diff --git a/.gitmodules b/.gitmodules
index d40f165..3a8bfae 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,6 @@
 [submodule "test/gtest"]
 	path = test/gtest
 	url = https://github.com/google/googletest.git
-[submodule "third_party/glog"]
-  path = third_party/glog
-  url = https://github.com/google/glog.git
 [submodule "tools/linter"]
   path = tools/linter
   url = https://github.com/slightech/linter.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 62c59a4..9305000 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -44,9 +44,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
+find_package(Threads QUIET)
+
+macro(target_link_threads NAME)
+  if(THREADS_HAVE_PTHREAD_ARG)
+    target_compile_options(PUBLIC ${NAME} "-pthread")
+  endif()
+  if(CMAKE_THREAD_LIBS_INIT)
+    target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}")
+  endif()
+endmacro()
 
 LIST(APPEND CMAKE_MODULE_PATH cmake)
 
@@ -90,19 +97,28 @@ set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
 
 ## main
 
-add_executable(main src/main.cc)
-target_link_libraries(main glog::glog)
-target_include_directories(main PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-  ${CMAKE_CURRENT_BINARY_DIR}/include
-)
+if(WITH_GLOG)
+  add_executable(main src/main.cc)
+  target_link_libraries(main glog::glog)
+  target_include_directories(main PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_BINARY_DIR}/include
+  )
+endif()
 
 ## libmynteye
 
+if(NOT WITH_GLOG)
+  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
+  unset(__MINIGLOG_FLAGS)
+endif()
+
 set(MYNTEYE_PUBLIC_H
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/glog_init.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
   ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h
@@ -119,6 +135,11 @@ if(WITH_API)
     ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
   )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_PUBLIC_H
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+  )
+endif()
 
 if(OS_WIN)
   set(UVC_SRC src/uvc/uvc-wmf.cc)
@@ -163,21 +184,25 @@ if(WITH_API)
     src/api/processor/points_processor.cc
   )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
+endif()
 
-set(MYNTEYE_LINKLIBS
-  glog::glog
-  ${UVC_LIB}
-)
+set(MYNTEYE_LINKLIBS ${UVC_LIB})
 if(WITH_API)
   list(APPEND MYNTEYE_LINKLIBS ${OpenCV_LIBS})
 endif()
 if(WITH_BOOST_FILESYSTEM)
   list(APPEND MYNTEYE_LINKLIBS ${Boost_LIBRARIES})
 endif()
+if(WITH_GLOG)
+  list(APPEND MYNTEYE_LINKLIBS glog::glog)
+endif()
 #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")
 
 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
 target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
+target_link_threads(${MYNTEYE_NAME})
 
 if(OS_WIN)
   target_compile_definitions(${MYNTEYE_NAME}
diff --git a/CPPLINT.cfg b/CPPLINT.cfg
new file mode 100644
index 0000000..95cd94f
--- /dev/null
+++ b/CPPLINT.cfg
@@ -0,0 +1,2 @@
+set noparent
+filter=-build/c++11
diff --git a/Makefile b/Makefile
index e8555fd..974617f 100644
--- a/Makefile
+++ b/Makefile
@@ -31,8 +31,8 @@ help:
 	@echo "  make opendoc         open api doc (html)"
 	@echo "  make init            init project"
 	@echo "  make build           build project"
-	@echo "  make test            build test and run"
 	@echo "  make install         install project"
+	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
 	@echo "  make ros             build ros wrapper"
@@ -41,7 +41,7 @@ help:
 
 .PHONY: help
 
-all: test tools samples
+all: test samples tools
 
 .PHONY: all
 
@@ -70,12 +70,7 @@ cleandoc:
 submodules:
 	@git submodule update --init
 
-third_party: submodules
-	@$(call echo,Make $@)
-	@$(call echo,Make glog,33)
-	@$(call cmake_build,./third_party/glog/_build)
-
-.PHONY: submodules third_party
+.PHONY: submodules
 
 # init
 
@@ -87,7 +82,7 @@ init: submodules
 
 # build
 
-build: third_party
+build: submodules
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
 	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
diff --git a/cmake/DetectGLog.cmake b/cmake/DetectGLog.cmake
new file mode 100644
index 0000000..daf42d7
--- /dev/null
+++ b/cmake/DetectGLog.cmake
@@ -0,0 +1,26 @@
+# 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(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+get_filename_component(__pro_dir ${CMAKE_CURRENT_LIST_DIR} DIRECTORY)
+LIST(APPEND CMAKE_PREFIX_PATH ${__pro_dir}/third_party/glog/_build)
+
+find_package(glog REQUIRED)
+if(glog_FOUND)
+  add_definitions(-DWITH_GLOG)
+endif()
+
+unset(__pro_dir)
diff --git a/cmake/Option.cmake b/cmake/Option.cmake
index f649391..98e9e49 100644
--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@@ -28,6 +28,10 @@ option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
 
 option(WITH_BOOST "Include Boost support" ON)
 
+# How to install glog?
+#   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
+option(WITH_GLOG "Include glog support" OFF)
+
 
 # packages
 
@@ -59,6 +63,10 @@ if(NOT WITH_FILESYSTEM)
   endif()
 endif()
 
+if(WITH_GLOG)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectGLog.cmake)
+endif()
+
 find_package(CUDA QUIET)
 
 # summary
@@ -125,6 +133,16 @@ if(WITH_BOOST)
   endif()
 endif()
 
+status("  WITH_GLOG: ${WITH_GLOG}")
+if(WITH_GLOG)
+  if(glog_FOUND)
+    status("    glog: YES")
+    status("    glog_VERSION: ${glog_VERSION}")
+  else()
+    status("    glog: NO")
+  endif()
+endif()
+
 status("")
 status("Features:")
 status("  Filesystem: "
diff --git a/doc/zh-Hans/guide_log.md b/doc/zh-Hans/guide_log.md
index ef16629..7863260 100644
--- a/doc/zh-Hans/guide_log.md
+++ b/doc/zh-Hans/guide_log.md
@@ -1,6 +1,6 @@
 # 日志 {#guide_log}
 
-日志系统用的 `glog` ，通用配置在头文件 `glog_init.h` 里。
+日志系统用的 `glog` ，通用配置在头文件 `logger.h` 里。
 
 * 日志文件会存储在当前工作目录， `make cleanlog` 可以清理。
-* 如果需要打开详细日志，请取消 `glog_init.h` 里注释的 `FLAGS_v = 2;` ，重新编译。
+* 如果需要打开详细日志，请取消 `logger.h` 里注释的 `FLAGS_v = 2;` ，重新编译。
diff --git a/include/mynteye/glog_init.h b/include/mynteye/logger.h
similarity index 84%
rename from include/mynteye/glog_init.h
rename to include/mynteye/logger.h
index e2ac989..65c8270 100644
--- a/include/mynteye/glog_init.h
+++ b/include/mynteye/logger.h
@@ -11,10 +11,12 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_GLOG_INIT_H_  // NOLINT
-#define MYNTEYE_GLOG_INIT_H_
+#ifndef MYNTEYE_LOGGER_H_
+#define MYNTEYE_LOGGER_H_
 #pragma once
 
+#ifdef WITH_GLOG
+
 #include <glog/logging.h>
 
 /** Helper to init glog with args. */
@@ -43,7 +45,7 @@ struct glog_init {
     FLAGS_log_dir = ".";
 
     // Sets the maximum log file size (in MB).
-    FLAGS_max_log_size = 1024;
+    FLAGS_max_log_size = 8;
 
     // Sets whether to avoid logging to the disk if the disk is full.
     FLAGS_stop_logging_if_full_disk = true;
@@ -62,4 +64,20 @@ struct glog_init {
   }
 };
 
-#endif  // MYNTEYE_GLOG_INIT_H_ NOLINT
+#else
+
+struct glog_init {
+  glog_init(int argc, char *argv[]) {
+    (void)argc;
+    (void)argv;
+    // Do nothing.
+  }
+};
+
+#define MAX_LOG_LEVEL google::INFO
+
+#include "mynteye/miniglog.h"
+
+#endif
+
+#endif  // MYNTEYE_LOGGER_H_
diff --git a/include/mynteye/miniglog.h b/include/mynteye/miniglog.h
new file mode 100644
index 0000000..0e0a2a2
--- /dev/null
+++ b/include/mynteye/miniglog.h
@@ -0,0 +1,535 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: settinger@google.com (Scott Ettinger)
+//         mierle@gmail.com (Keir Mierle)
+//
+// Simplified Glog style logging with Android support. Supported macros in
+// decreasing severity level per line:
+//
+//   VLOG(2), VLOG(N)
+//   VLOG(1),
+//   LOG(INFO), VLOG(0), LG
+//   LOG(WARNING),
+//   LOG(ERROR),
+//   LOG(FATAL),
+//
+// With VLOG(n), the output is directed to one of the 5 Android log levels:
+//
+//   2 - Verbose
+//   1 - Debug
+//   0 - Info
+//  -1 - Warning
+//  -2 - Error
+//  -3 - Fatal
+//
+// Any logging of level 2 and above is directed to the Verbose level. All
+// Android log output is tagged with the string "native".
+//
+// If the symbol ANDROID is not defined, all output goes to std::cerr.
+// This allows code to be built on a different system for debug.
+//
+// Portions of this code are taken from the GLOG package.  This code is only a
+// small subset of the GLOG functionality. Notable differences from GLOG
+// behavior include lack of support for displaying unprintable characters and
+// lack of stack trace information upon failure of the CHECK macros.  On
+// non-Android systems, log output goes to std::cerr and is not written to a
+// file.
+//
+// CHECK macros are defined to test for conditions within code.  Any CHECK that
+// fails will log the failure and terminate the application.
+// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging
+//      "Check failed 3 >= 4".
+//
+// The following CHECK macros are defined:
+//
+//   CHECK(condition)        - fails if condition is false and logs condition.
+//   CHECK_NOTNULL(variable) - fails if the variable is NULL.
+//
+// The following binary check macros are also defined :
+//
+//   Macro                     Operator equivalent
+//   --------------------      -------------------
+//   CHECK_EQ(val1, val2)      val1 == val2
+//   CHECK_NE(val1, val2)      val1 != val2
+//   CHECK_GT(val1, val2)      val1 > val2
+//   CHECK_GE(val1, val2)      val1 >= val2
+//   CHECK_LT(val1, val2)      val1 < val2
+//   CHECK_LE(val1, val2)      val1 <= val2
+//
+// Debug only versions of all of the check macros are also defined.  These
+// macros generate no code in a release build, but avoid unused variable
+// warnings / errors.
+//
+// To use the debug only versions, prepend a D to the normal check macros, e.g.
+// DCHECK_EQ(a, b).
+#ifndef MYNTEYE_MINIGLOG_H_
+#define MYNTEYE_MINIGLOG_H_
+
+#ifdef ANDROID
+#  include <android/log.h>
+#else
+#include <pthread.h>
+#include <sys/time.h>
+#include <unistd.h>
+#endif  // ANDROID
+
+#include <algorithm>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+// For appropriate definition of CERES_EXPORT macro.
+// Modified from ceres miniglog version [begin] -------------------------------
+//#include "ceres/internal/port.h"
+//#include "ceres/internal/disable_warnings.h"
+#define CERES_EXPORT
+// Modified from ceres miniglog version [end] ---------------------------------
+
+// Log severity level constants.
+const int FATAL   = -3;
+const int ERROR   = -2;
+const int WARNING = -1;
+const int INFO    =  0;
+
+// ------------------------- Glog compatibility ------------------------------
+
+namespace google {
+
+typedef int LogSeverity;
+const int INFO    = ::INFO;
+const int WARNING = ::WARNING;
+const int ERROR   = ::ERROR;
+const int FATAL   = ::FATAL;
+
+// Sink class used for integration with mock and test functions. If sinks are
+// added, all log output is also sent to each sink through the send function.
+// In this implementation, WaitTillSent() is called immediately after the send.
+// This implementation is not thread safe.
+class CERES_EXPORT LogSink {
+ public:
+  virtual ~LogSink() {}
+  virtual void send(LogSeverity severity,
+                    const char* full_filename,
+                    const char* base_filename,
+                    int line,
+                    const struct tm* tm_time,
+                    const char* message,
+                    size_t message_len) = 0;
+  virtual void WaitTillSent() = 0;
+};
+
+// Global set of log sinks. The actual object is defined in logging.cc.
+extern CERES_EXPORT std::set<LogSink *> log_sinks_global;
+
+inline void InitGoogleLogging(char *argv) {
+  // Do nothing; this is ignored.
+}
+
+// Note: the Log sink functions are not thread safe.
+inline void AddLogSink(LogSink *sink) {
+  // TODO(settinger): Add locks for thread safety.
+  log_sinks_global.insert(sink);
+}
+inline void RemoveLogSink(LogSink *sink) {
+  log_sinks_global.erase(sink);
+}
+
+}  // namespace google
+
+// ---------------------------- Logger Class --------------------------------
+
+// Class created for each use of the logging macros.
+// The logger acts as a stream and routes the final stream contents to the
+// Android logcat output at the proper filter level.  If ANDROID is not
+// defined, output is directed to std::cerr.  This class should not
+// be directly instantiated in code, rather it should be invoked through the
+// use of the log macros LG, LOG, or VLOG.
+class CERES_EXPORT MessageLogger {
+ public:
+  MessageLogger(const char *file, int line, const char *tag, int severity)
+    : file_(file), line_(line), tag_(tag), severity_(severity) {
+    // Pre-pend the stream with the file and line number.
+    StripBasename(std::string(file), &filename_only_);
+    stream_ << filename_only_ << ":" << line << " ";
+  }
+
+  // Output the contents of the stream to the proper channel on destruction.
+  ~MessageLogger() {
+    stream_ << "\n";
+
+#ifdef ANDROID
+    static const int android_log_levels[] = {
+        ANDROID_LOG_FATAL,    // LOG(FATAL)
+        ANDROID_LOG_ERROR,    // LOG(ERROR)
+        ANDROID_LOG_WARN,     // LOG(WARNING)
+        ANDROID_LOG_INFO,     // LOG(INFO), LG, VLOG(0)
+        ANDROID_LOG_DEBUG,    // VLOG(1)
+        ANDROID_LOG_VERBOSE,  // VLOG(2) .. VLOG(N)
+    };
+
+    // Bound the logging level.
+    const int kMaxVerboseLevel = 2;
+    int android_level_index = std::min(std::max(FATAL, severity_),
+                                       kMaxVerboseLevel) - FATAL;
+    int android_log_level = android_log_levels[android_level_index];
+
+    // Output the log string the Android log at the appropriate level.
+    __android_log_write(android_log_level, tag_.c_str(), stream_.str().c_str());
+
+    // Indicate termination if needed.
+    if (severity_ == FATAL) {
+      __android_log_write(ANDROID_LOG_FATAL,
+                          tag_.c_str(),
+                          "terminating.\n");
+    }
+#else
+    // For Ubuntu/Mac/Windows
+    // If not building on Android, log all output to std::cerr.
+    // Get timestamp
+    timeval curTime;
+    gettimeofday(&curTime, NULL);
+    int milli = curTime.tv_usec / 1000;
+    char buffer [20];
+    strftime(buffer, 80, "%m-%d %H:%M:%S", localtime(&curTime.tv_sec));
+    char time_cstr[24] = "";
+    sprintf(time_cstr, "%s:%d ", buffer, milli);
+    // Get pid & tid
+    char tid_cstr[24] = "";
+    pid_t  pid = getpid();
+    pthread_t tid = pthread_self();
+    sprintf(tid_cstr, "%d/%u ", pid, tid);
+    if (severity_ == FATAL) {
+        // Magenta color if fatal
+        std::cerr << "\033[1;35m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
+    } else if (severity_ == ERROR) {
+        // Red color if error
+        std::cerr << "\033[1;31m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
+    } else if (severity_ == WARNING) {
+        // Yellow color if warning
+        std::cerr << "\033[1;33m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
+    } else {
+        std::cerr << tid_cstr << time_cstr << SeverityLabelStr() << stream_.str();
+    }
+#endif
+
+    LogToSinks(severity_);
+    WaitForSinks();
+
+    // Android logging at level FATAL does not terminate execution, so abort()
+    // is still required to stop the program.
+    if (severity_ == FATAL) {
+      abort();
+    }
+  }
+
+  // Return the stream associated with the logger object.
+  std::stringstream &stream() { return stream_; }
+
+ private:
+  void LogToSinks(int severity) {
+    time_t rawtime;
+    time (&rawtime);
+
+    struct tm timeinfo;
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
+    // On Windows, use secure localtime_s not localtime.
+    localtime_s(&timeinfo, &rawtime);
+#else
+    // On non-Windows systems, use threadsafe localtime_r not localtime.
+    localtime_r(&rawtime, &timeinfo);
+#endif
+
+    std::set<google::LogSink*>::iterator iter;
+    // Send the log message to all sinks.
+    for (iter = google::log_sinks_global.begin();
+         iter != google::log_sinks_global.end(); ++iter) {
+      (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
+                    &timeinfo, stream_.str().c_str(), stream_.str().size());
+    }
+  }
+
+  void WaitForSinks() {
+    // TODO(settinger): Add locks for thread safety.
+    std::set<google::LogSink *>::iterator iter;
+
+    // Call WaitTillSent() for all sinks.
+    for (iter = google::log_sinks_global.begin();
+         iter != google::log_sinks_global.end(); ++iter) {
+      (*iter)->WaitTillSent();
+    }
+  }
+
+  void StripBasename(const std::string &full_path, std::string *filename) {
+    // TODO(settinger): Add support for OSs with different path separators.
+    const char kSeparator = '/';
+    size_t pos = full_path.rfind(kSeparator);
+    if (pos != std::string::npos) {
+      *filename = full_path.substr(pos + 1, std::string::npos);
+    } else {
+      *filename = full_path;
+    }
+  }
+
+  char SeverityLabel() {
+    switch (severity_) {
+      case FATAL:
+        return 'F';
+      case ERROR:
+        return 'E';
+      case WARNING:
+        return 'W';
+      case INFO:
+        return 'I';
+      default:
+        return 'V';
+    }
+  }
+
+  std::string SeverityLabelStr() {
+    switch (severity_) {
+      case FATAL:
+        return "FATAL   ";
+      case ERROR:
+        return "ERROR   ";
+      case WARNING:
+        return "WARNING ";
+      case INFO:
+        return "INFO    ";
+      default:
+        return "VERBOSE ";
+    }
+  }
+
+  std::string file_;
+  std::string filename_only_;
+  int line_;
+  std::string tag_;
+  std::stringstream stream_;
+  int severity_;
+};
+
+// ---------------------- Logging Macro definitions --------------------------
+
+// This class is used to explicitly ignore values in the conditional
+// logging macros.  This avoids compiler warnings like "value computed
+// is not used" and "statement has no effect".
+class CERES_EXPORT LoggerVoidify {
+ public:
+  LoggerVoidify() { }
+  // This has to be an operator with a precedence lower than << but
+  // higher than ?:
+  void operator&(const std::ostream &s) { }
+};
+
+// Log only if condition is met.  Otherwise evaluates to void.
+#define LOG_IF(severity, condition) \
+    !(condition) ? (void) 0 : LoggerVoidify() & \
+      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+
+// Log only if condition is NOT met.  Otherwise evaluates to void.
+#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
+
+// LG is a convenient shortcut for LOG(INFO). Its use is in new
+// google3 code is discouraged and the following shortcut exists for
+// backward compatibility with existing code.
+#ifdef MAX_LOG_LEVEL
+#  define LOG(n)  LOG_IF(n, n <= MAX_LOG_LEVEL)
+#  define VLOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
+#  define LG      LOG_IF(INFO, INFO <= MAX_LOG_LEVEL)
+#  define VLOG_IF(n, condition) LOG_IF(n, (n <= MAX_LOG_LEVEL) && condition)
+#else
+#  define LOG(n)  MessageLogger((char *)__FILE__, __LINE__, "native", n).stream()    // NOLINT
+#  define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream()    // NOLINT
+#  define LG      MessageLogger((char *)__FILE__, __LINE__, "native", INFO).stream() // NOLINT
+#  define VLOG_IF(n, condition) LOG_IF(n, condition)
+#endif
+
+// Currently, VLOG is always on for levels below MAX_LOG_LEVEL.
+#ifndef MAX_LOG_LEVEL
+#  define VLOG_IS_ON(x) (1)
+#else
+#  define VLOG_IS_ON(x) (x <= MAX_LOG_LEVEL)
+#endif
+
+#ifndef NDEBUG
+#  define DLOG LOG
+#else
+#  define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
+      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+#endif
+
+
+// Log a message and terminate.
+template<class T>
+void LogMessageFatal(const char *file, int line, const T &message) {
+  MessageLogger((char *)__FILE__, __LINE__, "native", FATAL).stream()
+      << message;
+}
+
+// ---------------------------- CHECK macros ---------------------------------
+
+// Check for a given boolean condition.
+#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+        << "Check failed: " #condition " "
+
+#ifndef NDEBUG
+// Debug only version of CHECK
+#  define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+          << "Check failed: " #condition " "
+#else
+// Optimized version - generates no code.
+#  define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \
+          << "Check failed: " #condition " "
+#endif  // NDEBUG
+
+// ------------------------- CHECK_OP macros ---------------------------------
+
+// Generic binary operator check macro. This should not be directly invoked,
+// instead use the binary comparison macros defined below.
+#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, ((val1) op (val2))) \
+  << "Check failed: " #val1 " " #op " " #val2 " "
+
+// Check_op macro definitions
+#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+
+// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
+// Add logging macros which are missing in glog or are not accessible for
+// whatever reason.
+#define CHECK_NEAR(val1, val2, margin)           \
+  do {                                           \
+    CHECK_LE((val1), (val2)+(margin));           \
+    CHECK_GE((val1), (val2)-(margin));           \
+  } while (0)
+
+#ifndef NDEBUG
+// Debug only versions of CHECK_OP macros.
+#  define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#  define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#  define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#  define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#  define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#  define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
+#  define DCHECK_NEAR(val1, val2, margin) CHECK_NEAR(val1, val2, margin)
+#else
+// These versions generate no code in optimized mode.
+#  define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
+#  define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
+#  define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
+#  define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
+#  define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
+#  define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
+// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
+#  define DCHECK_NEAR(val1, val2, margin) if (false) CHECK_NEAR(val1, val2, margin)
+#endif  // NDEBUG
+
+// ---------------------------CHECK_NOTNULL macros ---------------------------
+
+// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers
+// and smart pointers.
+template <typename T>
+T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) {
+  if (t == NULL) {
+    LogMessageFatal(file, line, std::string(names));
+  }
+  return t;
+}
+
+template <typename T>
+T* CheckNotNull(const char *file, int line, const char *names, T* t) {
+  return CheckNotNullCommon(file, line, names, t);
+}
+
+template <typename T>
+T& CheckNotNull(const char *file, int line, const char *names, T& t) {
+  return CheckNotNullCommon(file, line, names, t);
+}
+
+// Check that a pointer is not null.
+#define CHECK_NOTNULL(val) \
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+
+#ifndef NDEBUG
+// Debug only version of CHECK_NOTNULL
+#define DCHECK_NOTNULL(val) \
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#else
+// Optimized version - generates no code.
+#define DCHECK_NOTNULL(val) if (false)\
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#endif  // NDEBUG
+
+// Modified from ceres miniglog version [begin] -------------------------------
+//#include "ceres/internal/reenable_warnings.h"
+// Modified from ceres miniglog version [end] ---------------------------------
+
+
+// ---------------------------TRACE macros ---------------------------
+// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
+#define __FILENAME__ \
+  (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
+
+#define DEXEC(fn)                                                      \
+  do {                                                                 \
+    DLOG(INFO) << "[EXEC " << #fn << " START]";                        \
+    std::chrono::steady_clock::time_point begin =                      \
+      std::chrono::steady_clock::now();                                \
+    fn;                                                                \
+    std::chrono::steady_clock::time_point end =                        \
+      std::chrono::steady_clock::now();                                \
+    DLOG(INFO) << "[EXEC " << #fn << " FINISHED in "                   \
+             << std::chrono::duration_cast<std::chrono::microseconds>  \
+               (end - begin).count() << " ms]";                        \
+  } while (0);
+// DEXEC(fn)
+//
+// Usage:
+// DEXEC(foo());
+// -- output --
+// foo.cpp: 123 [EXEC foo() START]
+// foo.cpp: 123 [EXEC foo() FINISHED in 456 ms]
+
+#define DTRACE  DLOG(INFO) << "of [" << __func__ << "]";
+// Usage:
+// void foo() {
+//   DTRACE
+// }
+// -- output --
+// foo.cpp: 123 of [void foo(void)]
+
+#endif  // MYNTEYE_MINIGLOG_H_
diff --git a/mynteye-config.cmake.in b/mynteye-config.cmake.in
index aaeb16a..3514b78 100644
--- a/mynteye-config.cmake.in
+++ b/mynteye-config.cmake.in
@@ -14,4 +14,7 @@
 
 @PACKAGE_INIT@
 
+set(mynteye_WITH_API @WITH_API@)
+set(mynteye_WITH_GLOG @WITH_GLOG@)
+
 include("${CMAKE_CURRENT_LIST_DIR}/mynteye-targets.cmake")
diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt
index 2a0c4c6..4781867 100644
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@@ -47,10 +47,6 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 5cddd85..1159d2d 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "mynteye/api.h"
 #include "mynteye/times.h"
diff --git a/samples/api/get_depth_with_region.cc b/samples/api/get_depth_with_region.cc
index 0bd075c..5a1091b 100644
--- a/samples/api/get_depth_with_region.cc
+++ b/samples/api/get_depth_with_region.cc
@@ -14,8 +14,6 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 namespace {
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index bcd9695..00b1f0d 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -14,7 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"
diff --git a/samples/tutorials/control/auto_exposure.cc b/samples/tutorials/control/auto_exposure.cc
index efe77e6..b1bacc1 100644
--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 #include "util/cv_painter.h"
 
diff --git a/samples/tutorials/control/framerate.cc b/samples/tutorials/control/framerate.cc
index 1d05755..6a16a19 100644
--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@@ -13,11 +13,10 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include <atomic>
 
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 #include "mynteye/times.h"
 
 MYNTEYE_USE_NAMESPACE
diff --git a/samples/tutorials/control/infrared.cc b/samples/tutorials/control/infrared.cc
index 7ed6286..2a7ccd2 100644
--- a/samples/tutorials/control/infrared.cc
+++ b/samples/tutorials/control/infrared.cc
@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/control/manual_exposure.cc b/samples/tutorials/control/manual_exposure.cc
index 38afa32..386188b 100644
--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 #include "util/cv_painter.h"
 
diff --git a/samples/tutorials/data/get_depth.cc b/samples/tutorials/data/get_depth.cc
index 274c8ee..28ef244 100644
--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE
diff --git a/samples/tutorials/data/get_device_info.cc b/samples/tutorials/data/get_device_info.cc
index ee41348..d188fc6 100644
--- a/samples/tutorials/data/get_device_info.cc
+++ b/samples/tutorials/data/get_device_info.cc
@@ -11,9 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_disparity.cc b/samples/tutorials/data/get_disparity.cc
index 5a9f798..aa02e42 100644
--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE
diff --git a/samples/tutorials/data/get_from_callbacks.cc b/samples/tutorials/data/get_from_callbacks.cc
index cb51875..d38b7ae 100644
--- a/samples/tutorials/data/get_from_callbacks.cc
+++ b/samples/tutorials/data/get_from_callbacks.cc
@@ -13,14 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <sstream>
 
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 #include "util/cv_painter.h"
 
diff --git a/samples/tutorials/data/get_img_params.cc b/samples/tutorials/data/get_img_params.cc
index 5636120..7cfac2e 100644
--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -11,9 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_imu.cc b/samples/tutorials/data/get_imu.cc
index 6ed0552..5cda4a4 100644
--- a/samples/tutorials/data/get_imu.cc
+++ b/samples/tutorials/data/get_imu.cc
@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 #include "util/cv_painter.h"
 
diff --git a/samples/tutorials/data/get_imu_params.cc b/samples/tutorials/data/get_imu_params.cc
index ddcfd49..1a307f8 100644
--- a/samples/tutorials/data/get_imu_params.cc
+++ b/samples/tutorials/data/get_imu_params.cc
@@ -11,9 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_points.cc b/samples/tutorials/data/get_points.cc
index 828418d..66f3341 100644
--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 #include "util/pc_viewer.h"
diff --git a/samples/tutorials/data/get_stereo.cc b/samples/tutorials/data/get_stereo.cc
index a82a9e9..7899765 100644
--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE
diff --git a/samples/tutorials/data/get_stereo_rectified.cc b/samples/tutorials/data/get_stereo_rectified.cc
index 04c4eae..ea1a8b5 100644
--- a/samples/tutorials/data/get_stereo_rectified.cc
+++ b/samples/tutorials/data/get_stereo_rectified.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE
diff --git a/samples/tutorials/data/get_with_plugin.cc b/samples/tutorials/data/get_with_plugin.cc
index a2201ba..dbaa574 100644
--- a/samples/tutorials/data/get_with_plugin.cc
+++ b/samples/tutorials/data/get_with_plugin.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE
diff --git a/samples/tutorials/intermediate/get_all_device_info.cc b/samples/tutorials/intermediate/get_all_device_info.cc
index b113c27..ec07c3a 100644
--- a/samples/tutorials/intermediate/get_all_device_info.cc
+++ b/samples/tutorials/intermediate/get_all_device_info.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "mynteye/context.h"
 #include "mynteye/device.h"
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/intermediate/get_depth_and_points.cc b/samples/tutorials/intermediate/get_depth_and_points.cc
index c137954..03391f5 100644
--- a/samples/tutorials/intermediate/get_depth_and_points.cc
+++ b/samples/tutorials/intermediate/get_depth_and_points.cc
@@ -14,8 +14,6 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 #include "util/cv_painter.h"
diff --git a/samples/tutorials/util/cv_painter.cc b/samples/tutorials/util/cv_painter.cc
index c0c6f6a..eaa7d8a 100644
--- a/samples/tutorials/util/cv_painter.cc
+++ b/samples/tutorials/util/cv_painter.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include "util/cv_painter.h"
 
-#include <glog/logging.h>
-
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include <iomanip>
@@ -22,6 +20,7 @@
 #include <memory>
 #include <utility>
 
+#include "mynteye/logger.h"
 #include "mynteye/utils.h"
 
 #define FONT_FACE cv::FONT_HERSHEY_PLAIN
diff --git a/samples/tutorials/util/pc_viewer.cc b/samples/tutorials/util/pc_viewer.cc
index 2fb7394..bec96dc 100644
--- a/samples/tutorials/util/pc_viewer.cc
+++ b/samples/tutorials/util/pc_viewer.cc
@@ -13,12 +13,12 @@
 // limitations under the License.
 #include "util/pc_viewer.h"
 
-#include <glog/logging.h>
-
 // #include <pcl/common/common_headers.h>
 
 #include <cmath>
 
+#include "mynteye/logger.h"
+
 std::shared_ptr<pcl::visualization::PCLVisualizer> CustomColorVis(
     pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc) {
   // --------------------------------------------
diff --git a/samples/uvc/camera.cc b/samples/uvc/camera.cc
index ac20e03..4b36b44 100644
--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -20,7 +20,7 @@
 #include <iostream>
 #include <mutex>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
 #include "uvc/uvc.h"
diff --git a/scripts/init.sh b/scripts/init.sh
index c034f3e..ce193c2 100755
--- a/scripts/init.sh
+++ b/scripts/init.sh
@@ -14,181 +14,29 @@
 # limitations under the License.
 
 # _VERBOSE_=1
+# _INIT_LINTER_=1
 # _FORCE_INSRALL_=1
 
 BASE_DIR=$(cd "$(dirname "$0")" && pwd)
 
-source "$BASE_DIR/common/echo.sh"
-source "$BASE_DIR/common/detect.sh"
-source "$BASE_DIR/common/host.sh"
-
-PYTHON="python"
-if [ "$HOST_OS" = "Win" ]; then
-  if ! _detect_cmd $PYTHON; then
-    PYTHON="python2"  # try python2 on MSYS
-  fi
-fi
-
-_detect $PYTHON 1
-
-PYTHON_FOUND="${PYTHON}_FOUND"
-if [ -z "${!PYTHON_FOUND}" ]; then
-  _echo_en "$PYTHON not found"
-fi
-
-if [ "$HOST_OS" = "Linux" ]; then
-  _detect_install() {
-    _detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
-        | grep -c "ok installed") -gt 0 ]
-  }
-elif [ "$HOST_OS" = "Mac" ]; then
-  _detect_install() {
-    _detect_cmd "$1" || brew ls --versions "$1" > /dev/null
-  }
-else
-  _detect_install() {
-    _detect_cmd "$1"
-  }
-fi
-
-_install_deps() {
-  _cmd="$1"; shift; _deps_all=($@)
-  _echo "Install cmd: $_cmd"
-  _echo "Install deps: ${_deps_all[*]}"
-  if [ -n "${_FORCE_INSRALL_}" ]; then
-    _echo_d "$_cmd ${_deps_all[*]}"
-    $_cmd ${_deps_all[@]}
-    return
-  fi
-  _deps=()
-  for _dep in "${_deps_all[@]}"; do
-    _detect_install $_dep || _deps+=($_dep)
-  done
-  if [ ${#_deps[@]} -eq 0 ]; then
-    _echo_i "All deps already exist"
-  else
-    _echo_d "$_cmd ${_deps[*]} (not exists)"
-    $_cmd ${_deps[@]}
-  fi
-}
+source "$BASE_DIR/init_tools.sh"
 
 ## deps
 
 _echo_s "Init deps"
 
 if [ "$HOST_OS" = "Linux" ]; then
-  # detect apt-get
-  _detect apt-get
-  # apt-get install
-  _install_deps "sudo apt-get install" build-essential curl cmake git clang-format
-  _install_deps "sudo apt-get install" libv4l-dev
-  if ! _detect_cmd clang-format; then
-    # on Ubuntu 14.04, apt-cache search clang-format
-    _install_deps "sudo apt-get install" clang-format-3.9
-    sudo ln -sf clang-format-3.9 /usr/bin/clang-format
-    sudo ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
-  fi
-  # sudo
-  SUDO="sudo"
+  _install_deps "$SUDO apt-get install" libv4l-dev
 elif [ "$HOST_OS" = "Mac" ]; then
-  # detect brew
-  if ! _detect_cmd brew; then
-    _echo_sn "Install brew"
-    _detect curl
-    _detect ruby
-    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
-  fi
-  # brew install
-  _install_deps "brew install" curl cmake git clang-format
-  # link clang-format-diff (if not compatible with Python 3, fix it by yourself)
-  [ -f "/usr/local/bin/clang-format-diff" ] || \
-    ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
   _install_deps "brew install" libuvc
 elif [ "$HOST_OS" = "Win" ]; then
-  # detect pacman on MSYS
-  _detect pacman
-  # pacman install (common)
-  _install_deps "pacman -S" curl git clang-format
-  if [ "$HOST_NAME" = "MINGW" ]; then
-    # pacman install (MINGW)
-    _deps=()
-    if [ "$HOST_ARCH" = "x64" ]; then
-      _deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
-    elif [ "$HOST_ARCH" = "x86" ]; then
-      _deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
-    else
-      _echo_e "Unknown host arch :("
-      exit 1
-    fi
-    if ! [ ${#_deps[@]} -eq 0 ]; then
-      _echo_d "pacman -S ${_deps[*]}"
-      pacman -S ${_deps[@]}
-    fi
-  else
-    # detect cmake on MSYS
-    _detect cmake
-  fi
-  # update
-  #   pacman -Syu
-  # search
-  #   pacman -Ss make
-  # autoremove
-  #   pacman -Qtdq | pacman -Rs -
+  # _install_deps "pacman -S" ?
+  _echo
 else  # unexpected
   _echo_e "Unknown host os :("
   exit 1
 fi
 
-## pip
-
-# detect pip
-if ! _detect_cmd pip; then
-  if [ -n "${!PYTHON_FOUND}" ]; then
-    _echo_sn "Install pip"
-    [ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
-    $SUDO $PYTHON get-pip.py
-  else
-    _echo_en "Skipped install pip, as $PYTHON not found"
-  fi
-fi
-# pip install
-if _detect_cmd pip; then
-  _echo_d "pip install --upgrade autopep8 cpplint pylint requests"
-  $SUDO pip install --upgrade autopep8 cpplint pylint requests
-else
-  _echo_en "Skipped pip install packages, as pip not found"
-fi
-
-## realpath
-
-# detect realpath
-if ! _detect_cmd realpath; then
-  _echo_sn "Install realpath"
-  if [ "$HOST_OS" = "Linux" ]; then
-    # How to install realpath on Ubuntu 14.04
-    #   https://www.howtoinstall.co/en/ubuntu/trusty/realpath
-    sudo apt-get install coreutils realpath
-  elif [ "$HOST_OS" = "Mac" ]; then
-    brew install coreutils
-  elif [ "$HOST_OS" = "Win" ]; then
-    pacman -S coreutils
-  else  # unexpected
-    _echo_e "Unknown host os :("
-    exit 1
-  fi
-fi
-
-ROOT_DIR=$(realpath "$BASE_DIR/..")
-
-## init
-
-if [ -n "${!PYTHON_FOUND}" ]; then
-  _echo_s "Init git hooks"
-  $PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
-else
-  _echo_en "Skipped init git hooks, as $PYTHON not found"
-fi
-
 ## cmake version
 
 _echo_s "Expect cmake version >= 3.0"
diff --git a/scripts/init_tools.sh b/scripts/init_tools.sh
new file mode 100644
index 0000000..232b536
--- /dev/null
+++ b/scripts/init_tools.sh
@@ -0,0 +1,214 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Inc. 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.
+
+_INIT_BUILD_=1
+# _INIT_LINTER_=1
+# _FORCE_INSRALL_=1
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+
+source "$BASE_DIR/common/echo.sh"
+source "$BASE_DIR/common/detect.sh"
+source "$BASE_DIR/common/host.sh"
+
+## functions
+
+if [ "$HOST_OS" = "Linux" ]; then
+  _detect_install() {
+    _detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
+        | grep -c "ok installed") -gt 0 ]
+  }
+elif [ "$HOST_OS" = "Mac" ]; then
+  _detect_install() {
+    _detect_cmd "$1" || brew ls --versions "$1" > /dev/null
+  }
+else
+  _detect_install() {
+    _detect_cmd "$1"
+  }
+fi
+
+_install_deps() {
+  _cmd="$1"; shift; _deps_all=($@)
+  _echo "Install cmd: $_cmd"
+  _echo "Install deps: ${_deps_all[*]}"
+  if [ -n "${_FORCE_INSRALL_}" ]; then
+    _echo_d "$_cmd ${_deps_all[*]}"
+    $_cmd ${_deps_all[@]}
+    return
+  fi
+  _deps=()
+  for _dep in "${_deps_all[@]}"; do
+    _detect_install $_dep || _deps+=($_dep)
+  done
+  if [ ${#_deps[@]} -eq 0 ]; then
+    _echo_i "All deps already exist"
+  else
+    _echo_d "$_cmd ${_deps[*]} (not exists)"
+    $_cmd ${_deps[@]}
+  fi
+}
+
+## init tools
+
+_echo_s "Init tools"
+
+if [ "$HOST_OS" = "Linux" ]; then
+  # sudo
+  SUDO="sudo"
+  # detect apt-get
+  _detect apt-get
+  # apt-get install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "$SUDO apt-get install" build-essential curl cmake git make
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "$SUDO apt-get install" clang-format
+    if ! _detect_cmd clang-format; then
+      # on Ubuntu 14.04, apt-cache search clang-format
+      _install_deps "$SUDO apt-get install" clang-format-3.9
+      $SUDO ln -sf clang-format-3.9 /usr/bin/clang-format
+      $SUDO ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
+    fi
+  fi
+elif [ "$HOST_OS" = "Mac" ]; then
+  # detect brew
+  if ! _detect_cmd brew; then
+    _echo_sn "Install brew"
+    _detect curl
+    _detect ruby
+    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
+  fi
+  # brew install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "brew install" curl cmake git make
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "brew install" clang-format
+    # link clang-format-diff (if not compatible with Python 3, fix it by yourself)
+    [ -f "/usr/local/bin/clang-format-diff" ] || \
+      ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
+  fi
+elif [ "$HOST_OS" = "Win" ]; then
+  # detect pacman on MSYS
+  _detect pacman
+  # pacman install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "pacman -S" curl git make
+    if [ "$HOST_NAME" = "MINGW" ]; then
+      # MINGW: cmake
+      _deps=()
+      if [ "$HOST_ARCH" = "x64" ]; then
+        _deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
+      elif [ "$HOST_ARCH" = "x86" ]; then
+        _deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
+      else
+        _echo_e "Unknown host arch :("
+        exit 1
+      fi
+      if ! [ ${#_deps[@]} -eq 0 ]; then
+        _install_deps "pacman -S" ${_deps[@]}
+      fi
+    else
+      # Install CMake for Windows
+      #   https://cmake.org/
+      _detect cmake
+    fi
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "pacman -S" clang-format
+  fi
+  # update
+  #   pacman -Syu
+  # search
+  #   pacman -Ss make
+  # autoremove
+  #   pacman -Qtdq | pacman -Rs -
+else  # unexpected
+  _echo_e "Unknown host os :("
+  exit 1
+fi
+
+## init linter - optional
+
+if [ -n "${_INIT_LINTER_}" ]; then
+
+# python
+
+PYTHON="python"
+if [ "$HOST_OS" = "Win" ]; then
+  if ! _detect_cmd $PYTHON; then
+    PYTHON="python2"  # try python2 on MSYS
+  fi
+fi
+
+_detect $PYTHON 1
+
+PYTHON_FOUND="${PYTHON}_FOUND"
+if [ -z "${!PYTHON_FOUND}" ]; then
+  _echo_en "$PYTHON not found"
+fi
+
+# pip
+
+# detect pip
+if ! _detect_cmd pip; then
+  if [ -n "${!PYTHON_FOUND}" ]; then
+    _echo_sn "Install pip"
+    [ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
+    $SUDO $PYTHON get-pip.py
+  else
+    _echo_en "Skipped install pip, as $PYTHON not found"
+  fi
+fi
+# pip install
+if _detect_cmd pip; then
+  _echo_d "pip install --upgrade autopep8 cpplint pylint requests"
+  $SUDO pip install --upgrade autopep8 cpplint pylint requests
+else
+  _echo_en "Skipped pip install packages, as pip not found"
+fi
+
+# realpath
+
+# detect realpath
+if ! _detect_cmd realpath; then
+  _echo_sn "Install realpath"
+  if [ "$HOST_OS" = "Linux" ]; then
+    # How to install realpath on Ubuntu 14.04
+    #   https://www.howtoinstall.co/en/ubuntu/trusty/realpath
+    $SUDO apt-get install coreutils realpath
+  elif [ "$HOST_OS" = "Mac" ]; then
+    brew install coreutils
+  elif [ "$HOST_OS" = "Win" ]; then
+    pacman -S coreutils
+  else  # unexpected
+    _echo_e "Unknown host os :("
+    exit 1
+  fi
+fi
+
+ROOT_DIR=$(realpath "$BASE_DIR/..")
+
+# init git hooks
+
+if [ -n "${!PYTHON_FOUND}" ]; then
+  _echo_s "Init git hooks"
+  $PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
+else
+  _echo_en "Skipped init git hooks, as $PYTHON not found"
+fi
+
+fi  # _INIT_LINTER_
diff --git a/src/api/api.cc b/src/api/api.cc
index ddf443a..8fb98bb 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -18,12 +18,10 @@
 #include <boost/range/iterator_range.hpp>
 #endif
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <thread>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/utils.h"
 
 #include "api/plugin.h"
diff --git a/src/api/processor/depth_processor.cc b/src/api/processor/depth_processor.cc
index 73769de..433e47d 100644
--- a/src/api/processor/depth_processor.cc
+++ b/src/api/processor/depth_processor.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "api/processor/depth_processor.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include <utility>
 
diff --git a/src/api/processor/disparity_normalized_processor.cc b/src/api/processor/disparity_normalized_processor.cc
index 0ce2a9a..6c24c6b 100644
--- a/src/api/processor/disparity_normalized_processor.cc
+++ b/src/api/processor/disparity_normalized_processor.cc
@@ -15,10 +15,10 @@
 
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 const char DisparityNormalizedProcessor::NAME[] =
diff --git a/src/api/processor/disparity_processor.cc b/src/api/processor/disparity_processor.cc
index dbb5ab3..041e246 100644
--- a/src/api/processor/disparity_processor.cc
+++ b/src/api/processor/disparity_processor.cc
@@ -15,10 +15,10 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 const char DisparityProcessor::NAME[] = "DisparityProcessor";
diff --git a/src/api/processor/points_processor.cc b/src/api/processor/points_processor.cc
index 0d594b1..02a70b2 100644
--- a/src/api/processor/points_processor.cc
+++ b/src/api/processor/points_processor.cc
@@ -15,10 +15,10 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 const char PointsProcessor::NAME[] = "PointsProcessor";
diff --git a/src/api/processor/processor.cc b/src/api/processor/processor.cc
index 8ba3bca..c0d45ab 100644
--- a/src/api/processor/processor.cc
+++ b/src/api/processor/processor.cc
@@ -13,11 +13,11 @@
 // limitations under the License.
 #include "api/processor/processor.h"
 
-#include <glog/logging.h>
-
 #include <exception>
 #include <utility>
 
+#include "mynteye/logger.h"
+
 #include "internal/strings.h"
 #include "internal/times.h"
 
diff --git a/src/api/processor/rectify_processor.cc b/src/api/processor/rectify_processor.cc
index 31ce62c..9a45b0f 100644
--- a/src/api/processor/rectify_processor.cc
+++ b/src/api/processor/rectify_processor.cc
@@ -16,10 +16,10 @@
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 #include "device/device.h"
 
 MYNTEYE_BEGIN_NAMESPACE
diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index 3c5a194..a1a3730 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -13,12 +13,12 @@
 // limitations under the License.
 #include "api/synthetic.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <functional>
 #include <stdexcept>
 
+#include "mynteye/logger.h"
+
 #include "api/plugin.h"
 #include "api/processor/depth_processor.h"
 #include "api/processor/disparity_normalized_processor.h"
diff --git a/src/device/context.cc b/src/device/context.cc
index e5c82c7..ef4f1ef 100644
--- a/src/device/context.cc
+++ b/src/device/context.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "device/context.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "device/device.h"
 #include "uvc/uvc.h"
diff --git a/src/device/device.cc b/src/device/device.cc
index cc4d2b8..2d16d9d 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -13,13 +13,13 @@
 // limitations under the License.
 #include "device/device.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <iterator>
 #include <stdexcept>
 #include <utility>
 
+#include "mynteye/logger.h"
+
 #include "device/device_s.h"
 #include "internal/async_callback.h"
 #include "internal/channels.h"
diff --git a/src/device/device_s.cc b/src/device/device_s.cc
index fdffe93..377453d 100644
--- a/src/device/device_s.cc
+++ b/src/device/device_s.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "device/device_s.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "internal/motions.h"
 
diff --git a/src/internal/async_callback_impl.h b/src/internal/async_callback_impl.h
index 3c502b3..cfffc0d 100644
--- a/src/internal/async_callback_impl.h
+++ b/src/internal/async_callback_impl.h
@@ -15,11 +15,11 @@
 #define MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_
 #pragma once
 
-#include <glog/logging.h>
-
 #include <string>
 #include <utility>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 template <class Data>
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index e8eb253..679fe61 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include "internal/channels.h"
 
-#include <glog/logging.h>
-
 #include <bitset>
 #include <chrono>
 #include <iomanip>
@@ -22,6 +20,8 @@
 #include <sstream>
 #include <stdexcept>
 
+#include "mynteye/logger.h"
+
 #include "internal/strings.h"
 #include "internal/times.h"
 
diff --git a/src/internal/dl.cc b/src/internal/dl.cc
index 8ba22b7..2de8150 100644
--- a/src/internal/dl.cc
+++ b/src/internal/dl.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "internal/dl.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
diff --git a/src/internal/files.cc b/src/internal/files.cc
index 7d54020..556d5c9 100644
--- a/src/internal/files.cc
+++ b/src/internal/files.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "internal/files.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
 #include <direct.h>
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 7183c6a..27d3c67 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "internal/motions.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "internal/channels.h"
 
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index 97ae970..1f9fe64 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -13,13 +13,13 @@
 // limitations under the License.
 #include "internal/streams.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <chrono>
 #include <iomanip>
 #include <stdexcept>
 
+#include "mynteye/logger.h"
+
 #include "internal/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
diff --git a/src/internal/types.cc b/src/internal/types.cc
index c53ff0d..c5aa1e7 100644
--- a/src/internal/types.cc
+++ b/src/internal/types.cc
@@ -13,11 +13,11 @@
 // limitations under the License.
 #include "internal/types.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <iomanip>
-#include <iostream>
+#include <sstream>
+
+#include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
diff --git a/src/public/miniglog.cc b/src/public/miniglog.cc
new file mode 100644
index 0000000..23a2c32
--- /dev/null
+++ b/src/public/miniglog.cc
@@ -0,0 +1,39 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "mynteye/miniglog.h"
+
+namespace google {
+
+// This is the set of log sinks. This must be in a separate library to ensure
+// that there is only one instance of this across the entire program.
+std::set<google::LogSink *> log_sinks_global;
+
+}  // namespace google
diff --git a/src/public/miniglog.readme b/src/public/miniglog.readme
new file mode 100644
index 0000000..9ce8c89
--- /dev/null
+++ b/src/public/miniglog.readme
@@ -0,0 +1 @@
+miniglog: https://github.com/tzutalin/miniglog
diff --git a/src/public/types.cc b/src/public/types.cc
index 296c8a4..d8b99da 100644
--- a/src/public/types.cc
+++ b/src/public/types.cc
@@ -13,11 +13,11 @@
 // limitations under the License.
 #include "mynteye/types.h"
 
-#include <glog/logging.h>
-
 #include <iomanip>
 #include <limits>
 
+#include "mynteye/logger.h"
+
 #define FULL_PRECISION \
   std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
 
diff --git a/src/public/utils.cc b/src/public/utils.cc
index 4fc9202..36ba8ff 100644
--- a/src/public/utils.cc
+++ b/src/public/utils.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "mynteye/utils.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "device/context.h"
 #include "device/device.h"
diff --git a/src/uvc/uvc-libuvc.cc b/src/uvc/uvc-libuvc.cc
index 1b260d7..f2a9b92 100644
--- a/src/uvc/uvc-libuvc.cc
+++ b/src/uvc/uvc-libuvc.cc
@@ -13,9 +13,10 @@
 // limitations under the License.
 #include "uvc/uvc.h"  // NOLINT
 
-#include <glog/logging.h>
 #include <libuvc/libuvc.h>
 
+#include "mynteye/logger.h"
+
 // #define ENABLE_DEBUG_SPAM
 
 MYNTEYE_BEGIN_NAMESPACE
diff --git a/src/uvc/uvc-v4l2.cc b/src/uvc/uvc-v4l2.cc
index 06fc8fc..292804c 100755
--- a/src/uvc/uvc-v4l2.cc
+++ b/src/uvc/uvc-v4l2.cc
@@ -16,6 +16,9 @@
 #include <dirent.h>
 #include <errno.h>
 #include <fcntl.h>
+#include <string.h>
+#include <unistd.h>
+
 #include <sys/ioctl.h>
 #include <sys/mman.h>
 #include <sys/stat.h>
@@ -25,13 +28,14 @@
 #include <linux/uvcvideo.h>
 #include <linux/videodev2.h>
 
-#include <glog/logging.h>
-
 #include <chrono>
 #include <fstream>
+#include <sstream>
 #include <string>
 #include <thread>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace uvc {
diff --git a/src/uvc/uvc-wmf.cc b/src/uvc/uvc-wmf.cc
index 13f7f36..8e8d9c3 100644
--- a/src/uvc/uvc-wmf.cc
+++ b/src/uvc/uvc-wmf.cc
@@ -53,7 +53,7 @@
 
 #include <strsafe.h>
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #define VLOG_INFO VLOG(2)
 // #define VLOG_INFO LOG(INFO)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 11c68cd..18be45b 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -57,16 +57,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
 include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
 
+if(mynteye_WITH_GLOG)
+  include(${PRO_DIR}/cmake/DetectGLog.cmake)
+endif()
+
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
 ## gtest
diff --git a/test/gtest_main.cc b/test/gtest_main.cc
index a0e1685..edca54b 100644
--- a/test/gtest_main.cc
+++ b/test/gtest_main.cc
@@ -15,7 +15,7 @@
 
 #include "gtest/gtest.h"
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 int main(int argc, char **argv) {
   glog_init _(argc, argv);
diff --git a/third_party/glog b/third_party/glog
deleted file mode 160000
index 8d7a107..0000000
--- a/third_party/glog
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 8d7a107d68c127f3f494bb7807b796c8c5a97a82
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index a617541..4d57c04 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -43,16 +43,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
 include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
 
+if(mynteye_WITH_GLOG)
+  include(${PRO_DIR}/cmake/DetectGLog.cmake)
+endif()
+
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
 # targets
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index d156c37..165473f 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -19,14 +19,13 @@
 #include <opencv2/imgcodecs/imgcodecs.hpp>
 #endif
 
-#include <glog/logging.h>
-
 #include <iomanip>
 #include <limits>
 #include <stdexcept>
 #include <utility>
 
 #include "mynteye/files.h"
+#include "mynteye/logger.h"
 
 #define FULL_PRECISION \
   std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index e3de362..dedf851 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -14,7 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"
diff --git a/tools/writer/device_info_writer.cc b/tools/writer/device_info_writer.cc
index 1625b7a..6619a55 100644
--- a/tools/writer/device_info_writer.cc
+++ b/tools/writer/device_info_writer.cc
@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"
diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc
index 05a4e46..4a61001 100644
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -15,12 +15,11 @@
 
 #include <opencv2/core/core.hpp>
 
-#include <glog/logging.h>
-
 #include <vector>
 
 #include "mynteye/device.h"
 #include "mynteye/files.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
diff --git a/tools/writer/img_params_writer.cc b/tools/writer/img_params_writer.cc
index 77647a5..02950e9 100644
--- a/tools/writer/img_params_writer.cc
+++ b/tools/writer/img_params_writer.cc
@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"
diff --git a/tools/writer/imu_params_writer.cc b/tools/writer/imu_params_writer.cc
index 9f2034b..a60c3fe 100644
--- a/tools/writer/imu_params_writer.cc
+++ b/tools/writer/imu_params_writer.cc
@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"
diff --git a/tools/writer/save_all_infos.cc b/tools/writer/save_all_infos.cc
index a4ff051..c67b5d4 100644
--- a/tools/writer/save_all_infos.cc
+++ b/tools/writer/save_all_infos.cc
@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"
diff --git a/wrappers/python/CMakeLists.txt b/wrappers/python/CMakeLists.txt
index 4cecbff..b6b3ab9 100644
--- a/wrappers/python/CMakeLists.txt
+++ b/wrappers/python/CMakeLists.txt
@@ -47,14 +47,6 @@ if(OS_MAC)
   endif()
 endif()
 
-# options
-
-include(${PRO_DIR}/cmake/Option.cmake)
-
-if(NOT WITH_API)
-  message(FATAL_ERROR "Must with API layer :(")
-endif()
-
 # flags
 
 if(OS_WIN)
@@ -77,14 +69,22 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
+if(NOT mynteye_WITH_API)
+  message(FATAL_ERROR "Must with API layer :(")
+endif()
+
+include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
+
+if(mynteye_WITH_GLOG)
+  include(${PRO_DIR}/cmake/DetectGLog.cmake)
+endif()
+
+## boost & python
+
 if(CMAKE_VERSION VERSION_LESS "3.10" OR CMAKE_VERSION VERSION_EQUAL "3.10")
   find_package(Boost ${BOOST_FIND_VERSION} REQUIRED
     COMPONENTS python${PYTHON_BOOST_CODE}  # numpy${PYTHON_BOOST_CODE}
@@ -103,8 +103,6 @@ message(STATUS "Found PythonLibs: ${PYTHONLIBS_VERSION_STRING}")
 message(STATUS "  PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}")
 message(STATUS "  PYTHON_LIBRARIES: ${PYTHON_LIBRARIES}")
 
-include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
-
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
 # targets
diff --git a/wrappers/python/src/mynteye_py.cc b/wrappers/python/src/mynteye_py.cc
index 8107f55..ad7fbe9 100644
--- a/wrappers/python/src/mynteye_py.cc
+++ b/wrappers/python/src/mynteye_py.cc
@@ -26,7 +26,7 @@
 #include <vector>
 
 #include "mynteye/api.h"
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/utils.h"
 
 #include "array_indexing_suite.hpp"
@@ -451,7 +451,7 @@ BOOST_PYTHON_MODULE(mynteye_py) {
 
   bp::register_ptr_to_python<std::shared_ptr<APIWrap>>();
 
-  // glog_init.h - glog_init
+  // logger.h - glog_init
 
   bp::class_<glog_init, boost::noncopyable>("glog_init", bp::no_init)
       .def("create", &glog_init_create)
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
index 83ffce1..ae85a88 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@@ -56,9 +56,6 @@ checkPackage("sensor_msgs" "")
 checkPackage("std_msgs" "")
 checkPackage("tf" "")
 
-find_package(OpenCV REQUIRED)
-message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
-
 ## messages
 
 add_message_files(
@@ -82,14 +79,20 @@ catkin_package(
 
 get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
 
-LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
+if(NOT mynteye_WITH_API)
+  message(FATAL_ERROR "Must with API layer :(")
+endif()
+
+include(${SDK_DIR}/cmake/DetectOpenCV.cmake)
+
+if(mynteye_WITH_GLOG)
+  include(${SDK_DIR}/cmake/DetectGLog.cmake)
+endif()
+
 # targets
 
 add_compile_options(-std=c++11)
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_node.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_node.cc
index 5a03045..6e12566 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_node.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_node.cc
@@ -14,7 +14,7 @@
 #include <nodelet/loader.h>
 #include <ros/ros.h>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 int main(int argc, char *argv[]) {
   glog_init _(argc, argv);
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index fccda6d..5e6e2de 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -28,8 +28,6 @@
 #include <mynt_eye_ros_wrapper/GetInfo.h>
 #include <mynt_eye_ros_wrapper/Temp.h>
 
-#include <glog/logging.h>
-
 #define _USE_MATH_DEFINES
 #include <cmath>
 #include <map>
@@ -38,6 +36,7 @@
 #include "mynteye/api.h"
 #include "mynteye/context.h"
 #include "mynteye/device.h"
+#include "mynteye/logger.h"
 
 #define FULL_PRECISION \
   std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)