode) {
+          Timber.d("commandCompleted: %s", ((exitcode == 0) ? "ok" : "fail"));
+          if (l != null) l.onRequestAccessible(exitcode == 0);
+        }
+      });
+      sh.close();
+    } catch (Exception e) {
+      e.printStackTrace();
+    }
+  }
+
+}

wrappers/android/mynteye/app/src/main/res/layout/activity_main.xml

@@ -0,0 +1,58 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="horizontal"
+    tools:context=".ui.MainActivity"
+    >
+
+  <TextView
+      android:id="@+id/text"
+      android:layout_width="match_parent"
+      android:layout_height="wrap_content"
+      android:layout_marginEnd="8dp"
+      android:layout_marginStart="8dp"
+      android:text="@string/tip_open"
+      app:layout_constraintEnd_toEndOf="parent"
+      app:layout_constraintStart_toStartOf="parent"
+      app:layout_constraintTop_toTopOf="parent"
+      />
+
+  <androidx.constraintlayout.widget.ConstraintLayout
+      android:id="@+id/layout_image"
+      android:layout_width="0dp"
+      android:layout_height="0dp"
+      app:layout_constraintBottom_toBottomOf="parent"
+      app:layout_constraintEnd_toEndOf="parent"
+      app:layout_constraintStart_toStartOf="parent"
+      app:layout_constraintTop_toTopOf="parent"
+      >
+
+    <ImageView
+        android:id="@+id/image_left"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toStartOf="@id/image_right"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintVertical_weight="1"
+        />
+
+    <ImageView
+        android:id="@+id/image_right"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toEndOf="@id/image_left"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintVertical_weight="1"
+        />
+
+  </androidx.constraintlayout.widget.ConstraintLayout>
+
+</androidx.constraintlayout.widget.ConstraintLayout>

wrappers/android/mynteye/app/src/main/res/menu/menu_main.xml

@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="utf-8"?>
+<menu xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+  <item
+      android:id="@+id/action_open"
+      android:title="@string/open"
+      app:showAsAction="ifRoom|withText" />
+  <item
+      android:id="@+id/action_close"
+      android:title="@string/close"
+      app:showAsAction="ifRoom|withText" />
+
+  <item
+      android:id="@+id/check_imu_data"
+      android:title="@string/imu_data"
+      android:checkable="true"
+      android:checked="false"
+      app:showAsAction="never" />
+
+  <item
+      android:id="@+id/show_device_infos"
+      android:title="@string/device_infos"
+      app:showAsAction="never" />
+  <item
+      android:id="@+id/show_image_params"
+      android:title="@string/image_params"
+      app:showAsAction="never" />
+  <item
+      android:id="@+id/show_imu_params"
+      android:title="@string/imu_params"
+      app:showAsAction="never" />
+  <item
+      android:id="@+id/show_option_infos"
+      android:title="@string/option_infos"
+      app:showAsAction="never" />
+</menu>

wrappers/android/mynteye/app/src/main/res/values/colors.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+  <color name="colorPrimary">#008577</color>
+  <color name="colorPrimaryDark">#00574B</color>
+  <color name="colorAccent">#D81B60</color>
+</resources>

wrappers/android/mynteye/app/src/main/res/values/strings.xml

@@ -0,0 +1,15 @@
+<resources>
+  <string name="app_name">MYNTEYE-S SDK Sample</string>
+
+  <string name="tip_open">Please \"Open\" the camera!</string>
+
+  <string name="open">Open</string>
+  <string name="close">Close</string>
+
+  <string name="imu_data">Imu Data</string>
+
+  <string name="device_infos">Device Infos</string>
+  <string name="image_params">Image Params</string>
+  <string name="imu_params">Imu Params</string>
+  <string name="option_infos">Option Infos</string>
+</resources>

wrappers/android/mynteye/app/src/main/res/values/styles.xml

@@ -0,0 +1,11 @@
+<resources>
+
+  <!-- Base application theme. -->
+  <style name="AppTheme" parent="Theme.AppCompat.Light.DarkActionBar">
+    <!-- Customize your theme here. -->
+    <item name="colorPrimary">@color/colorPrimary</item>
+    <item name="colorPrimaryDark">@color/colorPrimaryDark</item>
+    <item name="colorAccent">@color/colorAccent</item>
+  </style>
+
+</resources>

wrappers/android/mynteye/app/src/test/java/com/slightech/mynteye/demo/ExampleUnitTest.java

@@ -0,0 +1,17 @@
+package com.slightech.mynteye.demo;
+
+import org.junit.Test;
+
+import static org.junit.Assert.*;
+
+/**
+ * Example local unit test, which will execute on the development machine (host).
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+public class ExampleUnitTest {
+  @Test
+  public void addition_isCorrect() {
+    assertEquals(4, 2 + 2);
+  }
+}

wrappers/android/mynteye/build.gradle

@@ -0,0 +1,27 @@
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+
+buildscript {
+  apply from: rootProject.file('gradle/dependencies.gradle')
+
+  repositories {
+    google()
+    jcenter()
+  }
+  dependencies {
+    classpath 'com.android.tools.build:gradle:3.3.1'
+
+    // NOTE: Do not place your application dependencies here; they belong
+    // in the individual module build.gradle files
+  }
+}
+
+allprojects {
+  repositories {
+    google()
+    jcenter()
+  }
+}
+
+task clean(type: Delete) {
+  delete rootProject.buildDir
+}

wrappers/android/mynteye/gradle.properties

@@ -0,0 +1,17 @@
+# Project-wide Gradle settings.
+# IDE (e.g. Android Studio) users:
+# Gradle settings configured through the IDE *will override*
+# any settings specified in this file.
+# For more details on how to configure your build environment visit
+# http://www.gradle.org/docs/current/userguide/build_environment.html
+# Specifies the JVM arguments used for the daemon process.
+# The setting is particularly useful for tweaking memory settings.
+android.enableJetifier=true
+android.useAndroidX=true
+org.gradle.jvmargs=-Xmx1536m
+# When configured, Gradle will run in incubating parallel mode.
+# This option should only be used with decoupled projects. More details, visit
+# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
+# org.gradle.parallel=true
+
+

wrappers/android/mynteye/gradle/dependencies.gradle

@@ -0,0 +1,10 @@
+ext {
+  xversions = [
+    'compileSdk': 28,
+    'minSdk': 24,
+    'targetSdk': 28,
+  ]
+
+  xabis = ['arm64-v8a', 'armeabi-v7a'] as String[]
+  //xabis = ['arm64-v8a', 'armeabi-v7a', 'x86', 'x86_64'] as String[]
+}

wrappers/android/mynteye/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,6 @@
+#Tue Jan 15 14:54:17 CST 2019
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.10.1-all.zip

wrappers/android/mynteye/gradlew

@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"

wrappers/android/mynteye/gradlew.bat

@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

wrappers/android/mynteye/libmynteye/.gitignore

@@ -0,0 +1 @@
+/build

wrappers/android/mynteye/libmynteye/CMakeLists.txt

@@ -0,0 +1,122 @@
+# For more information about using CMake with Android Studio, read the
+# documentation: https://d.android.com/studio/projects/add-native-code.html
+
+# Sets the minimum version of CMake required to build the native library.
+
+cmake_minimum_required(VERSION 3.4.1)
+
+get_filename_component(MYNTETE_ROOT "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
+message(STATUS "MYNTETE_ROOT: ${MYNTETE_ROOT}")
+
+get_filename_component(PRO_ROOT "${PROJECT_SOURCE_DIR}/.." ABSOLUTE)
+message(STATUS "PRO_ROOT: ${PRO_ROOT}")
+
+set(LIB_ROOT "${PROJECT_SOURCE_DIR}")
+message(STATUS "LIB_ROOT: ${LIB_ROOT}")
+
+if(NOT DJINNI_DIR)
+  if(DEFINED ENV{DJINNI_DIR})
+    set(DJINNI_DIR $ENV{DJINNI_DIR})
+  else()
+    set(DJINNI_DIR "${PRO_ROOT}/third_party/djinni")
+  endif()
+endif()
+
+# libs
+
+## log
+
+find_library(log-lib log)
+
+## jnigraphics
+
+find_library(jnigraphics-lib jnigraphics)
+
+## djinni_jni
+
+include_directories(
+  ${DJINNI_DIR}/support-lib/jni
+)
+add_library(djinni_jni STATIC
+  ${DJINNI_DIR}/support-lib/jni/djinni_support.cpp
+)
+
+## mynteye_internal
+
+add_library(mynteye_internal SHARED IMPORTED)
+set_target_properties(mynteye_internal PROPERTIES
+  IMPORTED_LOCATION "${LIB_ROOT}/src/main/jniLibs/${ANDROID_ABI}/libmynteye_internal.so"
+)
+
+# targets
+
+## libmynteye
+
+add_definitions(-DMYNTEYE_EXPORTS)
+
+set(MYNTEYE_NAMESPACE "mynteye")
+#message(STATUS "Namespace: ${MYNTEYE_NAMESPACE}")
+
+configure_file(
+  ${MYNTETE_ROOT}/include/mynteye/mynteye.h.in
+  include/mynteye/mynteye.h @ONLY
+)
+
+set(MYNTEYE_SRCS
+  #${MYNTETE_ROOT}/src/mynteye/uvc/linux/uvc-v4l2.cc
+  ${MYNTETE_ROOT}/src/mynteye/types.cc
+  ${MYNTETE_ROOT}/src/mynteye/util/files.cc
+  ${MYNTETE_ROOT}/src/mynteye/util/strings.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/channel/bytes.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/channel/channels.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/channel/file_channel.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/config.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/context.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/device.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/motions.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard/channels_adapter_s.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard/device_s.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard/streams_adapter_s.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard2/channels_adapter_s2.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard2/device_s2.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard2/streams_adapter_s2.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/streams.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/types.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/utils.cc
+)
+
+list(APPEND MYNTEYE_SRCS ${MYNTETE_ROOT}/src/mynteye/miniglog.cc)
+
+add_library(mynteye STATIC ${MYNTEYE_SRCS})
+target_link_libraries(mynteye ${log-lib})
+
+target_include_directories(mynteye PUBLIC
+  "$<BUILD_INTERFACE:${MYNTETE_ROOT}/include>"
+  "$<BUILD_INTERFACE:${MYNTETE_ROOT}/src>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>"
+)
+
+## libmynteye_jni
+
+set(CPP_DIR "${PROJECT_SOURCE_DIR}/src/main/cpp")
+
+include_directories(
+  ${CPP_DIR}/mynteye/cpp
+  ${CPP_DIR}/mynteye/impl
+  ${CPP_DIR}/mynteye/jni
+)
+
+set(MYNTEYE_JNI_SRCS "")
+foreach(__dir cpp impl jni)
+  file(GLOB __srcs "${CPP_DIR}/mynteye/${__dir}/*.cpp")
+  list(APPEND MYNTEYE_JNI_SRCS ${__srcs})
+endforeach()
+#message(STATUS "MYNTEYE_JNI_SRCS: ${MYNTEYE_JNI_SRCS}")
+
+add_library(mynteye_jni SHARED
+  ${DJINNI_DIR}/support-lib/jni/djinni_main.cpp
+  ${CPP_DIR}/mynteye/impl/util/jni_util.cpp
+  ${MYNTEYE_JNI_SRCS}
+)
+target_link_libraries(mynteye_jni ${log-lib} ${jnigraphics-lib} djinni_jni mynteye mynteye_internal)

wrappers/android/mynteye/libmynteye/build.gradle

@@ -0,0 +1,53 @@
+apply plugin: 'com.android.library'
+
+android {
+  compileSdkVersion xversions.compileSdk
+
+  defaultConfig {
+    minSdkVersion xversions.minSdk
+    targetSdkVersion xversions.targetSdk
+    versionCode 1
+    versionName "1.0"
+
+    testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+
+    externalNativeBuild {
+      // https://developer.android.com/ndk/guides/cmake
+      cmake {
+        cppFlags "-std=c++11 -frtti -fexceptions"
+      }
+    }
+
+    ndk {
+      abiFilters xabis
+    }
+  }
+
+  buildTypes {
+    release {
+      minifyEnabled false
+      proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+    }
+  }
+
+  externalNativeBuild {
+    cmake {
+      path "CMakeLists.txt"
+    }
+  }
+
+  compileOptions {
+    sourceCompatibility JavaVersion.VERSION_1_8
+    targetCompatibility JavaVersion.VERSION_1_8
+  }
+}
+
+dependencies {
+  implementation fileTree(dir: 'libs', include: ['*.jar'])
+
+  implementation 'androidx.annotation:annotation:1.0.1'
+
+  testImplementation 'junit:junit:4.12'
+  androidTestImplementation 'androidx.test:runner:1.1.1'
+  androidTestImplementation 'androidx.test.espresso:espresso-core:3.1.1'
+}

wrappers/android/mynteye/libmynteye/proguard-rules.pro

@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile

wrappers/android/mynteye/libmynteye/src/androidTest/java/com/slightech/mynteye/ExampleInstrumentedTest.java

@@ -0,0 +1,26 @@
+package com.slightech.mynteye;
+
+import android.content.Context;
+import androidx.test.InstrumentationRegistry;
+import androidx.test.runner.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+  @Test
+  public void useAppContext() {
+    // Context of the app under test.
+    Context appContext = InstrumentationRegistry.getTargetContext();
+
+    assertEquals("com.slightech.mynteye.test", appContext.getPackageName());
+  }
+}

wrappers/android/mynteye/libmynteye/src/main/AndroidManifest.xml

@@ -0,0 +1,2 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.slightech.mynteye"/>

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/addon.hpp

@@ -0,0 +1,28 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Addon : int {
+    /** Infrared */
+    INFRARED,
+    /** Second infrared */
+    INFRARED2,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Addon> {
+    size_t operator()(::mynteye_jni::Addon type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/calibration_model.hpp

@@ -0,0 +1,30 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class CalibrationModel : int {
+    /** Pinhole */
+    PINHOLE,
+    /** Equidistant: KANNALA_BRANDT */
+    KANNALA_BRANDT,
+    /** Unknow */
+    UNKNOW,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::CalibrationModel> {
+    size_t operator()(::mynteye_jni::CalibrationModel type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/capability.hpp

@@ -0,0 +1,42 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Capability : int {
+    /** Provides stereo stream */
+    STEREO,
+    /** Provide stereo color stream */
+    STEREO_COLOR,
+    /** Provides color stream */
+    COLOR,
+    /** Provides depth stream */
+    DEPTH,
+    /** Provides point cloud stream */
+    POINTS,
+    /** Provides fisheye stream */
+    FISHEYE,
+    /** Provides infrared stream */
+    INFRARED,
+    /** Provides second infrared stream */
+    INFRARED2,
+    /** Provides IMU (accelerometer, gyroscope) data */
+    IMU,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Capability> {
+    size_t operator()(::mynteye_jni::Capability type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/device.hpp

@@ -0,0 +1,106 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye.djinni
+
+#pragma once
+
+#include "addon.hpp"
+#include "capability.hpp"
+#include "device_usb_info.hpp"
+#include "extrinsics.hpp"
+#include "info.hpp"
+#include "intrinsics.hpp"
+#include "model.hpp"
+#include "motion_data.hpp"
+#include "motion_intrinsics.hpp"
+#include "option.hpp"
+#include "option_info.hpp"
+#include "source.hpp"
+#include "stream.hpp"
+#include "stream_data.hpp"
+#include "stream_request.hpp"
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** Device class to communicate with MYNT® EYE device */
+class Device {
+public:
+    virtual ~Device() {}
+
+    /** Create the device instance */
+    static std::shared_ptr<Device> Create(const ::mynteye_jni::DeviceUsbInfo & info);
+
+    /** Get the model */
+    virtual ::mynteye_jni::Model GetModel() = 0;
+
+    /** Supports the stream or not */
+    virtual bool SupportsStream(::mynteye_jni::Stream stream) = 0;
+
+    /** Supports the capability or not */
+    virtual bool SupportsCapability(::mynteye_jni::Capability capabilities) = 0;
+
+    /** Supports the option or not */
+    virtual bool SupportsOption(::mynteye_jni::Option option) = 0;
+
+    /** Supports the addon or not */
+    virtual bool SupportsAddon(::mynteye_jni::Addon addon) = 0;
+
+    /** Get all stream requests */
+    virtual std::vector<::mynteye_jni::StreamRequest> GetStreamRequests() = 0;
+
+    /** Config the stream request */
+    virtual void ConfigStreamRequest(const ::mynteye_jni::StreamRequest & request) = 0;
+
+    /** Get the device info */
+    virtual std::string GetInfo(::mynteye_jni::Info info) = 0;
+
+    /** Get the intrinsics of stream */
+    virtual ::mynteye_jni::Intrinsics GetIntrinsics(::mynteye_jni::Stream stream) = 0;
+
+    /** Get the extrinsics of stream */
+    virtual ::mynteye_jni::Extrinsics GetExtrinsics(::mynteye_jni::Stream from, ::mynteye_jni::Stream to) = 0;
+
+    /** Get the intrinsics of motion */
+    virtual ::mynteye_jni::MotionIntrinsics GetMotionIntrinsics() = 0;
+
+    /** Get the extrinsics from one stream to motion */
+    virtual ::mynteye_jni::Extrinsics GetMotionExtrinsics(::mynteye_jni::Stream from) = 0;
+
+    /** Get the option info */
+    virtual ::mynteye_jni::OptionInfo GetOptionInfo(::mynteye_jni::Option option) = 0;
+
+    /** Get the option value */
+    virtual int32_t GetOptionValue(::mynteye_jni::Option option) = 0;
+
+    /** Set the option value */
+    virtual void SetOptionValue(::mynteye_jni::Option option, int32_t value) = 0;
+
+    /** Run the option value */
+    virtual bool RunOptionAction(::mynteye_jni::Option option) = 0;
+
+    /** Start capturing the source */
+    virtual void Start(::mynteye_jni::Source source) = 0;
+
+    /** Stop capturing the source */
+    virtual void Stop(::mynteye_jni::Source source) = 0;
+
+    /** Wait the streams are ready */
+    virtual void WaitForStreams() = 0;
+
+    /** Get the latest data of stream */
+    virtual std::shared_ptr<::mynteye_jni::StreamData> GetStreamData(::mynteye_jni::Stream stream) = 0;
+
+    /** Get the datas of stream */
+    virtual std::vector<std::shared_ptr<::mynteye_jni::StreamData>> GetStreamDatas(::mynteye_jni::Stream stream) = 0;
+
+    /** Enable cache motion datas until get them, otherwise using callback instead */
+    virtual void EnableMotionDatas(int32_t max_size) = 0;
+
+    /** Get the motion datas */
+    virtual std::vector<std::shared_ptr<::mynteye_jni::MotionData>> GetMotionDatas() = 0;
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/device_usb_info.hpp

@@ -0,0 +1,50 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <string>
+#include <utility>
+
+namespace mynteye_jni {
+
+/** Device USB information */
+struct DeviceUsbInfo final {
+    /** Vendor id */
+    int32_t vid;
+    /** Product id */
+    int32_t pid;
+    /** File descriptor */
+    int32_t fd;
+    /** Bus number */
+    int32_t bus_num;
+    /** Dev number */
+    int32_t dev_num;
+    /** Usb file system path */
+    std::string usb_fs;
+    /** Product name */
+    std::string name;
+    /** Serial number */
+    std::string serial;
+
+    DeviceUsbInfo(int32_t vid_,
+                  int32_t pid_,
+                  int32_t fd_,
+                  int32_t bus_num_,
+                  int32_t dev_num_,
+                  std::string usb_fs_,
+                  std::string name_,
+                  std::string serial_)
+    : vid(std::move(vid_))
+    , pid(std::move(pid_))
+    , fd(std::move(fd_))
+    , bus_num(std::move(bus_num_))
+    , dev_num(std::move(dev_num_))
+    , usb_fs(std::move(usb_fs_))
+    , name(std::move(name_))
+    , serial(std::move(serial_))
+    {}
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/extrinsics.hpp

@@ -0,0 +1,25 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <utility>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** Extrinsics, represent how the different datas are connected */
+struct Extrinsics final {
+    /** Rotation matrix, 3x3 */
+    std::vector<double> rotation;
+    /** Translation vector, 1x3 */
+    std::vector<double> translation;
+
+    Extrinsics(std::vector<double> rotation_,
+               std::vector<double> translation_)
+    : rotation(std::move(rotation_))
+    , translation(std::move(translation_))
+    {}
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/format.hpp

@@ -0,0 +1,32 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Format : int {
+    /** Greyscale, 8 bits per pixel */
+    GREY,
+    /** YUV 4:2:2, 16 bits per pixel */
+    YUYV,
+    /** BGR 8:8:8, 24 bits per pixel */
+    BGR888,
+    /** RGB 8:8:8, 24 bits per pixel */
+    RGB888,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Format> {
+    size_t operator()(::mynteye_jni::Format type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/frame.hpp

@@ -0,0 +1,34 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <vector>
+
+namespace mynteye_jni {
+
+enum class Format;
+
+/** Frame with raw data */
+class Frame {
+public:
+    virtual ~Frame() {}
+
+    /** Get the width */
+    virtual int32_t Width() = 0;
+
+    /** Get the height */
+    virtual int32_t Height() = 0;
+
+    /** Get the pixel format */
+    virtual ::mynteye_jni::Format Format() = 0;
+
+    /** Get the size */
+    virtual int32_t Size() = 0;
+
+    /** Get the data */
+    virtual std::vector<uint8_t> Data() = 0;
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/img_data.hpp

@@ -0,0 +1,29 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <utility>
+
+namespace mynteye_jni {
+
+/** Image data */
+struct ImgData final {
+    /** Image frame id */
+    int64_t frame_id;
+    /** Image timestamp in 1us */
+    int64_t timestamp;
+    /** Image exposure time, virtual value in [1, 480] */
+    int64_t exposure_time;
+
+    ImgData(int64_t frame_id_,
+            int64_t timestamp_,
+            int64_t exposure_time_)
+    : frame_id(std::move(frame_id_))
+    , timestamp(std::move(timestamp_))
+    , exposure_time(std::move(exposure_time_))
+    {}
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/imu_data.hpp

@@ -0,0 +1,47 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <utility>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** IMU data */
+struct ImuData final {
+    /** IMU frame id */
+    int64_t frame_id;
+    /**
+     * IMU accel or gyro flag
+     *   0: accel and gyro are both valid
+     *   1: accel is valid
+     *   2: gyro is valid
+     */
+    int32_t flag;
+    /** IMU timestamp in 1us */
+    int64_t timestamp;
+    /** IMU accelerometer data for 3-axis: X, Y, Z. */
+    std::vector<double> accel;
+    /** IMU gyroscope data for 3-axis: X, Y, Z. */
+    std::vector<double> gyro;
+    /** IMU temperature */
+    double temperature;
+
+    ImuData(int64_t frame_id_,
+            int32_t flag_,
+            int64_t timestamp_,
+            std::vector<double> accel_,
+            std::vector<double> gyro_,
+            double temperature_)
+    : frame_id(std::move(frame_id_))
+    , flag(std::move(flag_))
+    , timestamp(std::move(timestamp_))
+    , accel(std::move(accel_))
+    , gyro(std::move(gyro_))
+    , temperature(std::move(temperature_))
+    {}
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/imu_intrinsics.hpp

@@ -0,0 +1,38 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <utility>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** IMU intrinsics: scale, drift and variances */
+struct ImuIntrinsics final {
+    /**
+     * Scale matrix 3x3
+     *  Scale X     cross axis  cross axis
+     *  cross axis  Scale Y     cross axis
+     *  cross axis  cross axis  Scale Z
+     */
+    std::vector<double> scale;
+    /** Zero-drift: X, Y, Z 1x3 */
+    std::vector<double> drift;
+    /** Noise density variances 1x3 */
+    std::vector<double> noise;
+    /** Random walk variances 1x3 */
+    std::vector<double> bias;
+
+    ImuIntrinsics(std::vector<double> scale_,
+                  std::vector<double> drift_,
+                  std::vector<double> noise_,
+                  std::vector<double> bias_)
+    : scale(std::move(scale_))
+    , drift(std::move(drift_))
+    , noise(std::move(noise_))
+    , bias(std::move(bias_))
+    {}
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/info.hpp

@@ -0,0 +1,40 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Info : int {
+    /** Device name */
+    DEVICE_NAME,
+    /** Serial number */
+    SERIAL_NUMBER,
+    /** Firmware version */
+    FIRMWARE_VERSION,
+    /** Hardware version */
+    HARDWARE_VERSION,
+    /** Spec version */
+    SPEC_VERSION,
+    /** Lens type */
+    LENS_TYPE,
+    /** IMU type */
+    IMU_TYPE,
+    /** Nominal baseline */
+    NOMINAL_BASELINE,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Info> {
+    size_t operator()(::mynteye_jni::Info type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/intrinsics.hpp

@@ -0,0 +1,55 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "calibration_model.hpp"
+#include <cstdint>
+#include <utility>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** Stream intrinsics */
+struct Intrinsics final {
+    /** The calibration model */
+    CalibrationModel calib_model;
+    /** The width of the image in pixels */
+    int32_t width;
+    /** The height of the image in pixels */
+    int32_t height;
+    /** The focal length of the image plane, as a multiple of pixel width (pinhole) */
+    double fx;
+    /** The focal length of the image plane, as a multiple of pixel height (pinhole) */
+    double fy;
+    /** The horizontal coordinate of the principal point of the image (pinhole) */
+    double cx;
+    /** The vertical coordinate of the principal point of the image (pinhole) */
+    double cy;
+    /**
+     * The distortion coefficients
+     *   pinhole: k1,k2,p1,p2,k3
+     *   kannala_brandt: k2,k3,k4,k5,mu,mv,u0,v0
+     */
+    std::vector<double> coeffs;
+
+    Intrinsics(CalibrationModel calib_model_,
+               int32_t width_,
+               int32_t height_,
+               double fx_,
+               double fy_,
+               double cx_,
+               double cy_,
+               std::vector<double> coeffs_)
+    : calib_model(std::move(calib_model_))
+    , width(std::move(width_))
+    , height(std::move(height_))
+    , fx(std::move(fx_))
+    , fy(std::move(fy_))
+    , cx(std::move(cx_))
+    , cy(std::move(cy_))
+    , coeffs(std::move(coeffs_))
+    {}
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/model.hpp

@@ -0,0 +1,30 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Model : int {
+    /** Standard */
+    STANDARD,
+    /** Standard 2 */
+    STANDARD2,
+    /** Standard 210a */
+    STANDARD210A,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Model> {
+    size_t operator()(::mynteye_jni::Model type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/motion_data.hpp

@@ -0,0 +1,18 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+namespace mynteye_jni {
+
+struct ImuData;
+
+/** Device motion data */
+class MotionData {
+public:
+    virtual ~MotionData() {}
+
+    virtual ImuData Imu() = 0;
+};
+
+}  // namespace mynteye_jni

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/motion_intrinsics.hpp

@@ -0,0 +1,25 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "imu_intrinsics.hpp"
+#include <utility>
+
+namespace mynteye_jni {
+
+/** Motion intrinsics, including accelerometer and gyroscope */
+struct MotionIntrinsics final {
+    /** Accelerometer intrinsics */
+    ImuIntrinsics accel;
+    /** Gyroscope intrinsics */
+    ImuIntrinsics gyro;
+
+    MotionIntrinsics(ImuIntrinsics accel_,
+                     ImuIntrinsics gyro_)
+    : accel(std::move(accel_))
+    , gyro(std::move(gyro_))
+    {}
+};
+
+}  // namespace mynteye_jni