From 6c25f06005722e0990f2bc9dc3e68acd2081a43a Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Sat, 7 Jul 2018 23:20:57 +0800
Subject: [PATCH 01/96] change the resolution

---
 samples/uvc/camera.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/samples/uvc/camera.cc b/samples/uvc/camera.cc
index ac20e03..ada886e 100644
--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
   const auto frame_empty = [&frame]() { return frame == nullptr; };
 
   uvc::set_device_mode(
-      *device, 752, 480, static_cast<int>(Format::YUYV), 25,
+      *device, 1280, 480, static_cast<int>(Format::YUYV), 25,
       [&mtx, &cv, &frame, &frame_ready](
           const void *data, std::function<void()> continuation) {
         // reinterpret_cast<const std::uint8_t *>(data);
@@ -143,7 +143,7 @@ int main(int argc, char *argv[]) {
     }
 
     // only lastest frame is valid
-    cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame->data));
+    cv::Mat img(480, 1280, CV_8UC2, const_cast<void *>(frame->data));
     cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     cv::imshow("frame", img);
 

From 659f03ac18a66e9e8ab6e79da1766d5f6133fd11 Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Sun, 8 Jul 2018 18:49:09 +0800
Subject: [PATCH 02/96] change the way of split images

---
 samples/device/camera.cc | 20 ++++++++++----------
 src/device/device.cc     |  4 ++--
 src/internal/config.cc   |  2 +-
 src/internal/streams.cc  | 32 +++++++++++++++++++-------------
 src/public/utils.cc      |  4 ++--
 5 files changed, 34 insertions(+), 28 deletions(-)

diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index bcd9695..5815cbd 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -46,8 +46,7 @@ int main(int argc, char *argv[]) {
   device->SetOptionValue(Option::FRAME_RATE, 25);
   device->SetOptionValue(Option::IMU_FREQUENCY, 500);
   */
-  device->LogOptionInfos();
-
+  // device->LogOptionInfos();
   // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
 
   std::size_t left_count = 0;
@@ -72,6 +71,7 @@ int main(int argc, char *argv[]) {
       });
 
   std::size_t imu_count = 0;
+/*
   device->SetMotionCallback([&imu_count](const device::MotionData &data) {
     CHECK_NOTNULL(data.imu);
     ++imu_count;
@@ -86,11 +86,10 @@ int main(int argc, char *argv[]) {
             << ", gyro_z: " << data.imu->gyro[2]
             << ", temperature: " << data.imu->temperature;
   });
-
+*/
   // Enable this will cache the motion datas until you get them.
-  device->EnableMotionDatas();
-  device->Start(Source::ALL);
-
+  // device->EnableMotionDatas();
+  device->Start(Source::VIDEO_STREAMING);
   cv::namedWindow("frame");
 
   std::size_t motion_count = 0;
@@ -100,7 +99,7 @@ int main(int argc, char *argv[]) {
 
     device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
     device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
-
+/*
     auto &&motion_datas = device->GetMotionDatas();
     motion_count += motion_datas.size();
     for (auto &&data : motion_datas) {
@@ -114,16 +113,17 @@ int main(int argc, char *argv[]) {
                 << ", gyro_z: " << data.imu->gyro[2]
                 << ", temperature: " << data.imu->temperature;
     }
-
+*/
     cv::Mat left_img(
-        left_data.frame->height(), left_data.frame->width(), CV_8UC1,
+        left_data.frame->height(), left_data.frame->width(), CV_8UC2,
         left_data.frame->data());
     cv::Mat right_img(
-        right_data.frame->height(), right_data.frame->width(), CV_8UC1,
+        right_data.frame->height(), right_data.frame->width(), CV_8UC2,
         right_data.frame->data());
 
     cv::Mat img;
     cv::hconcat(left_img, right_img, img);
+    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     cv::imshow("frame", img);
 
     char key = static_cast<char>(cv::waitKey(1));
diff --git a/src/device/device.cc b/src/device/device.cc
index 576f0ae..0b08461 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -87,7 +87,7 @@ Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
       channels_(std::make_shared<Channels>(device)),
       motions_(std::make_shared<Motions>(channels_)) {
   VLOG(2) << __func__;
-  ReadAllInfos();
+  //ReadAllInfos();
 }
 
 Device::~Device() {
@@ -96,7 +96,7 @@ Device::~Device() {
 
 std::shared_ptr<Device> Device::Create(
     const std::string &name, std::shared_ptr<uvc::device> device) {
-  if (name == "MYNTEYE") {
+  if (name == "MYNTEYE" || name == "CX3-UVC") {
     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
diff --git a/src/internal/config.cc b/src/internal/config.cc
index f9d5a53..9b3188d 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -31,6 +31,6 @@ const std::map<Model, OptionSupports> option_supports_map = {
 const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map = {
         {Model::STANDARD,
-         {{Capabilities::STEREO, {{752, 480, Format::YUYV, 25}}}}}};
+         {{Capabilities::STEREO, {{1280, 480, Format::YUYV, 25}}}}}};
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index 4b049e3..d97a656 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -48,7 +48,7 @@ bool unpack_stereo_img_data(
   //   << ", 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) {
     LOG(WARNING) << "Image packet header must be 0x3B, but 0x" << std::hex
                  << std::uppercase << std::setw(2) << std::setfill('0')
@@ -68,7 +68,7 @@ bool unpack_stereo_img_data(
                  << 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;
@@ -79,11 +79,14 @@ bool unpack_left_img_pixels(
     const void *data, const StreamRequest &request, Streams::frame_t *frame) {
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::GREY);
+  CHECK_EQ(frame->format(), Format::YUYV);
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
-  for (std::size_t i = 0; i < n; i++) {
-    frame->data()[i] = *(data_new + (i * 2));
+  std::size_t w = frame->width() * 2;
+  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] = *(data_new + 2 * i * w + j);
+    }
   }
   return true;
 }
@@ -92,11 +95,14 @@ bool unpack_right_img_pixels(
     const void *data, const StreamRequest &request, Streams::frame_t *frame) {
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::GREY);
+  CHECK_EQ(frame->format(), Format::YUYV);
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
-  for (std::size_t i = 0; i < n; i++) {
-    frame->data()[i] = *(data_new + (i * 2 + 1));
+  std::size_t w = frame->width() * 2;
+  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] = *(data_new + (2 * i + 1) * w + j);
+    }
   }
   return true;
 }
@@ -142,13 +148,13 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
   switch (capability) {
     case Capabilities::STEREO: {
       // alloc left
-      AllocStreamData(Stream::LEFT, request, Format::GREY);
+      AllocStreamData(Stream::LEFT, request, Format::YUYV);
       auto &&left_data = stream_datas_map_[Stream::LEFT].back();
       // unpack img data
       if (unpack_img_data_map_[Stream::LEFT](
               data, request, left_data.img.get())) {
         // alloc right
-        AllocStreamData(Stream::RIGHT, request, Format::GREY);
+        AllocStreamData(Stream::RIGHT, request, Format::YUYV);
         auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
         *right_data.img = *left_data.img;
         // unpack frame
@@ -281,7 +287,7 @@ void Streams::AllocStreamData(
   }
   if (!data.frame) {
     data.frame = std::make_shared<frame_t>(
-        request.width, request.height, format, nullptr);
+        request.width / 2, request.height, format, nullptr);
   }
   stream_datas_map_[stream].push_back(data);
 }
diff --git a/src/public/utils.cc b/src/public/utils.cc
index ad8b97a..c8d2d77 100644
--- a/src/public/utils.cc
+++ b/src/public/utils.cc
@@ -32,7 +32,7 @@ std::shared_ptr<Device> select() {
     LOG(ERROR) << "No MYNT EYE devices :(";
     return nullptr;
   }
-
+/*
   LOG(INFO) << "MYNT EYE devices:";
   for (size_t i = 0; i < n; i++) {
     auto &&device = devices[i];
@@ -40,7 +40,7 @@ std::shared_ptr<Device> select() {
               << ", name: " << device->GetInfo(Info::DEVICE_NAME)
               << ", sn: " << device->GetInfo(Info::SERIAL_NUMBER);
   }
-
+*/
   std::shared_ptr<Device> device = nullptr;
   if (n <= 1) {
     device = devices[0];

From 25220a27ed09a964a3c54ddd16680cc8d45e4875 Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Fri, 13 Jul 2018 14:58:18 +0800
Subject: [PATCH 03/96] creat device based on  custom code

---
 src/device/device.cc | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/src/device/device.cc b/src/device/device.cc
index 0b08461..2c37017 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -100,14 +100,20 @@ std::shared_ptr<Device> Device::Create(
     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);
+    std::string model_s = name.substr(9,5);
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
-    switch (model.type) {
-      case 'S':
-        return std::make_shared<StandardDevice>(device);
-      default:
-        LOG(FATAL) << "MYNT EYE model is not supported now";
+    if(model.type == 's') {
+      switch (model.custom_code) {
+        case '0':
+          return std::make_shared<StandardDevice>(device);
+        case 'A':
+          return std::make_shared<StandardDevice>(device);
+        default:
+          LOG(FATAL) << "No such custom code now"
+      }
+    } else {
+      LOG(FATAL) << "MYNT EYE model is not supported now";
     }
   }
   return nullptr;

From b33fc86a4595306b268afdd4cbd3f4f54b0fdd30 Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Sat, 21 Jul 2018 15:34:07 +0800
Subject: [PATCH 04/96] change the data protocol of imu

---
 include/mynteye/types.h                       |  8 +--
 samples/api/camera.cc                         |  8 +--
 samples/device/camera.cc                      | 22 +++---
 samples/tutorials/util/cv_painter.cc          |  2 +-
 src/api/api.h                                 |  3 +-
 src/device/device.cc                          |  4 +-
 src/internal/channels.cc                      |  2 +-
 src/internal/motions.cc                       | 22 +++---
 src/internal/streams.cc                       |  6 +-
 src/internal/types.h                          | 72 +++++++++----------
 wrappers/python/src/mynteye_py.cc             |  4 +-
 .../launch/mynteye.launch                     |  2 -
 .../src/wrapper_nodelet.cc                    |  5 +-
 13 files changed, 76 insertions(+), 84 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 0ab79fd..7f3f9b3 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -441,10 +441,10 @@ struct MYNTEYE_API ImgData {
  * IMU data.
  */
 struct MYNTEYE_API ImuData {
-  /** Image frame id */
-  std::uint16_t frame_id;
+  /** accel or gyro flag:1 for accel,2 for gyro,3 for both */
+  std::uint8_t flag;
   /** IMU timestamp in 0.01ms */
-  std::uint32_t timestamp;
+  std::uint64_t timestamp;
   /** IMU accelerometer data for 3-axis: X, Y, Z. */
   double accel[3];
   /** IMU gyroscope data for 3-axis: X, Y, Z. */
@@ -453,7 +453,7 @@ struct MYNTEYE_API ImuData {
   double temperature;
 
   void Reset() {
-    frame_id = 0;
+    flag = 0;
     timestamp = 0;
     std::fill(accel, accel + 3, 0);
     std::fill(gyro, gyro + 3, 0);
diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 5cddd85..02ad7c9 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -56,8 +56,7 @@ int main(int argc, char *argv[]) {
     CHECK_NOTNULL(data.imu);
     ++imu_count;
     VLOG(2) << "Imu count: " << imu_count;
-    VLOG(2) << "  frame_id: " << data.imu->frame_id
-            << ", timestamp: " << data.imu->timestamp
+    VLOG(2) << ", timestamp: " << data.imu->timestamp
             << ", accel_x: " << data.imu->accel[0]
             << ", accel_y: " << data.imu->accel[1]
             << ", accel_z: " << data.imu->accel[2]
@@ -106,9 +105,8 @@ int main(int argc, char *argv[]) {
 
     auto &&motion_datas = api->GetMotionDatas();
     motion_count += motion_datas.size();
-    for (auto &&data : motion_datas) {
-      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
-                << ", timestamp: " << data.imu->timestamp
+    for (auto &&data : motion_datas) {       
+      LOG(INFO) << ", timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]
                 << ", accel_z: " << data.imu->accel[2]
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 5815cbd..65d3cee 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -71,13 +71,12 @@ int main(int argc, char *argv[]) {
       });
 
   std::size_t imu_count = 0;
-/*
+
   device->SetMotionCallback([&imu_count](const device::MotionData &data) {
     CHECK_NOTNULL(data.imu);
     ++imu_count;
-    VLOG(2) << "Imu count: " << imu_count;
-    VLOG(2) << "  frame_id: " << data.imu->frame_id
-            << ", timestamp: " << data.imu->timestamp
+    VLOG(2) << "Imu count: " << imu_count; 
+    VLOG(2) << ", timestamp: " << data.imu->timestamp
             << ", accel_x: " << data.imu->accel[0]
             << ", accel_y: " << data.imu->accel[1]
             << ", accel_z: " << data.imu->accel[2]
@@ -86,7 +85,7 @@ int main(int argc, char *argv[]) {
             << ", gyro_z: " << data.imu->gyro[2]
             << ", temperature: " << data.imu->temperature;
   });
-*/
+
   // Enable this will cache the motion datas until you get them.
   // device->EnableMotionDatas();
   device->Start(Source::VIDEO_STREAMING);
@@ -99,12 +98,11 @@ int main(int argc, char *argv[]) {
 
     device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
     device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
-/*
+
     auto &&motion_datas = device->GetMotionDatas();
     motion_count += motion_datas.size();
-    for (auto &&data : motion_datas) {
-      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
-                << ", timestamp: " << data.imu->timestamp
+    for (auto &&data : motion_datas) {       
+      LOG(INFO) << ", timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]
                 << ", accel_z: " << data.imu->accel[2]
@@ -113,7 +111,7 @@ int main(int argc, char *argv[]) {
                 << ", gyro_z: " << data.imu->gyro[2]
                 << ", temperature: " << data.imu->temperature;
     }
-*/
+
     cv::Mat left_img(
         left_data.frame->height(), left_data.frame->width(), CV_8UC2,
         left_data.frame->data());
@@ -146,7 +144,7 @@ int main(int argc, char *argv[]) {
             << ", fps: " << (1000.f * right_count / elapsed_ms);
   LOG(INFO) << "Imu count: " << imu_count
             << ", hz: " << (1000.f * imu_count / elapsed_ms);
-  // LOG(INFO) << "Motion count: " << motion_count
-  //           << ", hz: " << (1000.f * motion_count / elapsed_ms);
+  LOG(INFO) << "Motion count: " << motion_count
+            << ", hz: " << (1000.f * motion_count / elapsed_ms);
   return 0;
 }
diff --git a/samples/tutorials/util/cv_painter.cc b/samples/tutorials/util/cv_painter.cc
index c0c6f6a..83fa767 100644
--- a/samples/tutorials/util/cv_painter.cc
+++ b/samples/tutorials/util/cv_painter.cc
@@ -118,7 +118,7 @@ cv::Rect CVPainter::DrawImuData(
   if (gravity == BOTTOM_LEFT || gravity == BOTTOM_RIGHT)
     sign = -1;
 
-  Clear(ss) << "frame_id: " << data.frame_id << ", stamp: " << data.timestamp
+  Clear(ss) << "stamp: " << data.timestamp
             << ", temp: " << fmt_temp << data.temperature;
   cv::Rect rect_i = DrawText(img, ss.str(), gravity, 5);
 
diff --git a/src/api/api.h b/src/api/api.h
index a7f0ff8..8a259a3 100644
--- a/src/api/api.h
+++ b/src/api/api.h
@@ -69,8 +69,7 @@ struct MYNTEYE_API MotionData {
 
   bool operator==(const MotionData &other) const {
     if (imu && other.imu) {
-      return imu->frame_id == other.imu->frame_id &&
-             imu->timestamp == other.imu->timestamp;
+      return imu->timestamp == other.imu->timestamp;            
     }
     return false;
   }
diff --git a/src/device/device.cc b/src/device/device.cc
index 2c37017..c38db1d 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -103,14 +103,14 @@ std::shared_ptr<Device> Device::Create(
     std::string model_s = name.substr(9,5);
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
-    if(model.type == 's') {
+    if(model.type == 'S') {
       switch (model.custom_code) {
         case '0':
           return std::make_shared<StandardDevice>(device);
         case 'A':
           return std::make_shared<StandardDevice>(device);
         default:
-          LOG(FATAL) << "No such custom code now"
+          LOG(FATAL) << "No such custom code now";
       }
     } else {
       LOG(FATAL) << "MYNT EYE model is not supported now";
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index d09d976..88558ef 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -306,7 +306,7 @@ void Channels::DoImuTrack() {
     return n;
   }();
 
-  auto &&sn = res_packet.packets.back().serial_number;
+  auto &&sn = res_packet.packets.back().segments.back().serial_number;
   if (imu_sn_ == sn) {
     VLOG(2) << "New imu not ready, dropped";
     return;
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 7183c6a..881ac5f 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -42,20 +42,26 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
       }
       for (auto &&seg : packet.segments) {
         auto &&imu = std::make_shared<ImuData>();
-        imu->frame_id = seg.frame_id;
+        // imu->frame_id = seg.frame_id;
         // if (seg.offset < 0 &&
         //     static_cast<uint32_t>(-seg.offset) > packet.timestamp) {
         //   LOG(WARNING) << "Imu timestamp offset is incorrect";
         // }
-        imu->timestamp = packet.timestamp + seg.offset;
-        imu->accel[0] = seg.accel[0] * 8.f / 0x10000;
-        imu->accel[1] = seg.accel[1] * 8.f / 0x10000;
-        imu->accel[2] = seg.accel[2] * 8.f / 0x10000;
-        imu->gyro[0] = seg.gyro[0] * 1000.f / 0x10000;
-        imu->gyro[1] = seg.gyro[1] * 1000.f / 0x10000;
-        imu->gyro[2] = seg.gyro[2] * 1000.f / 0x10000;
+        imu->timestamp = seg.timestamp;
+        imu->flag = seg.flag;
         imu->temperature = seg.temperature / 326.8f + 25;
 
+        if((imu->flag) & 0x01 != 0) {
+          imu->accel[0] = seg.aceel_or_gyro[0] * 8.f / 0x10000;
+          imu->accel[1] = seg.aceel_or_gyro[1] * 8.f / 0x10000;
+          imu->accel[2] = seg.aceel_or_gyro[2] * 8.f / 0x10000;
+        } 
+        if((imu->flag) & 0x02 != 0) {
+          imu->gyro[0] = seg.aceel_or_gyro[0] * 1000.f / 0x10000;
+          imu->gyro[1] = seg.aceel_or_gyro[1] * 1000.f / 0x10000;
+          imu->gyro[2] = seg.aceel_or_gyro[2] * 1000.f / 0x10000;
+        }
+        
         std::lock_guard<std::mutex> _(mtx_datas_);
         motion_data_t data = {imu};
         motion_datas_.push_back(data);
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index d97a656..1a78513 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -48,7 +48,7 @@ bool unpack_stereo_img_data(
   //   << ", 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) {
     LOG(WARNING) << "Image packet header must be 0x3B, but 0x" << std::hex
                  << std::uppercase << std::setw(2) << std::setfill('0')
@@ -60,6 +60,7 @@ bool unpack_stereo_img_data(
   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) {
     LOG(WARNING) << "Image packet checksum should be 0x" << std::hex
                  << std::uppercase << std::setw(2) << std::setfill('0')
@@ -68,7 +69,8 @@ bool unpack_stereo_img_data(
                  << 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;
diff --git a/src/internal/types.h b/src/internal/types.h
index 216fe89..ac5992d 100644
--- a/src/internal/types.h
+++ b/src/internal/types.h
@@ -148,7 +148,7 @@ struct ImagePacket {
   std::uint8_t header;
   std::uint8_t size;
   std::uint16_t frame_id;
-  std::uint32_t timestamp;
+  std::uint64_t timestamp;
   std::uint16_t exposure_time;
   std::uint8_t checksum;
 
@@ -161,10 +161,11 @@ struct ImagePacket {
     header = *data;
     size = *(data + 1);
     frame_id = (*(data + 2) << 8) | *(data + 3);
-    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
-                *(data + 7);
-    exposure_time = (*(data + 8) << 8) | *(data + 9);
-    checksum = *(data + 10);
+    timestamp = (*(data + 4) << 56) | (*(data + 5) << 48) | (*(data + 6) << 40) |
+                (*(data + 7) << 32) | (*(data + 8) << 24) | (*(data + 9) << 16) |
+                (*(data + 10) << 8) | *(data + 11);
+    exposure_time = (*(data + 12) << 8) | *(data + 13);
+    checksum = *(data + 14);
   }
 };
 #pragma pack(pop)
@@ -199,11 +200,11 @@ struct ImuReqPacket {
  */
 #pragma pack(push, 1)
 struct ImuSegment {
-  std::int16_t offset;
-  std::uint16_t frame_id;
-  std::int16_t accel[3];
+  std::uint32_t serial_number;
+  std::uint64_t timestamp;
+  std::uint8_t flag;
   std::int16_t temperature;
-  std::int16_t gyro[3];
+  std::int16_t aceel_or_gyro[3];
 
   ImuSegment() = default;
   explicit ImuSegment(std::uint8_t *data) {
@@ -211,15 +212,16 @@ struct ImuSegment {
   }
 
   void from_data(std::uint8_t *data) {
-    offset = (*(data) << 8) | *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    accel[0] = (*(data + 4) << 8) | *(data + 5);
-    accel[1] = (*(data + 6) << 8) | *(data + 7);
-    accel[2] = (*(data + 8) << 8) | *(data + 9);
-    temperature = (*(data + 10) << 8) | *(data + 11);
-    gyro[0] = (*(data + 12) << 8) | *(data + 13);
-    gyro[1] = (*(data + 14) << 8) | *(data + 15);
-    gyro[2] = (*(data + 16) << 8) | *(data + 17);
+    serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
+                    *(data + 3);
+    timestamp = (*(data + 4) << 56) | (*(data + 5) << 48) | (*(data + 6) << 40) |
+                (*(data + 7) << 32) | (*(data + 8) << 24) | (*(data + 9) << 16) |
+                (*(data + 10) << 8) | *(data + 11);
+    flag = *(data + 12);
+    temperature = (*(data + 13) << 8) | *(data + 14);
+    aceel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
+    aceel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
+    aceel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
   }
 };
 #pragma pack(pop)
@@ -230,27 +232,21 @@ struct ImuSegment {
  */
 #pragma pack(push, 1)
 struct ImuPacket {
-  std::uint32_t serial_number;
-  std::uint32_t timestamp;
   std::uint8_t count;
   std::vector<ImuSegment> segments;
 
   ImuPacket() = default;
-  explicit ImuPacket(std::uint8_t *data) {
+  
+  explicit ImuPacket(std::uint8_t seg_count,std::uint8_t *data) {
+    count = seg_count;
     from_data(data);
   }
-
+  
   void from_data(std::uint8_t *data) {
-    serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
-                    *(data + 3);
-    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
-                *(data + 7);
-    count = *(data + 8);
-
-    std::size_t seg_n = sizeof(ImuSegment);  // 18
-    for (std::size_t i = 0; i < count; i++) {
-      segments.push_back(ImuSegment(data + 9 + (seg_n * i)));
-    }
+        std::size_t seg_n = sizeof(ImuSegment);  // 21
+        for(std::size_t i = 0; i < count; i++) {
+          segments.push_back(ImuSegment(data + seg_n * i));
+        }
   }
 };
 #pragma pack(pop)
@@ -277,13 +273,11 @@ struct ImuResPacket {
     state = *(data + 1);
     size = (*(data + 2) << 8) | *(data + 3);
 
-    std::size_t seg_n = sizeof(ImuSegment);  // 18
-    for (std::size_t i = 4; i < size;) {
-      ImuPacket packet(data + i);
-      packets.push_back(packet);
-      i += 9 + (packet.count * seg_n);
-    }
-
+    std::size_t seg_n = sizeof(ImuSegment);  // 21
+    std::uint8_t seg_count = (size - 4) / seg_n;
+    ImuPacket packet(seg_count,data + 4);
+    packets.push_back(packet);
+    //packet(2);
     checksum = *(data + 4 + size);
   }
 };
diff --git a/wrappers/python/src/mynteye_py.cc b/wrappers/python/src/mynteye_py.cc
index 8107f55..3bcccf4 100644
--- a/wrappers/python/src/mynteye_py.cc
+++ b/wrappers/python/src/mynteye_py.cc
@@ -105,8 +105,7 @@ struct MYNTEYE_API MotionData {
   ImuData imu;
 
   bool operator==(const MotionData &other) const {
-    return imu.frame_id == other.imu.frame_id &&
-           imu.timestamp == other.imu.timestamp;
+    return imu.timestamp == other.imu.timestamp;           
   }
 };
 
@@ -365,7 +364,6 @@ BOOST_PYTHON_MODULE(mynteye_py) {
   // bp::register_ptr_to_python<std::shared_ptr<ImgData>>();
 
   bp::class_<ImuData>("ImuData")
-      .def_readonly("frame_id", &ImuData::frame_id)
       .def_readonly("timestamp", &ImuData::timestamp)
       .add_property(
           "accel", +[](ImuData *o) { return array_ref<double>{o->accel}; })
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index 83e1e70..c906c32 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -26,7 +26,6 @@
   <arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
   <arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
 
-  <arg name="imu_frame_id" default="$(arg mynteye)_imu_frame" />
   <arg name="temp_frame_id" default="$(arg mynteye)_temp_frame" />
 
   <arg name="gravity" default="9.8" />
@@ -116,7 +115,6 @@
       <param name="points_frame_id" value="$(arg points_frame_id)" />
       <param name="depth_frame_id" value="$(arg depth_frame_id)" />
 
-      <param name="imu_frame_id" value="$(arg imu_frame_id)" />
       <param name="temp_frame_id" value="$(arg temp_frame_id)" />
 
       <param name="gravity" value="$(arg gravity)" />
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 5e7d153..cb2a9bb 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
@@ -325,9 +325,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       ++imu_count_;
       publishImu(data, imu_count_, stamp);
       publishTemp(data.imu->temperature, imu_count_, stamp);
-      NODELET_DEBUG_STREAM(
-          "Imu count: " << imu_count_ << ", frame_id: " << data.imu->frame_id
-                        << ", timestamp: " << data.imu->timestamp
+      NODELET_DEBUG_STREAM(          
+          "Imu count: " << imu_count_<< ", timestamp: " << data.imu->timestamp
                         << ", accel_x: " << data.imu->accel[0]
                         << ", accel_y: " << data.imu->accel[1]
                         << ", accel_z: " << data.imu->accel[2]

From 259dc968aa103e9c464a6cec5c5dd5a8ee2df2b3 Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Sat, 21 Jul 2018 15:43:02 +0800
Subject: [PATCH 05/96] Enable imu data

---
 samples/device/camera.cc | 4 ++--
 src/device/device.cc     | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 65d3cee..e225ccc 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -87,8 +87,8 @@ int main(int argc, char *argv[]) {
   });
 
   // Enable this will cache the motion datas until you get them.
-  // device->EnableMotionDatas();
-  device->Start(Source::VIDEO_STREAMING);
+  device->EnableMotionDatas();
+  device->Start(Source::ALL);
   cv::namedWindow("frame");
 
   std::size_t motion_count = 0;
diff --git a/src/device/device.cc b/src/device/device.cc
index c38db1d..7ec23b8 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -96,7 +96,7 @@ Device::~Device() {
 
 std::shared_ptr<Device> Device::Create(
     const std::string &name, std::shared_ptr<uvc::device> device) {
-  if (name == "MYNTEYE" || name == "CX3-UVC") {
+  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

From 01c3c7151689852938c868ea45abfe4b263f990c Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Sat, 21 Jul 2018 17:09:47 +0800
Subject: [PATCH 06/96] fix tool bug

---
 src/internal/channels.cc |  4 ++++
 src/internal/motions.cc  | 13 ++++++++++---
 tools/dataset/dataset.cc | 11 +++++------
 3 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 88558ef..0afbbba 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -298,6 +298,10 @@ void Channels::DoImuTrack() {
     return;
   }
 
+  if (res_packet.packets.back().count == 0) {
+    return;
+  }
+
   VLOG(2) << "Imu req sn: " << imu_sn_ << ", res count: " << []() {
     std::size_t n = 0;
     for (auto &&packet : res_packet.packets) {
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 881ac5f..b091f72 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -51,15 +51,22 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         imu->flag = seg.flag;
         imu->temperature = seg.temperature / 326.8f + 25;
 
-        if((imu->flag) & 0x01 != 0) {
+        if(imu->flag == 1) {
           imu->accel[0] = seg.aceel_or_gyro[0] * 8.f / 0x10000;
           imu->accel[1] = seg.aceel_or_gyro[1] * 8.f / 0x10000;
           imu->accel[2] = seg.aceel_or_gyro[2] * 8.f / 0x10000;
-        } 
-        if((imu->flag) & 0x02 != 0) {
+          imu->gyro[0] = 0;
+          imu->gyro[1] = 0;
+          imu->gyro[2] = 0;
+        } else if(imu->flag == 2) {
+          imu->accel[0] = 0;
+          imu->accel[1] = 0;
+          imu->accel[2] = 0;
           imu->gyro[0] = seg.aceel_or_gyro[0] * 1000.f / 0x10000;
           imu->gyro[1] = seg.aceel_or_gyro[1] * 1000.f / 0x10000;
           imu->gyro[2] = seg.aceel_or_gyro[2] * 1000.f / 0x10000;
+        } else {
+          imu->Reset();
         }
         
         std::lock_guard<std::mutex> _(mtx_datas_);
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index d156c37..1fea9c9 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -79,12 +79,11 @@ void Dataset::SaveStreamData(
 void Dataset::SaveMotionData(const device::MotionData &data) {
   auto &&writer = GetMotionWriter();
   auto seq = motion_count_;
-  writer->ofs << seq << ", " << data.imu->frame_id << ", "
-              << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
-              << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
-              << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
-              << data.imu->gyro[2] << ", " << data.imu->temperature
-              << std::endl;
+  writer->ofs << seq << ", " << data.imu->timestamp << ", "
+              << data.imu->accel[0] << ", " << data.imu->accel[1] << ", "
+              << data.imu->accel[2] << ", " << data.imu->gyro[0] << ", "
+              << data.imu->gyro[1] << ", " <<  data.imu->gyro[2] << ", "
+              << data.imu->temperature << std::endl;           
   ++motion_count_;
 }
 

From 08fb1a425ffaeb9f4fcbf8962a1eb34ae580a394 Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Sat, 21 Jul 2018 17:40:56 +0800
Subject: [PATCH 07/96] update img/imu spc

---
 doc/zh-Hans/spec_image_data.md | 13 ++++++-------
 doc/zh-Hans/spec_imu_data.md   | 22 +++++++++++-----------
 2 files changed, 17 insertions(+), 18 deletions(-)

diff --git a/doc/zh-Hans/spec_image_data.md b/doc/zh-Hans/spec_image_data.md
index 77efb87..bb5261d 100644
--- a/doc/zh-Hans/spec_image_data.md
+++ b/doc/zh-Hans/spec_image_data.md
@@ -3,8 +3,8 @@
 | 名称 | 字段 | 单位 | 字节数 | 说明 |
 | :----- | :----- | :----- | :-------- | :----- |
 | 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] |
-| 时间戳 | timestamp | 10 us | 4 | uint32_t |
-| 曝光时间 | exposure_time | 10 us | 2 | uint16_t |
+| 时间戳 | timestamp | 1 us | 8 | uint64_t |
+| 曝光时间 | exposure_time | 1 us | 2 | uint16_t |
 
 > 图像数据传输方式：倒序排在图像尾部。
 
@@ -12,11 +12,10 @@
 
 | Name | Header | Size | FrameID | Timestamp | ExposureTime | Checksum |
 | :--- | :----- | :--- | :------ | :-------- | :----------- | :------- |
-| 字节数 | 1 | 1 | 2 | 4 | 2 | 1 |
-| 类型 | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
-| 描述 | 0x3B | 0x08 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
+| 字节数 | 1 | 1 | 2 | 8 | 2 | 1 |
+| 类型 | uint8_t | uint8_t | uint16_t | uint64_t | uint16_t | uint8_t |
+| 描述 | 0x3B | 0x10 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
 
 * 数据包校验不过，会丢弃该帧。
-* 时间的单位精度为： 0.01 ms / 10 us 。
-  * 4 字节能表示的最大时间约是 11.9 小时，溢出后将重累计。
+* 时间的单位精度为： 1 us 。
 * 时间累计是从上电时从开始，而不是从打开时开始。
diff --git a/doc/zh-Hans/spec_imu_data.md b/doc/zh-Hans/spec_imu_data.md
index d6fbda1..38050f8 100644
--- a/doc/zh-Hans/spec_imu_data.md
+++ b/doc/zh-Hans/spec_imu_data.md
@@ -10,7 +10,7 @@
 
 ## IMU 响应数据包
 
-IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
+IMU 响应数据包里会包含1个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
 
 | Name | Header | State | Size | IMU Packets | Checksum |
 | :--- | :----- | :---- | :--- | :---------- | :------- |
@@ -22,19 +22,19 @@ IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个
 
 IMU 包/小包，是一组 IMU 数据。
 
-| Name | Serial Number | Timestamp | Count | IMU Datas |
-| :--- | :------------ | :-------- | :---- | :-------- |
-| 字节数 | 4 | 4 | 1 | ... |
-| 类型 | uint32_t | uint32_t | uint8_t | - |
-| 描述 | 序列号 | IMU 基准时间戳 | IMU 段数量 | 所包含的 IMU 段 |
+| Name | Count | IMU Datas |
+| :--- | :-----| :-------- |
+| 字节数 | 2 | ... |
+| 类型 | uint16_t | - |
+| 描述 | IMU 段数量 | 所包含的 IMU 段 |
 
 ### IMU 段
 
-| Name | Offset | FrameID | Accelerometer | Temperature | Gyroscope |
-| :--- | :----- | :------ | :------------ | :---------- | :-------- |
-| 字节数 | 2 | 2 | 6 | 2 | 6 |
-| 类型 | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
-| Description | 相对基准时间戳的偏移量 | 图像帧 ID | 加速度计 x y z 三轴的值 | IMU 的温度 | 陀螺仪 x y z 三轴的值 |
+| Name | Serial Number | Timestamp | flag |  Temperature | Accelerometer or Gyroscope |
+| :--- | :------------ | :-------- | :----| :----------- | :------------------------- |
+| 字节数 | 4 | 8 | 1 | 2 | 6 |
+| 类型 | uint32_t | uint64_t | int8_t | int16_t | int16_t * 3 |
+| Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 x y z 三轴的值 |
 
 * 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。
   * 加速度计量程默认值为 **8 g** ，陀螺仪量程默认值为 **1000 deg/s** 。

From c5a4161b9c9282e61a267a79f081cd374f8a2b55 Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Mon, 23 Jul 2018 11:23:44 +0800
Subject: [PATCH 08/96] change the range of accel

---
 doc/zh-Hans/spec_imu_data.md | 2 +-
 src/internal/motions.cc      | 6 +++---
 third_party/glog             | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/doc/zh-Hans/spec_imu_data.md b/doc/zh-Hans/spec_imu_data.md
index 38050f8..34f3490 100644
--- a/doc/zh-Hans/spec_imu_data.md
+++ b/doc/zh-Hans/spec_imu_data.md
@@ -37,6 +37,6 @@ IMU 包/小包，是一组 IMU 数据。
 | Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 x y z 三轴的值 |
 
 * 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。
-  * 加速度计量程默认值为 **8 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
+  * 加速度计量程默认值为 **12 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
 * 温度计量值换算成物理值公式： **real = data / ratio + offset** 。
   * ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index b091f72..3828b54 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -52,9 +52,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         imu->temperature = seg.temperature / 326.8f + 25;
 
         if(imu->flag == 1) {
-          imu->accel[0] = seg.aceel_or_gyro[0] * 8.f / 0x10000;
-          imu->accel[1] = seg.aceel_or_gyro[1] * 8.f / 0x10000;
-          imu->accel[2] = seg.aceel_or_gyro[2] * 8.f / 0x10000;
+          imu->accel[0] = seg.aceel_or_gyro[0] * 12.f / 0x10000;
+          imu->accel[1] = seg.aceel_or_gyro[1] * 12.f / 0x10000;
+          imu->accel[2] = seg.aceel_or_gyro[2] * 12.f / 0x10000;
           imu->gyro[0] = 0;
           imu->gyro[1] = 0;
           imu->gyro[2] = 0;
diff --git a/third_party/glog b/third_party/glog
index a97d6b0..8d7a107 160000
--- a/third_party/glog
+++ b/third_party/glog
@@ -1 +1 @@
-Subproject commit a97d6b0e1ce34e4e1956c63de8ddd325ff164512
+Subproject commit 8d7a107d68c127f3f494bb7807b796c8c5a97a82

From d4547c5525e434cd990e18284542b2a63aa86dcb Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Mon, 23 Jul 2018 17:15:20 +0800
Subject: [PATCH 09/96] fix imu count bug

---
 src/internal/types.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/internal/types.h b/src/internal/types.h
index ac5992d..69d7d59 100644
--- a/src/internal/types.h
+++ b/src/internal/types.h
@@ -274,7 +274,7 @@ struct ImuResPacket {
     size = (*(data + 2) << 8) | *(data + 3);
 
     std::size_t seg_n = sizeof(ImuSegment);  // 21
-    std::uint8_t seg_count = (size - 4) / seg_n;
+    std::uint8_t seg_count = size / seg_n;
     ImuPacket packet(seg_count,data + 4);
     packets.push_back(packet);
     //packet(2);

From 900c44179dae1bed99ccaf29bc873b74fcd9272c Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Mon, 23 Jul 2018 20:28:15 +0800
Subject: [PATCH 10/96] fix the record's bug

---
 samples/device/camera.cc | 3 ++-
 tools/dataset/dataset.cc | 3 ++-
 tools/dataset/record.cc  | 6 ++++--
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index e225ccc..dd5afb8 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -120,8 +120,9 @@ int main(int argc, char *argv[]) {
         right_data.frame->data());
 
     cv::Mat img;
+    cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
+    cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
     cv::hconcat(left_img, right_img, img);
-    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     cv::imshow("frame", img);
 
     char key = static_cast<char>(cv::waitKey(1));
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 1fea9c9..95a92f6 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -70,7 +70,8 @@ void Dataset::SaveStreamData(
     ss << writer->outdir << OS_SEP << std::dec
        << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
     cv::Mat img(
-        data.frame->height(), data.frame->width(), CV_8UC1, data.frame->data());
+        data.frame->height(), data.frame->width(), CV_8UC2, data.frame->data());
+    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     cv::imwrite(ss.str(), img);
   }
   ++stream_counts_[stream];
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index e3de362..5ecdc14 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -80,12 +80,14 @@ int main(int argc, char *argv[]) {
     auto &&left_frame = left_datas.back().frame;
     auto &&right_frame = right_datas.back().frame;
     cv::Mat left_img(
-        left_frame->height(), left_frame->width(), CV_8UC1, left_frame->data());
+        left_frame->height(), left_frame->width(), CV_8UC2, left_frame->data());
     cv::Mat right_img(
-        right_frame->height(), right_frame->width(), CV_8UC1,
+        right_frame->height(), right_frame->width(), CV_8UC2,
         right_frame->data());
 
     cv::Mat img;
+    cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
+    cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
     cv::hconcat(left_img, right_img, img);
     cv::imshow("frame", img);
 

From f1003b63b31d91eab045bf8a1b7ea601e8322134 Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Wed, 25 Jul 2018 17:04:39 +0800
Subject: [PATCH 11/96] include opencv2 in dataset.cc

---
 tools/dataset/dataset.cc | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 95a92f6..1604c57 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -12,13 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include "dataset/dataset.h"
-
-#ifdef USE_OPENCV2
 #include <opencv2/highgui/highgui.hpp>
-#else
-#include <opencv2/imgcodecs/imgcodecs.hpp>
-#endif
-
+#include <opencv2/imgproc/imgproc.hpp>
 #include <glog/logging.h>
 
 #include <iomanip>

From 5ef5e8d8663ee9dff72b6f102cfa048cf0d5bf85 Mon Sep 17 00:00:00 2001
From: KalmanSLightech <kalmanxiong@slightech.com>
Date: Fri, 27 Jul 2018 18:06:55 +0800
Subject: [PATCH 12/96] read info

---
 src/api/synthetic.cc | 8 +++++---
 src/device/device.cc | 2 +-
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index 3c5a194..9323975 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -18,7 +18,7 @@
 #include <algorithm>
 #include <functional>
 #include <stdexcept>
-
+#include <opencv2/imgproc/imgproc.hpp>
 #include "api/plugin.h"
 #include "api/processor/depth_processor.h"
 #include "api/processor/disparity_normalized_processor.h"
@@ -41,8 +41,10 @@ namespace {
 
 cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
   // TODO(JohnZhao) Support different format frame to cv::Mat
-  CHECK_EQ(frame->format(), Format::GREY);
-  return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
+  CHECK_EQ(frame->format(), Format::YUYV);
+  cv::Mat img(frame->height(), frame->width(), CV_8UC2,frame->data());
+  cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+  return img;
 }
 
 api::StreamData data2api(const device::StreamData &data) {
diff --git a/src/device/device.cc b/src/device/device.cc
index 7ec23b8..b8e973c 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -87,7 +87,7 @@ Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
       channels_(std::make_shared<Channels>(device)),
       motions_(std::make_shared<Motions>(channels_)) {
   VLOG(2) << __func__;
-  //ReadAllInfos();
+  ReadAllInfos();
 }
 
 Device::~Device() {

From 27c8ccaac34cb33c0848ae3ea9d27bbf5fe2116c Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Sat, 28 Jul 2018 01:17:56 +0800
Subject: [PATCH 13/96] delete space

---
 .../src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc   | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

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 cb2a9bb..054e484 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
@@ -174,11 +174,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
 
-    camera_encodings_ = {{Stream::LEFT, enc::MONO8},
-                         {Stream::RIGHT, enc::MONO8}};
+    camera_encodings_ = {{Stream::LEFT, enc::BGR8}, {Stream::RIGHT, enc::BGR8}};
 
-    image_encodings_ = {{Stream::LEFT_RECTIFIED, enc::MONO8},
-                        {Stream::RIGHT_RECTIFIED, enc::MONO8},
+    image_encodings_ = {{Stream::LEFT_RECTIFIED, enc::BGR8},
+                        {Stream::RIGHT_RECTIFIED, enc::BGR8},
                         {Stream::DISPARITY, enc::MONO8},  // float
                         {Stream::DISPARITY_NORMALIZED, enc::MONO8},
                         {Stream::DEPTH, enc::MONO16}};
@@ -325,8 +324,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       ++imu_count_;
       publishImu(data, imu_count_, stamp);
       publishTemp(data.imu->temperature, imu_count_, stamp);
-      NODELET_DEBUG_STREAM(          
-          "Imu count: " << imu_count_<< ", timestamp: " << data.imu->timestamp
+      NODELET_DEBUG_STREAM(
+          "Imu count: " << imu_count_ << ", timestamp: " << data.imu->timestamp
                         << ", accel_x: " << data.imu->accel[0]
                         << ", accel_y: " << data.imu->accel[1]
                         << ", accel_z: " << data.imu->accel[2]

From 94053b8e357cb5c096b7ed6a597cbaac2fa4f68a Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Mon, 30 Jul 2018 14:45:48 +0800
Subject: [PATCH 14/96] change UpdateControlInfos()

---
 src/internal/channels.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 0afbbba..f4a065a 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -130,14 +130,14 @@ void Channels::LogControlInfos() const {
 void Channels::UpdateControlInfos() {
   for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
                                            Option::CONTRAST}) {
-    control_infos_[option] = PuControlInfo(option);
+    // control_infos_[option] = PuControlInfo(option);
   }
 
   for (auto &&option : std::vector<Option>{
            Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
            Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
            Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE}) {
-    control_infos_[option] = XuControlInfo(option);
+    // control_infos_[option] = XuControlInfo(option);
   }
 
   if (VLOG_IS_ON(2)) {

From a7750e8217e43f09077af0cd43d2594ebe88ef50 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 1 Aug 2018 14:54:20 +0800
Subject: [PATCH 15/96] Don't save imu's frame id in dataset

---
 tools/dataset/dataset.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 1604c57..c87d964 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -102,7 +102,7 @@ Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
 
     files::mkdir(writer->outdir);
     writer->ofs.open(writer->outfile, std::ofstream::out);
-    writer->ofs << "seq, frame_id, timestamp, exposure_time" << std::endl;
+    writer->ofs << "seq, timestamp, exposure_time" << std::endl;
     writer->ofs << FULL_PRECISION;
 
     stream_writers_[stream] = writer;
@@ -119,7 +119,7 @@ Dataset::writer_t Dataset::GetMotionWriter() {
 
     files::mkdir(writer->outdir);
     writer->ofs.open(writer->outfile, std::ofstream::out);
-    writer->ofs << "seq, frame_id, timestamp, accel_x, accel_y, accel_z, "
+    writer->ofs << "seq, timestamp, accel_x, accel_y, accel_z, "
                    "gyro_x, gyro_y, gyro_z, temperature"
                 << std::endl;
     writer->ofs << FULL_PRECISION;

From d2b4cc3022b491db3aaa8bb835f9865367fe08fb Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 1 Aug 2018 20:20:39 +0800
Subject: [PATCH 16/96] fix two warning

---
 src/internal/channels.cc           | 40 ++++++++++++++++--------------
 src/internal/types.h               | 33 ++++++++++++++----------
 tools/analytics/stamp_analytics.py |  4 +--
 tools/dataset/dataset.cc           | 18 ++++++++------
 tools/dataset/dataset.h            |  2 ++
 tools/internal/data/__init__.py    | 12 ++++-----
 6 files changed, 63 insertions(+), 46 deletions(-)

diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index f4a065a..58c6668 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -128,25 +128,29 @@ void Channels::LogControlInfos() const {
 }
 
 void Channels::UpdateControlInfos() {
-  for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
-                                           Option::CONTRAST}) {
-    // control_infos_[option] = PuControlInfo(option);
-  }
-
-  for (auto &&option : std::vector<Option>{
-           Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
-           Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-           Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE}) {
-    // control_infos_[option] = XuControlInfo(option);
-  }
-
-  if (VLOG_IS_ON(2)) {
-    for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
-      VLOG(2) << it->first << ": min=" << it->second.min
-              << ", max=" << it->second.max << ", def=" << it->second.def
-              << ", cur=" << GetControlValue(it->first);
+  /*
+    for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
+                                             Option::CONTRAST}) {
+       control_infos_[option] = PuControlInfo(option);
     }
-  }
+
+    for (auto &&option : std::vector<Option>{
+             Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
+             Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
+             Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE})
+    {
+       control_infos_[option] = XuControlInfo(option);
+    }
+
+    if (VLOG_IS_ON(2)) {
+      for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++)
+    {
+        VLOG(2) << it->first << ": min=" << it->second.min
+                << ", max=" << it->second.max << ", def=" << it->second.def
+                << ", cur=" << GetControlValue(it->first);
+      }
+    }
+  */
 }
 
 Channels::control_info_t Channels::GetControlInfo(const Option &option) const {
diff --git a/src/internal/types.h b/src/internal/types.h
index 69d7d59..a34f1ad 100644
--- a/src/internal/types.h
+++ b/src/internal/types.h
@@ -16,7 +16,6 @@
 #pragma once
 
 #include <cstdint>
-
 #include <array>
 #include <bitset>
 #include <string>
@@ -158,12 +157,17 @@ struct ImagePacket {
   }
 
   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 = (*(data + 4) << 56) | (*(data + 5) << 48) | (*(data + 6) << 40) |
-                (*(data + 7) << 32) | (*(data + 8) << 24) | (*(data + 9) << 16) |
-                (*(data + 10) << 8) | *(data + 11);
+    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);
   }
@@ -212,11 +216,16 @@ struct ImuSegment {
   }
 
   void from_data(std::uint8_t *data) {
+    std::uint32_t timestamp_l;
+    std::uint32_t timestamp_h;
+
     serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
                     *(data + 3);
-    timestamp = (*(data + 4) << 56) | (*(data + 5) << 48) | (*(data + 6) << 40) |
-                (*(data + 7) << 32) | (*(data + 8) << 24) | (*(data + 9) << 16) |
-                (*(data + 10) << 8) | *(data + 11);
+    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);
     aceel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
@@ -236,15 +245,13 @@ struct ImuPacket {
   std::vector<ImuSegment> segments;
 
   ImuPacket() = default;
-  
-  explicit ImuPacket(std::uint8_t seg_count,std::uint8_t *data) {
+  explicit ImuPacket(std::uint8_t seg_count, std::uint8_t *data) {
     count = seg_count;
     from_data(data);
   }
-  
   void from_data(std::uint8_t *data) {
         std::size_t seg_n = sizeof(ImuSegment);  // 21
-        for(std::size_t i = 0; i < count; i++) {
+        for (std::size_t i = 0; i < count; i++) {
           segments.push_back(ImuSegment(data + seg_n * i));
         }
   }
@@ -275,9 +282,9 @@ struct ImuResPacket {
 
     std::size_t seg_n = sizeof(ImuSegment);  // 21
     std::uint8_t seg_count = size / seg_n;
-    ImuPacket packet(seg_count,data + 4);
+    ImuPacket packet(seg_count, data + 4);
     packets.push_back(packet);
-    //packet(2);
+    // packet(2);
     checksum = *(data + 4 + size);
   }
 };
diff --git a/tools/analytics/stamp_analytics.py b/tools/analytics/stamp_analytics.py
index 3814126..908e518 100644
--- a/tools/analytics/stamp_analytics.py
+++ b/tools/analytics/stamp_analytics.py
@@ -288,14 +288,14 @@ def _parse_args():
       '--rate-img',
       dest='rate_img',
       metavar='RATE',
-      default=25,
+      default=60,
       type=int,
       help='the img rate (default: %(default)s)')
   parser.add_argument(
       '--rate-imu',
       dest='rate_imu',
       metavar='RATE',
-      default=500,
+      default=200,
       type=int,
       help='the imu rate (default: %(default)s)')
   return parser.parse_args()
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index c87d964..ef82e14 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -75,12 +75,14 @@ void Dataset::SaveStreamData(
 void Dataset::SaveMotionData(const device::MotionData &data) {
   auto &&writer = GetMotionWriter();
   auto seq = motion_count_;
-  writer->ofs << seq << ", " << data.imu->timestamp << ", "
-              << data.imu->accel[0] << ", " << data.imu->accel[1] << ", "
-              << data.imu->accel[2] << ", " << data.imu->gyro[0] << ", "
-              << data.imu->gyro[1] << ", " <<  data.imu->gyro[2] << ", "
-              << data.imu->temperature << std::endl;           
-  ++motion_count_;
+  if (data.imu->flag == 1 || data.imu->flag == 2) {
+    writer->ofs << seq << ", " << data.imu->timestamp << ", "
+                << data.imu->accel[0] << ", " << data.imu->accel[1] << ", "
+                << data.imu->accel[2] << ", " << data.imu->gyro[0] << ", "
+                << data.imu->gyro[1] << ", " << data.imu->gyro[2] << ", "
+                << data.imu->temperature << std::endl;
+    ++motion_count_;
+  }
 }
 
 Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
@@ -102,7 +104,7 @@ Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
 
     files::mkdir(writer->outdir);
     writer->ofs.open(writer->outfile, std::ofstream::out);
-    writer->ofs << "seq, timestamp, exposure_time" << std::endl;
+    writer->ofs << "seq, frame_id, timestamp, exposure_time" << std::endl;
     writer->ofs << FULL_PRECISION;
 
     stream_writers_[stream] = writer;
@@ -126,6 +128,8 @@ Dataset::writer_t Dataset::GetMotionWriter() {
 
     motion_writer_ = writer;
     motion_count_ = 0;
+    accel_count_ = 0;
+    gyro_count_ = 0;
   }
   return motion_writer_;
 }
diff --git a/tools/dataset/dataset.h b/tools/dataset/dataset.h
index 06f52c4..485adb0 100644
--- a/tools/dataset/dataset.h
+++ b/tools/dataset/dataset.h
@@ -54,6 +54,8 @@ class Dataset {
 
   std::map<Stream, std::size_t> stream_counts_;
   std::size_t motion_count_;
+  std::size_t accel_count_;
+  std::size_t gyro_count_;
 };
 
 }  // namespace tools
diff --git a/tools/internal/data/__init__.py b/tools/internal/data/__init__.py
index 5c3a0dc..e5fd610 100644
--- a/tools/internal/data/__init__.py
+++ b/tools/internal/data/__init__.py
@@ -339,9 +339,9 @@ class MYNTEYE(Dataset):
       if index == -1:
         sys.exit('Error: Dataset is unexpected format, timestamp not found')
 
-      # unit from 0.01ms to 1s
-      info.timebeg = float(first.split(',')[index].strip()) * 0.00001
-      info.timeend = float(last.split(',')[index].strip()) * 0.00001
+      # unit from 1us to 1s
+      info.timebeg = float(first.split(',')[index].strip()) * 0.000001
+      info.timeend = float(last.split(',')[index].strip()) * 0.000001
       # print('time: [{}, {}]'.format(info.timebeg, info.timeend))
 
     return info
@@ -364,7 +364,7 @@ class MYNTEYE(Dataset):
         for line in f:
           values = [_.strip() for _ in line.split(',')]
           img = Image()
-          img.timestamp = float(values[fields['timestamp']]) * 0.00001
+          img.timestamp = float(values[fields['timestamp']]) * 0.000001
           yield {What.img_left: img}
     if hit_img_right and self._info.has_img_right:
       with open(self._info.img_right_txt) as f:
@@ -372,7 +372,7 @@ class MYNTEYE(Dataset):
         for line in f:
           values = [_.strip() for _ in line.split(',')]
           img = Image()
-          img.timestamp = float(values[fields['timestamp']]) * 0.00001
+          img.timestamp = float(values[fields['timestamp']]) * 0.000001
           yield {What.img_right: img}
     if (hit_imu or hit_temp) and self._info.has_imu:
       with open(self._info.imu_txt) as f:
@@ -380,7 +380,7 @@ class MYNTEYE(Dataset):
         for line in f:
           values = [_.strip() for _ in line.split(',')]
           imu = IMU()
-          imu.timestamp = float(values[fields['timestamp']]) * 0.00001
+          imu.timestamp = float(values[fields['timestamp']]) * 0.000001
           imu.accel_x = float(values[fields['accel_x']])
           imu.accel_y = float(values[fields['accel_y']])
           imu.accel_z = float(values[fields['accel_z']])

From 614227a85c13ece3696607aac301d1611025f90a Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 1 Aug 2018 22:00:38 +0800
Subject: [PATCH 17/96] fix img timestamp

---
 include/mynteye/types.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 7f3f9b3..da5f672 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -410,7 +410,7 @@ struct MYNTEYE_API ImgData {
   /** Image frame id */
   std::uint16_t frame_id;
   /** Image timestamp in 0.01ms */
-  std::uint32_t timestamp;
+  std::uint64_t timestamp;
   /** Image exposure time, virtual value in [1, 480] */
   std::uint16_t exposure_time;
 

From b139fd21c3f9e4a97eb6f498fc2ccc9a90581293 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 3 Aug 2018 19:31:36 +0800
Subject: [PATCH 18/96] miss serial_number in ImuData

---
 include/mynteye/types.h | 4 +++-
 src/internal/motions.cc | 7 ++++---
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index da5f672..94cfff6 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -441,9 +441,11 @@ struct MYNTEYE_API ImgData {
  * IMU data.
  */
 struct MYNTEYE_API ImuData {
+  /** Imu serial number */
+  std::uint32_t serial_number;
   /** accel or gyro flag:1 for accel,2 for gyro,3 for both */
   std::uint8_t flag;
-  /** IMU timestamp in 0.01ms */
+  /** IMU timestamp in 1us */
   std::uint64_t timestamp;
   /** IMU accelerometer data for 3-axis: X, Y, Z. */
   double accel[3];
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 3828b54..871cdde 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -47,18 +47,19 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         //     static_cast<uint32_t>(-seg.offset) > packet.timestamp) {
         //   LOG(WARNING) << "Imu timestamp offset is incorrect";
         // }
+        imu->serial_number = seg.serial_number;
         imu->timestamp = seg.timestamp;
         imu->flag = seg.flag;
         imu->temperature = seg.temperature / 326.8f + 25;
 
-        if(imu->flag == 1) {
+        if (imu->flag == 1) {
           imu->accel[0] = seg.aceel_or_gyro[0] * 12.f / 0x10000;
           imu->accel[1] = seg.aceel_or_gyro[1] * 12.f / 0x10000;
           imu->accel[2] = seg.aceel_or_gyro[2] * 12.f / 0x10000;
           imu->gyro[0] = 0;
           imu->gyro[1] = 0;
           imu->gyro[2] = 0;
-        } else if(imu->flag == 2) {
+        } else if (imu->flag == 2) {
           imu->accel[0] = 0;
           imu->accel[1] = 0;
           imu->accel[2] = 0;
@@ -68,7 +69,7 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         } else {
           imu->Reset();
         }
-        
+
         std::lock_guard<std::mutex> _(mtx_datas_);
         motion_data_t data = {imu};
         motion_datas_.push_back(data);

From 33d3f15b86cbaf2e9eee0b745981d441ea742877 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Sun, 5 Aug 2018 23:18:51 +0800
Subject: [PATCH 19/96] Add some resolution,format and frame rate.

---
 include/mynteye/types.h        | 86 +++++++++++++++++++++++++++++++
 samples/api/camera.cc          |  5 +-
 samples/device/camera.cc       |  6 ++-
 samples/uvc/camera.cc          |  6 +--
 src/api/api.cc                 |  5 ++
 src/api/api.h                  |  7 ++-
 src/api/synthetic.cc           | 19 ++++---
 src/device/device.cc           | 94 ++++++++++++++++++----------------
 src/device/device.h            |  6 +++
 src/internal/config.cc         | 17 +++++-
 src/internal/config.h          |  7 ++-
 src/internal/streams.cc        | 14 ++---
 tools/writer/config/img.params |  8 +--
 13 files changed, 205 insertions(+), 75 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 94cfff6..27c0216 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -76,6 +76,8 @@ enum class Capabilities : std::uint8_t {
   STEREO,
   /** Provides color stream */
   COLOR,
+  /** Provide stereo color  stream */
+  STEREO_COLOR,
   /** Provides depth stream */
   DEPTH,
   /** Provides point cloud stream */
@@ -227,6 +229,40 @@ enum class AddOns : std::uint8_t {
   LAST
 };
 
+/**
+ * @ingroup enumerations
+ * @brief Camera supported resolution.
+ */
+enum class Resolution : std::uint8_t {
+  /** 480x752 */
+  RES_480x752,
+  /** 1280x400 */
+  RES_1280x400,
+  /** 2560x800 */
+  RES_2560x800,
+  /** Last guard */
+  LAST
+};
+
+/**
+ * @ingroup enumerations
+ * @brief Camera supported frame rate.
+ */
+enum class FrameRate : std::uint8_t {
+  /** 10 fps */
+  RATE_10_FPS,
+  /** 20 fps */
+  RATE_20_FPS,
+  /** 20 fps */
+  RATE_25_FPS,
+  /** 30 fps */
+  RATE_30_FPS,
+  /** 60 fps */
+  RATE_60_FPS,
+  /** Last guard */
+  LAST
+};
+
 #define MYNTEYE_ENUM_HELPERS(TYPE)                                       \
   MYNTEYE_API const char *to_string(const TYPE &value);                  \
   inline bool is_valid(const TYPE &value) {                              \
@@ -250,6 +286,8 @@ MYNTEYE_ENUM_HELPERS(Info)
 MYNTEYE_ENUM_HELPERS(Option)
 MYNTEYE_ENUM_HELPERS(Source)
 MYNTEYE_ENUM_HELPERS(AddOns)
+MYNTEYE_ENUM_HELPERS(Resolution)
+MYNTEYE_ENUM_HELPERS(FrameRate)
 
 #undef MYNTEYE_ENUM_HELPERS
 
@@ -266,6 +304,8 @@ enum class Format : std::uint32_t {
   GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
   /** YUV 4:2:2, 16 bits per pixel */
   YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
+  /** RGB 8:8:8, 24 bits per pixel */
+  RGB888 = MYNTEYE_FOURCC('R', 'G', 'B', '3'),
   /** Last guard */
   LAST
 };
@@ -293,6 +333,52 @@ struct MYNTEYE_API StreamRequest {
   /** Stream frames per second (unused) */
   std::uint16_t fps;
 
+  StreamRequest() {}
+
+  StreamRequest(
+      std::uint16_t width, std::uint16_t height, Format format,
+      std::uint16_t fps)
+      : width(width), height(height), format(format), fps(fps) {}
+
+  StreamRequest(Resolution res, Format format, FrameRate rate)
+      : format(format) {
+    switch (res) {
+      case Resolution::RES_480x752:
+        width = 480, height = 752;
+        break;
+      case Resolution::RES_1280x400:
+        width = 1280, height = 400;
+        break;
+      case Resolution::RES_2560x800:
+        width = 2560, height = 800;
+        break;
+      default:
+        width = 480, height = 752;
+        break;
+    }
+
+    switch (rate) {
+      case FrameRate::RATE_10_FPS:
+        fps = 10;
+        break;
+      case FrameRate::RATE_20_FPS:
+        fps = 20;
+        break;
+      case FrameRate::RATE_25_FPS:
+        fps = 25;
+        break;
+      case FrameRate::RATE_30_FPS:
+        fps = 30;
+        break;
+      case FrameRate::RATE_60_FPS:
+        fps = 60;
+        break;
+      default:
+        fps = 25;
+        break;
+    }
+  }
+
   bool operator==(const StreamRequest &other) const {
     return width == other.width && height == other.height &&
            format == other.format && fps == other.fps;
diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 02ad7c9..754aa2d 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -24,7 +24,8 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-
+  api->SetStreamRequest(
+      Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_20_FPS);
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   api->SetOptionValue(Option::IR_CONTROL, 80);
@@ -105,7 +106,7 @@ int main(int argc, char *argv[]) {
 
     auto &&motion_datas = api->GetMotionDatas();
     motion_count += motion_datas.size();
-    for (auto &&data : motion_datas) {       
+    for (auto &&data : motion_datas) {
       LOG(INFO) << ", timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index dd5afb8..3178de4 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -50,6 +50,8 @@ int main(int argc, char *argv[]) {
   // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
 
   std::size_t left_count = 0;
+  device->SetStreamRequest(
+      Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
@@ -75,7 +77,7 @@ int main(int argc, char *argv[]) {
   device->SetMotionCallback([&imu_count](const device::MotionData &data) {
     CHECK_NOTNULL(data.imu);
     ++imu_count;
-    VLOG(2) << "Imu count: " << imu_count; 
+    VLOG(2) << "Imu count: " << imu_count;
     VLOG(2) << ", timestamp: " << data.imu->timestamp
             << ", accel_x: " << data.imu->accel[0]
             << ", accel_y: " << data.imu->accel[1]
@@ -101,7 +103,7 @@ int main(int argc, char *argv[]) {
 
     auto &&motion_datas = device->GetMotionDatas();
     motion_count += motion_datas.size();
-    for (auto &&data : motion_datas) {       
+    for (auto &&data : motion_datas) {
       LOG(INFO) << ", timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]
diff --git a/samples/uvc/camera.cc b/samples/uvc/camera.cc
index ada886e..2852d63 100644
--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
   const auto frame_empty = [&frame]() { return frame == nullptr; };
 
   uvc::set_device_mode(
-      *device, 1280, 480, static_cast<int>(Format::YUYV), 25,
+      *device, 1280, 400, static_cast<int>(Format::RGB888), 20,
       [&mtx, &cv, &frame, &frame_ready](
           const void *data, std::function<void()> continuation) {
         // reinterpret_cast<const std::uint8_t *>(data);
@@ -143,8 +143,8 @@ int main(int argc, char *argv[]) {
     }
 
     // only lastest frame is valid
-    cv::Mat img(480, 1280, CV_8UC2, const_cast<void *>(frame->data));
-    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
+    // cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     cv::imshow("frame", img);
 
     frame = nullptr;
diff --git a/src/api/api.cc b/src/api/api.cc
index 1164aae..18cdd5c 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -280,6 +280,11 @@ bool API::Supports(const AddOns &addon) const {
   return device_->Supports(addon);
 }
 
+void API::SetStreamRequest(
+    const Resolution &res, const Format &format, const FrameRate &rate) {
+  device_->SetStreamRequest(res, format, rate);
+}
+
 const std::vector<StreamRequest> &API::GetStreamRequests(
     const Capabilities &capability) const {
   return device_->GetStreamRequests(capability);
diff --git a/src/api/api.h b/src/api/api.h
index 8a259a3..bd3be97 100644
--- a/src/api/api.h
+++ b/src/api/api.h
@@ -69,7 +69,7 @@ struct MYNTEYE_API MotionData {
 
   bool operator==(const MotionData &other) const {
     if (imu && other.imu) {
-      return imu->timestamp == other.imu->timestamp;            
+      return imu->timestamp == other.imu->timestamp;
     }
     return false;
   }
@@ -144,6 +144,11 @@ class MYNTEYE_API API {
    */
   bool Supports(const AddOns &addon) const;
 
+  /**
+   * set the stream request.
+   */
+  void SetStreamRequest(
+      const Resolution &res, const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index 9323975..b2b18a7 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -11,14 +11,10 @@
 // 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 "api/synthetic.h"
-
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <functional>
 #include <stdexcept>
-#include <opencv2/imgproc/imgproc.hpp>
+
 #include "api/plugin.h"
 #include "api/processor/depth_processor.h"
 #include "api/processor/disparity_normalized_processor.h"
@@ -27,6 +23,7 @@
 #include "api/processor/points_processor.h"
 #include "api/processor/processor.h"
 #include "api/processor/rectify_processor.h"
+#include "api/synthetic.h"
 #include "device/device.h"
 
 #define RECTIFY_PROC_PERIOD 0
@@ -42,9 +39,15 @@ namespace {
 cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
   // TODO(JohnZhao) Support different format frame to cv::Mat
   CHECK_EQ(frame->format(), Format::YUYV);
-  cv::Mat img(frame->height(), frame->width(), CV_8UC2,frame->data());
-  cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
-  return img;
+  if (frame->format() == Format::YUYV) {
+    cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
+    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    return img;
+  } else if (frame->format() == Format::RGB888) {
+    return cv::Mat(frame->height(), frame->width(), CV_8UC3, frame->data());
+  } else {
+    return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
+  }
 }
 
 api::StreamData data2api(const device::StreamData &data) {
diff --git a/src/device/device.cc b/src/device/device.cc
index b8e973c..f3a16bc 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -100,10 +100,10 @@ std::shared_ptr<Device> Device::Create(
     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);
+    std::string model_s = name.substr(9, 5);
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
-    if(model.type == 'S') {
+    if (model.type == 'S') {
       switch (model.custom_code) {
         case '0':
           return std::make_shared<StandardDevice>(device);
@@ -432,13 +432,22 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
   return motions_->GetMotionDatas();
 }
 
+void Device::SetStreamRequest(
+    const Resolution &res, const Format &format, const FrameRate &rate) {
+  StreamRequest request(res, format, rate);
+  request_ = request;
+}
+
 const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
   try {
     return stream_config_requests_.at(capability);
   } catch (const std::out_of_range &e) {
     auto &&requests = GetStreamRequests(capability);
     if (requests.size() >= 1) {
-      VLOG(2) << "Select the first one stream request of " << capability;
+      for (auto &&request : requests) {
+        if (request == request_)
+          return request;
+      }
       return requests[0];
     } else {
       LOG(FATAL) << "Please config the stream request of " << capability;
@@ -455,53 +464,48 @@ void Device::StartVideoStreaming() {
   streams_ = std::make_shared<Streams>(GetKeyStreams());
 
   // if stream capabilities are supported with subdevices of device_
-  /*
   Capabilities stream_capabilities[] = {
-    Capabilities::STEREO,
-    Capabilities::COLOR,
-    Capabilities::DEPTH,
-    Capabilities::POINTS,
-    Capabilities::FISHEYE,
-    Capabilities::INFRARED,
-    Capabilities::INFRARED2
-  };
+      Capabilities::STEREO,       Capabilities::COLOR,
+      Capabilities::STEREO_COLOR, Capabilities::DEPTH,
+      Capabilities::POINTS,       Capabilities::FISHEYE,
+      Capabilities::INFRARED,     Capabilities::INFRARED2};
   for (auto &&capability : stream_capabilities) {
-  }
-  */
-  if (Supports(Capabilities::STEREO)) {
-    // do stream request selection if more than one request of each stream
-    auto &&stream_request = GetStreamRequest(Capabilities::STEREO);
+    if (Supports(capability)) {
+      // do stream request selection if more than one request of each stream
+      auto &&stream_request = GetStreamRequest(capability);
 
-    streams_->ConfigStream(Capabilities::STEREO, stream_request);
-    uvc::set_device_mode(
-        *device_, stream_request.width, stream_request.height,
-        static_cast<int>(stream_request.format), stream_request.fps,
-        [this](const void *data, std::function<void()> continuation) {
-          // drop the first stereo stream data
-          static std::uint8_t drop_count = 1;
-          if (drop_count > 0) {
-            --drop_count;
-            continuation();
-            return;
-          }
-          // auto &&time_beg = times::now();
-          {
-            std::lock_guard<std::mutex> _(mtx_streams_);
-            if (streams_->PushStream(Capabilities::STEREO, data)) {
-              CallbackPushedStreamData(Stream::LEFT);
-              CallbackPushedStreamData(Stream::RIGHT);
+      streams_->ConfigStream(capability, stream_request);
+      uvc::set_device_mode(
+          *device_, stream_request.width, stream_request.height,
+          static_cast<int>(stream_request.format), stream_request.fps,
+          [this, capability](
+              const void *data, std::function<void()> continuation) {
+            // drop the first stereo stream data
+            static std::uint8_t drop_count = 1;
+            if (drop_count > 0) {
+              --drop_count;
+              continuation();
+              return;
             }
-          }
-          continuation();
-          OnStereoStreamUpdate();
-          // VLOG(2) << "Stereo video callback cost "
-          //     << times::count<times::milliseconds>(times::now() - time_beg)
-          //     << " ms";
-        });
-  } else {
-    LOG(FATAL) << "Not any stream capabilities are supported by this device";
+            // auto &&time_beg = times::now();
+            {
+              std::lock_guard<std::mutex> _(mtx_streams_);
+              if (streams_->PushStream(capability, data)) {
+                CallbackPushedStreamData(Stream::LEFT);
+                CallbackPushedStreamData(Stream::RIGHT);
+              }
+            }
+            continuation();
+            OnStereoStreamUpdate();
+            // VLOG(2) << "Stereo video callback cost "
+            //     << times::count<times::milliseconds>(times::now() - time_beg)
+            //     << " ms";
+          });
+    } else {
+      // LOG(FATAL) << "Not any stream capabilities are supported by this
+      // device";
+    }
   }
-
   uvc::start_streaming(*device_, 0);
   video_streaming_ = true;
 }
diff --git a/src/device/device.h b/src/device/device.h
index 6d11cd2..6f84310 100644
--- a/src/device/device.h
+++ b/src/device/device.h
@@ -103,6 +103,11 @@ class MYNTEYE_API Device {
    */
   bool Supports(const AddOns &addon) const;
 
+  /**
+   * set the stream request.
+   */
+  void SetStreamRequest(
+      const Resolution &res, const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
@@ -286,6 +291,7 @@ class MYNTEYE_API Device {
 
  private:
   Model model_;
+  StreamRequest request_;
   std::shared_ptr<uvc::device> device_;
   std::shared_ptr<DeviceInfo> device_info_;
 
diff --git a/src/internal/config.cc b/src/internal/config.cc
index 9b3188d..f02bc30 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -19,7 +19,7 @@ const std::map<Model, StreamSupports> stream_supports_map = {
     {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}}};
 
 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
-    {Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}}};
+    {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
 
 const std::map<Model, OptionSupports> option_supports_map = {
     {Model::STANDARD,
@@ -31,6 +31,19 @@ const std::map<Model, OptionSupports> option_supports_map = {
 const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map = {
         {Model::STANDARD,
-         {{Capabilities::STEREO, {{1280, 480, Format::YUYV, 25}}}}}};
+         {{Capabilities::STEREO, {{480, 752, Format::YUYV, 25}}},
+          {Capabilities::STEREO_COLOR,
+           {{1280, 400, Format::YUYV, 20},
+            {1280, 400, Format::YUYV, 30},
+            {1280, 400, Format::YUYV, 60},
+            {2560, 800, Format::YUYV, 10},
+            {2560, 800, Format::YUYV, 20},
+            {2560, 800, Format::YUYV, 30},
+            {1280, 400, Format::RGB888, 20},
+            {1280, 400, Format::RGB888, 30},
+            {1280, 400, Format::RGB888, 60},
+            {2560, 800, Format::RGB888, 10},
+            {2560, 800, Format::RGB888, 20},
+            {2560, 800, Format::RGB888, 30}}}}}};
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/internal/config.h b/src/internal/config.h
index 77f5a55..a85644c 100644
--- a/src/internal/config.h
+++ b/src/internal/config.h
@@ -27,13 +27,18 @@ MYNTEYE_BEGIN_NAMESPACE
 using StreamSupports = std::set<Stream>;
 using CapabilitiesSupports = std::set<Capabilities>;
 using OptionSupports = std::set<Option>;
-
+using ResolutionSupports = std::set<Resolution>;
+using FrameRateSupports = std::set<FrameRate>;
 extern const std::map<Model, StreamSupports> stream_supports_map;
 extern const std::map<Model, CapabilitiesSupports> capabilities_supports_map;
 extern const std::map<Model, OptionSupports> option_supports_map;
+extern const std::map<Model, ResolutionSupports> resolution_supports_map;
 
 using StreamRequests = std::vector<StreamRequest>;
 
+extern const std::map<Model, std::map<Resolution, FrameRateSupports>>
+    framerate_Supports_supports_map;
+
 extern const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map;
 
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index 1a78513..9b4125e 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -85,8 +85,8 @@ bool unpack_left_img_pixels(
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
   std::size_t w = frame->width() * 2;
   std::size_t h = frame->height();
-  for(std::size_t i = 0; i < h; i++) {
-    for(std::size_t j = 0; j < w; j++) {
+  for (std::size_t i = 0; i < h; i++) {
+    for (std::size_t j = 0; j < w; j++) {
       frame->data()[i * w + j] = *(data_new + 2 * i * w + j);
     }
   }
@@ -101,8 +101,8 @@ bool unpack_right_img_pixels(
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
   std::size_t w = frame->width() * 2;
   std::size_t h = frame->height();
-  for(std::size_t i = 0; i < h; i++) {
-    for(std::size_t j = 0; j < w; j++) {
+  for (std::size_t i = 0; i < h; i++) {
+    for (std::size_t j = 0; j < w; j++) {
       frame->data()[i * w + j] = *(data_new + (2 * i + 1) * w + j);
     }
   }
@@ -116,7 +116,7 @@ Streams::Streams(const std::vector<Stream> key_streams)
       stream_capabilities_(
           {Capabilities::STEREO, Capabilities::COLOR, Capabilities::DEPTH,
            Capabilities::POINTS, Capabilities::FISHEYE, Capabilities::INFRARED,
-           Capabilities::INFRARED2}),
+           Capabilities::INFRARED2, Capabilities::STEREO_COLOR}),
       unpack_img_data_map_(
           {{Stream::LEFT, unpack_stereo_img_data},
            {Stream::RIGHT, unpack_stereo_img_data}}),
@@ -148,7 +148,7 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
   auto &&request = GetStreamConfigRequest(capability);
   bool pushed = false;
   switch (capability) {
-    case Capabilities::STEREO: {
+    case Capabilities::STEREO_COLOR: {
       // alloc left
       AllocStreamData(Stream::LEFT, request, Format::YUYV);
       auto &&left_data = stream_datas_map_[Stream::LEFT].back();
@@ -281,7 +281,7 @@ void Streams::AllocStreamData(
   }
 
   if (stream == Stream::LEFT || stream == Stream::RIGHT) {
-    if(!data.img) {
+    if (!data.img) {
       data.img = std::make_shared<ImgData>();
     }
   } else {
diff --git a/tools/writer/config/img.params b/tools/writer/config/img.params
index 5eaa0e1..c95b3eb 100644
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@@ -2,8 +2,8 @@
 ---
 in_left:
    -
-      width: 752
-      height: 480
+      width: 1280
+      height: 800
       fx: 7.3638305001095546e+02
       fy: 7.2350066150722432e+02
       cx: 3.5691961817119693e+02
@@ -13,8 +13,8 @@ in_left:
           0. ]
 in_right:
    -
-      width: 752
-      height: 480
+      width: 1280
+      height: 800
       fx: 7.3638305001095546e+02
       fy: 7.2350066150722432e+02
       cx: 4.5668367112303980e+02

From 00aa72166d41009bb3d03ceb9b260e7c1b8bdf6b Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Sun, 5 Aug 2018 23:30:06 +0800
Subject: [PATCH 20/96] add header file in synthetic.cc

---
 src/api/synthetic.cc | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index b2b18a7..7d41451 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -11,6 +11,11 @@
 // 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 "api/synthetic.h"
+
+#include <glog/logging.h>
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include <algorithm>
 #include <functional>
 #include <stdexcept>
@@ -23,7 +28,6 @@
 #include "api/processor/points_processor.h"
 #include "api/processor/processor.h"
 #include "api/processor/rectify_processor.h"
-#include "api/synthetic.h"
 #include "device/device.h"
 
 #define RECTIFY_PROC_PERIOD 0

From 26d95ec0ac226a067fef680dafd1e0bc712c416c Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Mon, 6 Aug 2018 02:23:27 +0800
Subject: [PATCH 21/96] support RGB

---
 samples/api/camera.cc    |  2 +-
 samples/device/camera.cc | 44 ++++++++++++++++++++-------
 src/api/synthetic.cc     |  2 --
 src/internal/streams.cc  | 64 ++++++++++++++++++++++++++--------------
 src/public/types.cc      |  2 ++
 5 files changed, 78 insertions(+), 36 deletions(-)

diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 754aa2d..3f9b5fc 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -25,7 +25,7 @@ int main(int argc, char *argv[]) {
   if (!api)
     return 1;
   api->SetStreamRequest(
-      Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_20_FPS);
+      Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_20_FPS);
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   api->SetOptionValue(Option::IR_CONTROL, 80);
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 3178de4..b896bce 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -48,10 +48,11 @@ int main(int argc, char *argv[]) {
   */
   // device->LogOptionInfos();
   // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
+  // device->RunOptionAction(Option::ERASE_CHIP);
 
   std::size_t left_count = 0;
   device->SetStreamRequest(
-      Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_30_FPS);
+      Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
@@ -114,17 +115,38 @@ int main(int argc, char *argv[]) {
                 << ", temperature: " << data.imu->temperature;
     }
 
-    cv::Mat left_img(
-        left_data.frame->height(), left_data.frame->width(), CV_8UC2,
-        left_data.frame->data());
-    cv::Mat right_img(
-        right_data.frame->height(), right_data.frame->width(), CV_8UC2,
-        right_data.frame->data());
-
     cv::Mat img;
-    cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
-    cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
-    cv::hconcat(left_img, right_img, img);
+
+    if (left_data.frame->format() == Format::GREY) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC1,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC1,
+          right_data.frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_data.frame->format() == Format::YUYV) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC2,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC2,
+          right_data.frame->data());
+      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_data.frame->format() == Format::RGB888) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC3,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC3,
+          right_data.frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else {
+      return -1;
+    }
+
     cv::imshow("frame", img);
 
     char key = static_cast<char>(cv::waitKey(1));
diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index 7d41451..6e9cb5e 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -41,8 +41,6 @@ MYNTEYE_BEGIN_NAMESPACE
 namespace {
 
 cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
-  // TODO(JohnZhao) Support different format frame to cv::Mat
-  CHECK_EQ(frame->format(), Format::YUYV);
   if (frame->format() == Format::YUYV) {
     cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
     cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index 9b4125e..a12459d 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -29,8 +29,6 @@ namespace {
 bool unpack_stereo_img_data(
     const void *data, const StreamRequest &request, ImgData *img) {
   CHECK_NOTNULL(img);
-  CHECK_EQ(request.format, Format::YUYV);
-
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
   std::size_t data_n =
       request.width * request.height * bytes_per_pixel(request.format);
@@ -60,7 +58,7 @@ bool unpack_stereo_img_data(
   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) {
     LOG(WARNING) << "Image packet checksum should be 0x" << std::hex
                  << std::uppercase << std::setw(2) << std::setfill('0')
@@ -69,7 +67,6 @@ bool unpack_stereo_img_data(
                  << static_cast<int>(checksum) << " now";
     return false;
   }
-  */
 
   img->frame_id = img_packet.frame_id;
   img->timestamp = img_packet.timestamp;
@@ -80,32 +77,52 @@ bool unpack_stereo_img_data(
 bool unpack_left_img_pixels(
     const void *data, const StreamRequest &request, Streams::frame_t *frame) {
   CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::YUYV);
+  CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t w = frame->width() * 2;
-  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] = *(data_new + 2 * i * w + j);
+  if (request.format == Format::YUYV || request.format == Format::RGB888) {
+    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+    std::size_t w = frame->width() * n;
+    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] = *(data_new + 2 * i * w + j);
+      }
     }
+  } else if (request.format == Format::GREY) {
+    std::size_t n = frame->width() * frame->height();
+    for (std::size_t i = 0; i < n; i++) {
+      frame->data()[i] = *(data_new + (i * 2));
+    }
+  } else {
+    return false;
   }
+
   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::YUYV);
-  CHECK_EQ(frame->format(), Format::YUYV);
+  CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t w = frame->width() * 2;
-  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] = *(data_new + (2 * i + 1) * w + j);
+  if (request.format == Format::YUYV || request.format == Format::RGB888) {
+    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+    std::size_t w = frame->width() * n;
+    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] = *(data_new + (2 * i + 1) * w + j);
+      }
     }
+  } else if (request.format == Format::GREY) {
+    std::size_t n = frame->width() * frame->height();
+    for (std::size_t i = 0; i < n; i++) {
+      frame->data()[i] = *(data_new + (i * 2 + 1));
+    }
+  } else {
+    return false;
   }
+
   return true;
 }
 
@@ -150,13 +167,13 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
   switch (capability) {
     case Capabilities::STEREO_COLOR: {
       // alloc left
-      AllocStreamData(Stream::LEFT, request, Format::YUYV);
+      AllocStreamData(Stream::LEFT, request);
       auto &&left_data = stream_datas_map_[Stream::LEFT].back();
       // unpack img data
       if (unpack_img_data_map_[Stream::LEFT](
               data, request, left_data.img.get())) {
         // alloc right
-        AllocStreamData(Stream::RIGHT, request, Format::YUYV);
+        AllocStreamData(Stream::RIGHT, request);
         auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
         *right_data.img = *left_data.img;
         // unpack frame
@@ -288,8 +305,11 @@ void Streams::AllocStreamData(
     data.img = nullptr;
   }
   if (!data.frame) {
-    data.frame = std::make_shared<frame_t>(
-        request.width / 2, request.height, format, nullptr);
+    int width = request.width;
+    if (format != Format::GREY)
+      width /= 2;
+    data.frame =
+        std::make_shared<frame_t>(width, request.height, format, nullptr);
   }
   stream_datas_map_[stream].push_back(data);
 }
diff --git a/src/public/types.cc b/src/public/types.cc
index 296c8a4..818af76 100644
--- a/src/public/types.cc
+++ b/src/public/types.cc
@@ -167,6 +167,8 @@ std::size_t bytes_per_pixel(const Format &value) {
       return 1;
     case Format::YUYV:
       return 2;
+    case Format::RGB888:
+      return 3;
     default:
       LOG(FATAL) << "Unknown format";
   }

From 6d961203be03b275d98a230f747d6d2061822e61 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 7 Aug 2018 02:29:07 +0800
Subject: [PATCH 22/96] add bgr888

---
 include/mynteye/types.h                       |  4 +-
 samples/api/camera.cc                         |  2 +-
 samples/device/camera.cc                      |  6 ++-
 samples/uvc/camera.cc                         |  4 +-
 src/api/synthetic.cc                          |  6 ++-
 src/internal/config.cc                        | 26 ++++++------
 src/internal/streams.cc                       |  4 +-
 src/public/types.cc                           |  2 +-
 tools/dataset/dataset.cc                      | 35 ++++++++++++++--
 tools/dataset/record.cc                       | 42 +++++++++++++++----
 .../src/wrapper_nodelet.cc                    |  2 +
 11 files changed, 97 insertions(+), 36 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 27c0216..706bc44 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -304,8 +304,8 @@ enum class Format : std::uint32_t {
   GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
   /** YUV 4:2:2, 16 bits per pixel */
   YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
-  /** RGB 8:8:8, 24 bits per pixel */
-  RGB888 = MYNTEYE_FOURCC('R', 'G', 'B', '3'),
+  /** BGR 8:8:8, 24 bits per pixel */
+  BGR888 = MYNTEYE_FOURCC('B', 'G', 'R', '3'),
   /** Last guard */
   LAST
 };
diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 3f9b5fc..b72530c 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -25,7 +25,7 @@ int main(int argc, char *argv[]) {
   if (!api)
     return 1;
   api->SetStreamRequest(
-      Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_20_FPS);
+      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   api->SetOptionValue(Option::IR_CONTROL, 80);
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index b896bce..2132ae4 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -52,7 +52,7 @@ int main(int argc, char *argv[]) {
 
   std::size_t left_count = 0;
   device->SetStreamRequest(
-      Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_30_FPS);
+      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
@@ -135,13 +135,15 @@ int main(int argc, char *argv[]) {
       cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
       cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
       cv::hconcat(left_img, right_img, img);
-    } else if (left_data.frame->format() == Format::RGB888) {
+    } else if (left_data.frame->format() == Format::BGR888) {
       cv::Mat left_img(
           left_data.frame->height(), left_data.frame->width(), CV_8UC3,
           left_data.frame->data());
       cv::Mat right_img(
           right_data.frame->height(), right_data.frame->width(), CV_8UC3,
           right_data.frame->data());
+      cv::cvtColor(left_img, left_img, CV_BGRA2RGBA);
+      cv::cvtColor(right_img, right_img, CV_BGRA2RGBA);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;
diff --git a/samples/uvc/camera.cc b/samples/uvc/camera.cc
index 2852d63..1384d7f 100644
--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
   const auto frame_empty = [&frame]() { return frame == nullptr; };
 
   uvc::set_device_mode(
-      *device, 1280, 400, static_cast<int>(Format::RGB888), 20,
+      *device, 1280, 400, static_cast<int>(Format::BGR888), 20,
       [&mtx, &cv, &frame, &frame_ready](
           const void *data, std::function<void()> continuation) {
         // reinterpret_cast<const std::uint8_t *>(data);
@@ -144,7 +144,7 @@ int main(int argc, char *argv[]) {
 
     // only lastest frame is valid
     cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
-    // cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    cv::cvtColor(img, img, CV_BGRA2RGBA);
     cv::imshow("frame", img);
 
     frame = nullptr;
diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index 6e9cb5e..4b6aff4 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -45,8 +45,10 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
     cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
     cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     return img;
-  } else if (frame->format() == Format::RGB888) {
-    return cv::Mat(frame->height(), frame->width(), CV_8UC3, frame->data());
+  } else if (frame->format() == Format::BGR888) {
+    cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
+    cv::cvtColor(img, img, CV_BGRA2RGBA);
+    return img;
   } else {
     return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
   }
diff --git a/src/internal/config.cc b/src/internal/config.cc
index f02bc30..2bf99ab 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -33,17 +33,19 @@ const std::map<Model, std::map<Capabilities, StreamRequests>>
         {Model::STANDARD,
          {{Capabilities::STEREO, {{480, 752, Format::YUYV, 25}}},
           {Capabilities::STEREO_COLOR,
-           {{1280, 400, Format::YUYV, 20},
-            {1280, 400, Format::YUYV, 30},
-            {1280, 400, Format::YUYV, 60},
-            {2560, 800, Format::YUYV, 10},
-            {2560, 800, Format::YUYV, 20},
-            {2560, 800, Format::YUYV, 30},
-            {1280, 400, Format::RGB888, 20},
-            {1280, 400, Format::RGB888, 30},
-            {1280, 400, Format::RGB888, 60},
-            {2560, 800, Format::RGB888, 10},
-            {2560, 800, Format::RGB888, 20},
-            {2560, 800, Format::RGB888, 30}}}}}};
+           {// {1280, 400, Format::YUYV, 10},
+            // {1280, 400, Format::YUYV, 20},
+            // {1280, 400, Format::YUYV, 30},
+            // {1280, 400, Format::YUYV, 60},
+            // {2560, 800, Format::YUYV, 10},
+            // {2560, 800, Format::YUYV, 20},
+            // {2560, 800, Format::YUYV, 30},
+            {1280, 400, Format::BGR888, 10},
+            {1280, 400, Format::BGR888, 20},
+            {1280, 400, Format::BGR888, 30},
+            {1280, 400, Format::BGR888, 60},
+            {2560, 800, Format::BGR888, 10},
+            {2560, 800, Format::BGR888, 20},
+            {2560, 800, Format::BGR888, 30}}}}}};
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index a12459d..4ee742f 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -79,7 +79,7 @@ bool unpack_left_img_pixels(
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV || request.format == Format::RGB888) {
+  if (request.format == Format::YUYV || request.format == Format::BGR888) {
     std::size_t n = request.format == Format::YUYV ? 2 : 3;
     std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
@@ -105,7 +105,7 @@ bool unpack_right_img_pixels(
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV || request.format == Format::RGB888) {
+  if (request.format == Format::YUYV || request.format == Format::BGR888) {
     std::size_t n = request.format == Format::YUYV ? 2 : 3;
     std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
diff --git a/src/public/types.cc b/src/public/types.cc
index 818af76..7516d1b 100644
--- a/src/public/types.cc
+++ b/src/public/types.cc
@@ -167,7 +167,7 @@ std::size_t bytes_per_pixel(const Format &value) {
       return 1;
     case Format::YUYV:
       return 2;
-    case Format::RGB888:
+    case Format::BGR888:
       return 3;
     default:
       LOG(FATAL) << "Unknown format";
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index ef82e14..5a98f68 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -64,16 +64,36 @@ void Dataset::SaveStreamData(
     std::stringstream ss;
     ss << writer->outdir << OS_SEP << std::dec
        << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
-    cv::Mat img(
-        data.frame->height(), data.frame->width(), CV_8UC2, data.frame->data());
-    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
-    cv::imwrite(ss.str(), img);
+    if (data.frame->format() == Format::GREY) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC1,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    } else if (data.frame->format() == Format::YUYV) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC2,
+          data.frame->data());
+      cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+      cv::imwrite(ss.str(), img);
+    } else if (data.frame->format() == Format::BGR888) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC3,
+          data.frame->data());
+      cv::cvtColor(img, img, CV_BGRA2RGBA);
+      cv::imwrite(ss.str(), img);
+    } else {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC1,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    }
   }
   ++stream_counts_[stream];
 }
 
 void Dataset::SaveMotionData(const device::MotionData &data) {
   auto &&writer = GetMotionWriter();
+  // auto seq = data.imu->serial_number;
   auto seq = motion_count_;
   if (data.imu->flag == 1 || data.imu->flag == 2) {
     writer->ofs << seq << ", " << data.imu->timestamp << ", "
@@ -83,6 +103,13 @@ void Dataset::SaveMotionData(const device::MotionData &data) {
                 << data.imu->temperature << std::endl;
     ++motion_count_;
   }
+  /*
+  if(motion_count_ != seq) {
+    LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
+  << " seq: " << seq;
+    motion_count_ = seq;
+  }
+  */
 }
 
 Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 5ecdc14..96307aa 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -31,6 +31,8 @@ int main(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device)
     return 1;
+  device->SetStreamRequest(
+      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
   /*
   {  // auto-exposure
     device->SetOptionValue(Option::EXPOSURE_MODE, 0);
@@ -79,16 +81,40 @@ int main(int argc, char *argv[]) {
 
     auto &&left_frame = left_datas.back().frame;
     auto &&right_frame = right_datas.back().frame;
-    cv::Mat left_img(
-        left_frame->height(), left_frame->width(), CV_8UC2, left_frame->data());
-    cv::Mat right_img(
-        right_frame->height(), right_frame->width(), CV_8UC2,
-        right_frame->data());
 
     cv::Mat img;
-    cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
-    cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
-    cv::hconcat(left_img, right_img, img);
+
+    if (left_frame->format() == Format::GREY) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC1,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC1,
+          right_frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_frame->format() == Format::YUYV) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC2,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC2,
+          right_frame->data());
+      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_frame->format() == Format::BGR888) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC3,
+          left_frame->data());
+      cv::cvtColor(left_img, left_img, CV_BGRA2RGBA);
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC3,
+          right_frame->data());
+      cv::cvtColor(right_img, right_img, CV_BGRA2RGBA);
+      cv::hconcat(left_img, right_img, img);
+    } else {
+      return -1;
+    }
     cv::imshow("frame", img);
 
     {  // save
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 054e484..866d057 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
@@ -532,6 +532,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
 
     api_ = API::Create(device);
+    api_->SetStreamRequest(
+        Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
   }
 
   sensor_msgs::CameraInfoPtr getCameraInfo(const Stream &stream) {

From 67a0356a84c1cae50a4bea3ee09bfaa636146345 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 7 Aug 2018 16:58:19 +0800
Subject: [PATCH 23/96] Replace CV_BGRA2RGBA with CV_BGR2RGB

---
 samples/device/camera.cc | 4 ++--
 src/api/synthetic.cc     | 2 +-
 tools/dataset/dataset.cc | 2 +-
 tools/dataset/record.cc  | 4 ++--
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 2132ae4..16a99bf 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -142,8 +142,8 @@ int main(int argc, char *argv[]) {
       cv::Mat right_img(
           right_data.frame->height(), right_data.frame->width(), CV_8UC3,
           right_data.frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGRA2RGBA);
-      cv::cvtColor(right_img, right_img, CV_BGRA2RGBA);
+      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
+      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;
diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index 4b6aff4..ac6075e 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -47,7 +47,7 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
     return img;
   } else if (frame->format() == Format::BGR888) {
     cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
-    cv::cvtColor(img, img, CV_BGRA2RGBA);
+    cv::cvtColor(img, img, CV_BGR2RGB);
     return img;
   } else {
     return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 5a98f68..2e09b14 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -79,7 +79,7 @@ void Dataset::SaveStreamData(
       cv::Mat img(
           data.frame->height(), data.frame->width(), CV_8UC3,
           data.frame->data());
-      cv::cvtColor(img, img, CV_BGRA2RGBA);
+      cv::cvtColor(img, img, CV_BGR2RGB);
       cv::imwrite(ss.str(), img);
     } else {
       cv::Mat img(
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 96307aa..1c7d397 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -106,11 +106,11 @@ int main(int argc, char *argv[]) {
       cv::Mat left_img(
           left_frame->height(), left_frame->width(), CV_8UC3,
           left_frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGRA2RGBA);
+      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
       cv::Mat right_img(
           right_frame->height(), right_frame->width(), CV_8UC3,
           right_frame->data());
-      cv::cvtColor(right_img, right_img, CV_BGRA2RGBA);
+      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;

From b9def3128e19a76dccafa20718eb63ca968937c6 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 7 Aug 2018 17:06:14 +0800
Subject: [PATCH 24/96] Replace CV_BGRA2RGBA with CV_BGR2RGB in
 samples/uvc/camera.cc

---
 samples/uvc/camera.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/samples/uvc/camera.cc b/samples/uvc/camera.cc
index 1384d7f..04b6010 100644
--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -144,7 +144,7 @@ int main(int argc, char *argv[]) {
 
     // only lastest frame is valid
     cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
-    cv::cvtColor(img, img, CV_BGRA2RGBA);
+    cv::cvtColor(img, img, CV_BGR2RGB);
     cv::imshow("frame", img);
 
     frame = nullptr;

From a0c3fcea89b214bbb0428af2684f608c28ad7db3 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 8 Aug 2018 11:39:03 +0800
Subject: [PATCH 25/96] delete ',' in samples/device/camera.cc

---
 samples/device/camera.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 16a99bf..19f03d4 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -57,7 +57,7 @@ int main(int argc, char *argv[]) {
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
         ++left_count;
-        VLOG(2) << Stream::LEFT << ", count: " << left_count;
+        VLOG(2) << Stream::LEFT << "count: " << left_count;
         VLOG(2) << "  frame_id: " << data.img->frame_id
                 << ", timestamp: " << data.img->timestamp
                 << ", exposure_time: " << data.img->exposure_time;
@@ -67,7 +67,7 @@ int main(int argc, char *argv[]) {
       Stream::RIGHT, [&right_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
         ++right_count;
-        VLOG(2) << Stream::RIGHT << ", count: " << right_count;
+        VLOG(2) << Stream::RIGHT << "count: " << right_count;
         VLOG(2) << "  frame_id: " << data.img->frame_id
                 << ", timestamp: " << data.img->timestamp
                 << ", exposure_time: " << data.img->exposure_time;
@@ -105,7 +105,7 @@ int main(int argc, char *argv[]) {
     auto &&motion_datas = device->GetMotionDatas();
     motion_count += motion_datas.size();
     for (auto &&data : motion_datas) {
-      LOG(INFO) << ", timestamp: " << data.imu->timestamp
+      LOG(INFO) << "timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]
                 << ", accel_z: " << data.imu->accel[2]

From 576558e5a19bf30b1565453d9409301e23cf6699 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 8 Aug 2018 15:31:48 +0800
Subject: [PATCH 26/96] add imu flag in dataset.cc

---
 tools/dataset/dataset.cc | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 2e09b14..392e8bf 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -96,11 +96,12 @@ void Dataset::SaveMotionData(const device::MotionData &data) {
   // auto seq = data.imu->serial_number;
   auto seq = motion_count_;
   if (data.imu->flag == 1 || data.imu->flag == 2) {
-    writer->ofs << seq << ", " << data.imu->timestamp << ", "
-                << data.imu->accel[0] << ", " << data.imu->accel[1] << ", "
-                << data.imu->accel[2] << ", " << data.imu->gyro[0] << ", "
-                << data.imu->gyro[1] << ", " << data.imu->gyro[2] << ", "
-                << data.imu->temperature << std::endl;
+    writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
+                << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
+                << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
+                << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
+                << data.imu->gyro[2] << ", " << data.imu->temperature
+                << std::endl;
     ++motion_count_;
   }
   /*
@@ -148,7 +149,7 @@ Dataset::writer_t Dataset::GetMotionWriter() {
 
     files::mkdir(writer->outdir);
     writer->ofs.open(writer->outfile, std::ofstream::out);
-    writer->ofs << "seq, timestamp, accel_x, accel_y, accel_z, "
+    writer->ofs << "seq, flag, timestamp, accel_x, accel_y, accel_z, "
                    "gyro_x, gyro_y, gyro_z, temperature"
                 << std::endl;
     writer->ofs << FULL_PRECISION;

From 7f6effebbbde31b2d0d81fc19af4227609d227c2 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 9 Aug 2018 05:46:27 +0800
Subject: [PATCH 27/96] Delete 't' in record.cc

---
 tools/dataset/record.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 1c7d397..4a4276d 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -106,10 +106,10 @@ int main(int argc, char *argv[]) {
       cv::Mat left_img(
           left_frame->height(), left_frame->width(), CV_8UC3,
           left_frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
       cv::Mat right_img(
           right_frame->height(), right_frame->width(), CV_8UC3,
           right_frame->data());
+      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
       cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {

From 4614a64dc906ad8d0092f0cc52f6c6417ee46ee7 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 10 Aug 2018 14:42:30 +0800
Subject: [PATCH 28/96] Change w and h in device_writer.cc

---
 tools/writer/device_writer.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc
index b3b7b33..7c57456 100644
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -328,8 +328,8 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
 
   img_params_t params;
   if (fs["in_left"].isNone()) {
-    std::uint16_t w = 752;
-    std::uint16_t h = 480;
+    std::uint16_t w = 640;
+    std::uint16_t h = 400;
     std::uint8_t m = 0;
     if (!fs["width"].isNone())
       w = static_cast<int>(fs["width"]);

From ef890dee0c3497170e6221023c1c329db226897e Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 10 Aug 2018 15:21:09 +0800
Subject: [PATCH 29/96] delete the unsupported option in option_supports_map

---
 src/internal/config.cc | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/internal/config.cc b/src/internal/config.cc
index 2bf99ab..ca4eb26 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -22,11 +22,7 @@ const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
     {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
 
 const std::map<Model, OptionSupports> option_supports_map = {
-    {Model::STANDARD,
-     {Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST, Option::FRAME_RATE,
-      Option::IMU_FREQUENCY, Option::EXPOSURE_MODE, Option::MAX_GAIN,
-      Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
-      Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP}}};
+    {Model::STANDARD, {Option::ERASE_CHIP}}};
 
 const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map = {

From e40a4aaa3f29390cbb90f9f3216ece6fe9b04e8b Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Mon, 13 Aug 2018 15:22:04 +0800
Subject: [PATCH 30/96] Update img.params

---
 tools/writer/config/img.params | 46 +++++++++++++++++-----------------
 1 file changed, 23 insertions(+), 23 deletions(-)

diff --git a/tools/writer/config/img.params b/tools/writer/config/img.params
index c95b3eb..54fbb10 100644
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@@ -2,31 +2,31 @@
 ---
 in_left:
    -
-      width: 1280
-      height: 800
-      fx: 7.3638305001095546e+02
-      fy: 7.2350066150722432e+02
-      cx: 3.5691961817119693e+02
-      cy: 2.1727271340923883e+02
+      width: 640
+      height: 400
+      fx: 1.9739641213416058e+02
+      fy: 1.9772337597617189e+02
+      cx: 3.2611983633916327e+02
+      cy: 1.9986969132833946e+02
       model: 0
-      coeffs: [ -5.4898645145016478e-01, 5.2837141203888638e-01, 0., 0.,
-          0. ]
+      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
+          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
 in_right:
    -
-      width: 1280
-      height: 800
-      fx: 7.3638305001095546e+02
-      fy: 7.2350066150722432e+02
-      cx: 4.5668367112303980e+02
-      cy: 2.5070083335536796e+02
+      width: 640
+      height: 400
+      fx: 2.0335498653655989e+02
+      fy: 2.0453858622699008e+02
+      cx: 3.1589962248180814e+02
+      cy: 2.1871688038954812e+02
       model: 0
-      coeffs: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0.,
-          0. ]
+      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
+          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
 ex_left_to_right:
-   rotation: [ 9.9701893306553813e-01, -9.5378124886236681e-04,
-       -7.7151392794850615e-02, 1.4493996762830500e-03,
-       9.9997867219985104e-01, 6.3682325649414354e-03,
-       7.7143673424555026e-02, -6.4610716411527686e-03,
-       9.9699905125522237e-01 ]
-   translation: [ -1.1888991734400047e+02, -4.5605803870530912e-02,
-       -3.9531373691193386e+00 ]
+   rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
+       -4.3917309443490191e-03, 1.8166060642710027e-03,
+       9.9968925981619028e-01, -2.4861290203142431e-02,
+       4.4382582477776426e-03, 2.4853026274046636e-02,
+       9.9968126367795229e-01 ]
+   translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
+       2.2588034344482368e+00 ]

From 0efb51ac1136b4bcf7d1a33e5df19ca4bd15ac21 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Tue, 14 Aug 2018 10:15:42 +0800
Subject: [PATCH 31/96] Split accel & gyro stamp analytics

---
 tools/analytics/stamp_analytics.py | 133 ++++++++++++++++-------------
 tools/internal/data/__init__.py    |  10 +++
 2 files changed, 86 insertions(+), 57 deletions(-)

diff --git a/tools/analytics/stamp_analytics.py b/tools/analytics/stamp_analytics.py
index 908e518..2aa93d0 100644
--- a/tools/analytics/stamp_analytics.py
+++ b/tools/analytics/stamp_analytics.py
@@ -97,10 +97,10 @@ class BinDataset(object):
         if What.imu in result:
           imu = result[What.imu]
           np.array([(
-              imu.timestamp,
+              imu.timestamp, imu.flag,
               imu.accel_x, imu.accel_y, imu.accel_z,
               imu.gyro_x, imu.gyro_y, imu.gyro_z
-          )], dtype="f8, f8, f8, f8, f8, f8, f8").tofile(f_imu)
+          )], dtype="f8, i4, f8, f8, f8, f8, f8, f8").tofile(f_imu)
           imu_count = imu_count + 1
           has_imu = True
         sys.stdout.write('\r  img: {}, imu: {}'.format(img_count, imu_count))
@@ -130,7 +130,7 @@ class BinDataset(object):
 
     if self.has_imu:
       imus = np.memmap(self._binimu, dtype=[
-          ('t', 'f8'),
+          ('t', 'f8'), ('flag', 'i4'),
           ('accel_x', 'f8'), ('accel_y', 'f8'), ('accel_z', 'f8'),
           ('gyro_x', 'f8'), ('gyro_y', 'f8'), ('gyro_z', 'f8'),
       ], mode='r')
@@ -145,92 +145,111 @@ class BinDataset(object):
     print('  img: {}, imu: {}'.format(period_img, period_imu))
 
     imgs_t_diff = np.diff(imgs['t'])
-    imus_t_diff = np.diff(imus['t'])
+    # imus_t_diff = np.diff(imus['t'])
 
+    accel = imus[imus['flag'] == 1]
+    accel_t_diff = np.diff(accel['t'])
+    gyro = imus[imus['flag'] == 2]
+    gyro_t_diff = np.diff(gyro['t'])
+
+    print('\ncount')
+    print('  imgs: {}, imus: {}, accel: {}, gyro: {}'.format(
+        imgs.size, imus.size, accel.size, gyro.size))
     print('\ndiff count')
-    print('  imgs: {}, imus: {}'.format(imgs['t'].size, imus['t'].size))
-    print('  imgs_t_diff: {}, imus_t_diff: {}'
-          .format(imgs_t_diff.size, imus_t_diff.size))
+    print('  imgs_t_diff: {}, accel_t_diff: {}, gyro_t_diff: {}'.format(
+        imgs_t_diff.size, accel_t_diff.size, gyro_t_diff.size))
 
     print('\ndiff where (factor={})'.format(args.factor))
-
-    where = np.argwhere(imgs_t_diff > period_img * (1 + args.factor))
-    print('  imgs where diff > {}*{} ({})'.format(period_img,
-                                                  1 + args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imgs_t_diff[x][0]))
-
-    where = np.argwhere(imgs_t_diff < period_img * (1 - args.factor))
-    print('  imgs where diff < {}*{} ({})'.format(period_img,
-                                                  1 - args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imgs_t_diff[x][0]))
-
-    where = np.argwhere(imus_t_diff > period_imu * (1 + args.factor))
-    print('  imus where diff > {}*{} ({})'.format(period_imu,
-                                                  1 + args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imus_t_diff[x][0]))
-
-    where = np.argwhere(imus_t_diff < period_imu * (1 - args.factor))
-    print('  imus where diff < {}*{} ({})'.format(period_imu,
-                                                  1 - args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imus_t_diff[x][0]))
+    self._print_t_diff_where('imgs', imgs_t_diff, period_img, args.factor)
+    # self._print_t_diff_where('imus', imus_t_diff, period_imu, args.factor)
+    self._print_t_diff_where('accel', accel_t_diff, period_imu, args.factor)
+    self._print_t_diff_where('gyro', gyro_t_diff, period_imu, args.factor)
 
     import pandas as pd
     bins = imgs['t']
     bins_n = imgs['t'].size
     bins = pd.Series(data=bins).drop_duplicates(keep='first')
-    cats = pd.cut(imus['t'], bins)
 
     print('\nimage timestamp duplicates: {}'.format(bins_n - bins.size))
 
-    self._plot(outdir, imgs_t_diff, imus_t_diff, cats.value_counts())
+    def _cut_by_imgs_t(imus_t):
+      cats = pd.cut(imus_t, bins)
+      return cats.value_counts()
 
-  def _plot(self, outdir, imgs_t_diff, imus_t_diff, imgs_t_imus):
+    self._plot(
+        outdir,
+        imgs_t_diff,
+        accel_t_diff,
+        _cut_by_imgs_t(
+            accel['t']),
+        gyro_t_diff,
+        _cut_by_imgs_t(
+            gyro['t']))
+
+  def _print_t_diff_where(self, name, t_diff, period, factor):
+    import numpy as np
+
+    where = np.argwhere(t_diff > period * (1 + factor))
+    print('  {} where diff > {}*{} ({})'.format(
+        name, period, 1 + factor, where.size))
+    for x in where:
+      print('  {:8d}: {:.16f}'.format(x[0], t_diff[x][0]))
+
+    where = np.argwhere(t_diff < period * (1 - factor))
+    print('  {} where diff < {}*{} ({})'.format(
+        name, period, 1 - factor, where.size))
+    for x in where:
+      print('  {:8d}: {:.16f}'.format(x[0], t_diff[x][0]))
+
+  def _plot(self, outdir, imgs_t_diff,
+            accel_t_diff, accel_counts, gyro_t_diff, gyro_counts):
     import matplotlib.pyplot as plt
     import numpy as np
 
-    fig_1 = plt.figure(1, [16, 6])
+    fig_1 = plt.figure(1, [16, 12])
     fig_1.suptitle('Stamp Analytics')
     fig_1.subplots_adjust(
         left=0.1,
         right=0.95,
         top=0.85,
         bottom=0.15,
-        wspace=0.4)
+        wspace=0.4,
+        hspace=0.4)
 
-    ax_imgs_t_diff = fig_1.add_subplot(131)
+    ax_imgs_t_diff = fig_1.add_subplot(231)
     ax_imgs_t_diff.set_title('Image Timestamp Diff')
     ax_imgs_t_diff.set_xlabel('diff index')
     ax_imgs_t_diff.set_ylabel('diff (s)')
     ax_imgs_t_diff.axis('auto')
 
-    ax_imus_t_diff = fig_1.add_subplot(132)
-    ax_imus_t_diff.set_title('Imu Timestamp Diff')
-    ax_imus_t_diff.set_xlabel('diff index')
-    ax_imus_t_diff.set_ylabel('diff (s)')
-    ax_imus_t_diff.axis('auto')
-
-    ax_imgs_t_imus = fig_1.add_subplot(133)
-    ax_imgs_t_imus.set_title('Imu Count Per Image Intervel')
-    ax_imgs_t_imus.set_xlabel('intervel index')
-    ax_imgs_t_imus.set_ylabel('imu count')
-    ax_imgs_t_imus.axis('auto')
-
     ax_imgs_t_diff.set_xlim([0, imgs_t_diff.size])
     ax_imgs_t_diff.plot(imgs_t_diff)
 
-    ax_imus_t_diff.set_xlim([0, imus_t_diff.size])
-    ax_imus_t_diff.plot(imus_t_diff)
+    def _plot_imus(name, t_diff, counts, pos_offset=0):
+      ax_imus_t_diff = fig_1.add_subplot(232 + pos_offset)
+      ax_imus_t_diff.set_title('{} Timestamp Diff'.format(name))
+      ax_imus_t_diff.set_xlabel('diff index')
+      ax_imus_t_diff.set_ylabel('diff (s)')
+      ax_imus_t_diff.axis('auto')
 
-    # print(imgs_t_imus.values)
-    # imgs_t_imus.plot(kind='line', ax=ax_imgs_t_imus)
-    data = imgs_t_imus.values
-    ax_imgs_t_imus.set_xlim([0, data.size])
-    ax_imgs_t_imus.set_ylim([np.min(data) - 1, np.max(data) + 1])
-    ax_imgs_t_imus.plot(data)
+      ax_imus_t_diff.set_xlim([0, t_diff.size - 1])
+      ax_imus_t_diff.plot(t_diff)
+
+      ax_imus_counts = fig_1.add_subplot(233 + pos_offset)
+      ax_imus_counts.set_title('{} Count Per Image Intervel'.format(name))
+      ax_imus_counts.set_xlabel('intervel index')
+      ax_imus_counts.set_ylabel('imu count')
+      ax_imus_counts.axis('auto')
+
+      # print(counts.values)
+      # counts.plot(kind='line', ax=ax_imus_counts)
+      data = counts.values
+      ax_imus_counts.set_xlim([0, data.size])
+      ax_imus_counts.set_ylim([np.min(data) - 1, np.max(data) + 1])
+      ax_imus_counts.plot(data)
+
+    _plot_imus('Accel', accel_t_diff, accel_counts)
+    _plot_imus('Gyro', gyro_t_diff, gyro_counts, 3)
 
     if outdir:
       figpath = os.path.join(outdir, RESULT_FIGURE)
diff --git a/tools/internal/data/__init__.py b/tools/internal/data/__init__.py
index e5fd610..2e1ce73 100644
--- a/tools/internal/data/__init__.py
+++ b/tools/internal/data/__init__.py
@@ -81,6 +81,7 @@ class IMU(Data):
 
   def __init__(self):
     super(IMU, self).__init__()
+    self._flag = 0
     self._accel_x = 0
     self._accel_y = 0
     self._accel_z = 0
@@ -88,6 +89,14 @@ class IMU(Data):
     self._gyro_y = 0
     self._gyro_z = 0
 
+  @property
+  def flag(self):
+    return self._flag
+
+  @flag.setter
+  def flag(self, flag):
+    self._flag = flag
+
   @property
   def accel(self):
     return self._accel_x, self._accel_y, self._accel_z
@@ -381,6 +390,7 @@ class MYNTEYE(Dataset):
           values = [_.strip() for _ in line.split(',')]
           imu = IMU()
           imu.timestamp = float(values[fields['timestamp']]) * 0.000001
+          imu.flag = values[fields['flag']]
           imu.accel_x = float(values[fields['accel_x']])
           imu.accel_y = float(values[fields['accel_y']])
           imu.accel_z = float(values[fields['accel_z']])

From 0d1b0639426987c04003897e2be31421bb6ff27f Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 16 Aug 2018 19:34:01 +0800
Subject: [PATCH 32/96] Add options

---
 include/mynteye/types.h  | 30 ++++++++++++++++++++++++++++++
 src/internal/channels.cc | 37 +++++++++++++++++++++++++++++++++++--
 src/internal/config.cc   |  7 ++++++-
 src/internal/motions.cc  | 14 ++++++++------
 src/internal/motions.h   |  3 +++
 5 files changed, 82 insertions(+), 9 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 706bc44..117a2a4 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -197,6 +197,36 @@ enum class Option : std::uint8_t {
   ZERO_DRIFT_CALIBRATION,
   /** Erase chip */
   ERASE_CHIP,
+  /**
+   * min exposure time, valid if auto-exposure
+   *
+   *   range: [0,?], default: ?
+   */
+  MIN_EXPOSURE_TIME,
+  /**
+   * The range of accelerometer
+   *
+   *   values: {?}, default: ?
+   */
+  ACCELEROMETER_RANGE,
+  /**
+   * The range of gyroscope
+   *
+   *   values: {?}, default: ?
+   */
+  GYROSCOPE_RANGE,
+  /**
+   * The parameter of accelerometer low pass filter
+   *
+   *   values: {?}, default: ?
+   */
+  ACCELEROMETER_LOW_PASS_FILTER,
+  /**
+   * The parameter of gyroscope low pass filter
+   *
+   *   values: {?}, default: ?
+   */
+  GYROSCOPE_LOW_PASS_FILTER,
   /** Last guard */
   LAST
 };
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 58c6668..3426a6e 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -64,6 +64,21 @@ int XuCamCtrlId(Option option) {
     case Option::FRAME_RATE:
       return 7;
       break;
+    case Option::MIN_EXPOSURE_TIME:
+      return 8;
+      break;
+    case Option::ACCELEROMETER_RANGE:
+      return 9;
+      break;
+    case Option::GYROSCOPE_RANGE:
+      return 10;
+      break;
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+      return 11;
+      break;
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
+      return 12;
+      break;
     default:
       LOG(FATAL) << "No cam ctrl id for " << option;
   }
@@ -137,7 +152,10 @@ void Channels::UpdateControlInfos() {
     for (auto &&option : std::vector<Option>{
              Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
              Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-             Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE})
+             Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE
+             Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
+             Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+             Option::GYROSCOPE_LOW_PASS_FILTER})
     {
        control_infos_[option] = XuControlInfo(option);
     }
@@ -182,6 +200,11 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
     case Option::DESIRED_BRIGHTNESS:
     case Option::IR_CONTROL:
     case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
+    case Option::ACCELEROMETER_RANGE:
+    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
       return XuCamCtrlGet(option);
     case Option::ZERO_DRIFT_CALIBRATION:
     case Option::ERASE_CHIP:
@@ -242,7 +265,12 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
     case Option::MAX_EXPOSURE_TIME:
     case Option::DESIRED_BRIGHTNESS:
     case Option::IR_CONTROL:
-    case Option::HDR_MODE: {
+    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
+    case Option::ACCELEROMETER_RANGE:
+    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER: {
       if (!in_range())
         break;
       XuCamCtrlSet(option, value);
@@ -273,6 +301,11 @@ bool Channels::RunControlAction(const Option &option) const {
     case Option::DESIRED_BRIGHTNESS:
     case Option::IR_CONTROL:
     case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
+    case Option::ACCELEROMETER_RANGE:
+    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
       LOG(WARNING) << option << " run action useless";
       return false;
     default:
diff --git a/src/internal/config.cc b/src/internal/config.cc
index ca4eb26..40df322 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -22,7 +22,12 @@ const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
     {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
 
 const std::map<Model, OptionSupports> option_supports_map = {
-    {Model::STANDARD, {Option::ERASE_CHIP}}};
+    {Model::STANDARD,
+     {Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST, Option::EXPOSURE_MODE,
+      Option::MAX_EXPOSURE_TIME, Option::ERASE_CHIP, Option::MIN_EXPOSURE_TIME,
+      Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
+      Option::ACCELEROMETER_LOW_PASS_FILTER,
+      Option::GYROSCOPE_LOW_PASS_FILTER}}};
 
 const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map = {
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 871cdde..7b2ad52 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -35,6 +35,8 @@ Motions::~Motions() {
 void Motions::SetMotionCallback(motion_callback_t callback) {
   motion_callback_ = callback;
   if (motion_callback_) {
+    accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
+    gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     channels_->SetImuCallback([this](const ImuPacket &packet) {
       if (!motion_callback_ && !motion_datas_enabled_) {
         LOG(WARNING) << "";
@@ -53,9 +55,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         imu->temperature = seg.temperature / 326.8f + 25;
 
         if (imu->flag == 1) {
-          imu->accel[0] = seg.aceel_or_gyro[0] * 12.f / 0x10000;
-          imu->accel[1] = seg.aceel_or_gyro[1] * 12.f / 0x10000;
-          imu->accel[2] = seg.aceel_or_gyro[2] * 12.f / 0x10000;
+          imu->accel[0] = seg.aceel_or_gyro[0] * 1.f * accel_range / 0x10000;
+          imu->accel[1] = seg.aceel_or_gyro[1] * 1.f * accel_range / 0x10000;
+          imu->accel[2] = seg.aceel_or_gyro[2] * 1.f * accel_range / 0x10000;
           imu->gyro[0] = 0;
           imu->gyro[1] = 0;
           imu->gyro[2] = 0;
@@ -63,9 +65,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
           imu->accel[0] = 0;
           imu->accel[1] = 0;
           imu->accel[2] = 0;
-          imu->gyro[0] = seg.aceel_or_gyro[0] * 1000.f / 0x10000;
-          imu->gyro[1] = seg.aceel_or_gyro[1] * 1000.f / 0x10000;
-          imu->gyro[2] = seg.aceel_or_gyro[2] * 1000.f / 0x10000;
+          imu->gyro[0] = seg.aceel_or_gyro[0] * 1.f * gyro_range / 0x10000;
+          imu->gyro[1] = seg.aceel_or_gyro[1] * 1.f * gyro_range / 0x10000;
+          imu->gyro[2] = seg.aceel_or_gyro[2] * 1.f * gyro_range / 0x10000;
         } else {
           imu->Reset();
         }
diff --git a/src/internal/motions.h b/src/internal/motions.h
index 0472605..fb9e671 100644
--- a/src/internal/motions.h
+++ b/src/internal/motions.h
@@ -57,6 +57,9 @@ class Motions {
   bool is_imu_tracking;
 
   std::mutex mtx_datas_;
+
+  int accel_range = 12;
+  int gyro_range = 1000;
 };
 
 MYNTEYE_END_NAMESPACE

From 3c670cedb39aa4931a46aee4a7fad15ab01488e7 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Sat, 18 Aug 2018 22:59:19 +0800
Subject: [PATCH 33/96] Comment the code of get imu range

---
 src/internal/motions.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 7b2ad52..52d68b4 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -35,8 +35,8 @@ Motions::~Motions() {
 void Motions::SetMotionCallback(motion_callback_t callback) {
   motion_callback_ = callback;
   if (motion_callback_) {
-    accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
-    gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
+    // accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
+    // gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     channels_->SetImuCallback([this](const ImuPacket &packet) {
       if (!motion_callback_ && !motion_datas_enabled_) {
         LOG(WARNING) << "";

From 6feeb49d625d579e19da8fca1e60b536fa14ad28 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 14 Sep 2018 20:00:28 +0800
Subject: [PATCH 34/96] Select the img params by resolution

---
 include/mynteye/types.h          |   6 +-
 samples/device/CMakeLists.txt    |   4 ++
 samples/tutorials/CMakeLists.txt |   1 +
 src/api/api.cc                   |  35 +++++-----
 src/api/api.h                    |   2 +
 src/device/device.cc             |  25 ++++---
 src/device/device.h              |   8 +++
 src/internal/channels.cc         |  61 +++++++++++++++--
 src/internal/channels.h          |   4 +-
 src/internal/config.cc           |   7 +-
 src/public/types.cc              |   5 ++
 tools/dataset/CMakeLists.txt     |   4 ++
 tools/writer/config/img.params   |  24 ++++++-
 tools/writer/device_writer.cc    | 110 +++++++++++++++++++++----------
 14 files changed, 221 insertions(+), 75 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 117a2a4..633e11f 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -264,8 +264,8 @@ enum class AddOns : std::uint8_t {
  * @brief Camera supported resolution.
  */
 enum class Resolution : std::uint8_t {
-  /** 480x752 */
-  RES_480x752,
+  /** 752x480 */
+  RES_752x480,
   /** 1280x400 */
   RES_1280x400,
   /** 2560x800 */
@@ -373,7 +373,7 @@ struct MYNTEYE_API StreamRequest {
   StreamRequest(Resolution res, Format format, FrameRate rate)
       : format(format) {
     switch (res) {
-      case Resolution::RES_480x752:
+      case Resolution::RES_752x480:
         width = 480, height = 752;
         break;
       case Resolution::RES_1280x400:
diff --git a/samples/device/CMakeLists.txt b/samples/device/CMakeLists.txt
index aa27b4e..cf7ac72 100644
--- a/samples/device/CMakeLists.txt
+++ b/samples/device/CMakeLists.txt
@@ -14,6 +14,10 @@
 
 get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
 
+include_directories(
+  ${PRO_DIR}/src
+)
+
 set_outdir(
   "${OUT_DIR}/lib/${DIR_NAME}"
   "${OUT_DIR}/lib/${DIR_NAME}"
diff --git a/samples/tutorials/CMakeLists.txt b/samples/tutorials/CMakeLists.txt
index 24c79dd..9b81b99 100644
--- a/samples/tutorials/CMakeLists.txt
+++ b/samples/tutorials/CMakeLists.txt
@@ -16,6 +16,7 @@ get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
 
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}
+  ${PRO_DIR}/src
 )
 
 set_outdir(
diff --git a/src/api/api.cc b/src/api/api.cc
index 18cdd5c..50b0893 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -212,21 +212,7 @@ std::vector<std::string> get_plugin_paths() {
 
 API::API(std::shared_ptr<Device> device) : device_(device) {
   VLOG(2) << __func__;
-  if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
-    bool in_l_ok, in_r_ok, ex_l2r_ok;
-    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
-    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
-    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
-      LOG(FATAL) << "Image params not found, but we need it to process the "
-                    "images. Please `make tools` and use `img_params_writer` "
-                    "to write the image params. If you update the SDK from "
-                    "1.x, the `SN*.conf` is the file contains them. Besides, "
-                    "you could also calibrate them by yourself. Read the guide "
-                    "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
-                    "to learn more.";
-    }
-  }
+  std::dynamic_pointer_cast<StandardDevice>(device_);
   synthetic_.reset(new Synthetic(this));
 }
 
@@ -283,6 +269,7 @@ bool API::Supports(const AddOns &addon) const {
 void API::SetStreamRequest(
     const Resolution &res, const Format &format, const FrameRate &rate) {
   device_->SetStreamRequest(res, format, rate);
+  CheckImageParams();
 }
 
 const std::vector<StreamRequest> &API::GetStreamRequests(
@@ -452,4 +439,22 @@ std::shared_ptr<Device> API::device() {
   return device_;
 }
 
+void API::CheckImageParams() {
+  if (device_ != nullptr) {
+    bool in_l_ok, in_r_ok, ex_l2r_ok;
+    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
+    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
+    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
+    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
+      LOG(FATAL) << "Image params not found, but we need it to process the "
+                    "images. Please `make tools` and use `img_params_writer` "
+                    "to write the image params. If you update the SDK from "
+                    "1.x, the `SN*.conf` is the file contains them. Besides, "
+                    "you could also calibrate them by yourself. Read the guide "
+                    "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+                    "to learn more.";
+    }
+  }
+}
+
 MYNTEYE_END_NAMESPACE
diff --git a/src/api/api.h b/src/api/api.h
index bd3be97..5f17147 100644
--- a/src/api/api.h
+++ b/src/api/api.h
@@ -280,6 +280,8 @@ class MYNTEYE_API API {
   std::shared_ptr<Device> device_;
 
   std::unique_ptr<Synthetic> synthetic_;
+
+  void CheckImageParams();
 };
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/device/device.cc b/src/device/device.cc
index f3a16bc..b92208e 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -435,6 +435,7 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
 void Device::SetStreamRequest(
     const Resolution &res, const Format &format, const FrameRate &rate) {
   StreamRequest request(res, format, rate);
+  ConfigIntrinsics(res);
   request_ = request;
 }
 
@@ -548,9 +549,8 @@ void Device::ReadAllInfos() {
   device_info_ = std::make_shared<DeviceInfo>();
 
   CHECK_NOTNULL(channels_);
-  Channels::img_params_t img_params;
   Channels::imu_params_t imu_params;
-  if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
+  if (!channels_->GetFiles(device_info_.get(), &img_params_, &imu_params)) {
     LOG(FATAL) << "Read device infos failed. Please upgrade your firmware to "
                   "the latest version.";
   }
@@ -566,12 +566,8 @@ void Device::ReadAllInfos() {
           << ", nominal_baseline: " << device_info_->nominal_baseline << "}";
 
   device_info_->name = uvc::get_name(*device_);
-  if (img_params.ok) {
-    SetIntrinsics(Stream::LEFT, img_params.in_left);
-    SetIntrinsics(Stream::RIGHT, img_params.in_right);
-    SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_left_to_right);
-    VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
-    VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+  if (img_params_.ok) {
+    SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params_.ex_left_to_right);
     VLOG(2) << "Extrinsics left to right: {"
             << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
   } else {
@@ -588,6 +584,15 @@ void Device::ReadAllInfos() {
   }
 }
 
+void Device::ConfigIntrinsics(const Resolution &res) {
+  if (img_params_.ok) {
+    SetIntrinsics(Stream::LEFT, img_params_.in_left_map[res]);
+    SetIntrinsics(Stream::RIGHT, img_params_.in_right_map[res]);
+    VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
+    VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+  }
+}
+
 void Device::CallbackPushedStreamData(const Stream &stream) {
   if (HasStreamCallback(stream)) {
     auto &&datas = streams_->stream_datas(stream);
@@ -611,4 +616,8 @@ void Device::CallbackMotionData(const device::MotionData &data) {
   }
 }
 
+Channels::img_params_t Device::GetImgParams() {
+  return img_params_;
+}
+
 MYNTEYE_END_NAMESPACE
diff --git a/src/device/device.h b/src/device/device.h
index 6f84310..ae9d608 100644
--- a/src/device/device.h
+++ b/src/device/device.h
@@ -22,6 +22,7 @@
 #include <string>
 #include <vector>
 
+#include "internal/channels.h"
 #include "mynteye/callbacks.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
@@ -256,6 +257,10 @@ class MYNTEYE_API Device {
    * Get the motion datas.
    */
   std::vector<device::MotionData> GetMotionDatas();
+  /**
+   * Get the device img params
+   */
+  Channels::img_params_t GetImgParams();
 
  protected:
   std::shared_ptr<uvc::device> device() const {
@@ -301,6 +306,7 @@ class MYNTEYE_API Device {
   std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
   std::map<Stream, Extrinsics> motion_from_extrinsics_;
 
+  Channels::img_params_t img_params_;
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
@@ -319,6 +325,8 @@ class MYNTEYE_API Device {
 
   void ReadAllInfos();
 
+  void ConfigIntrinsics(const Resolution &res);
+
   void CallbackPushedStreamData(const Stream &stream);
   void CallbackMotionData(const device::MotionData &data);
 
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 3426a6e..06bf1d1 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -104,7 +104,7 @@ void CheckSpecVersion(const Version *spec_version) {
 
   std::vector<std::string> spec_versions{"1.0"};
   for (auto &&spec_ver : spec_versions) {
-    if (*spec_version == Version(spec_ver)) {
+    if (*spec_version >= Version(spec_ver)) {
       return;  // supported
     }
   }
@@ -554,8 +554,33 @@ std::size_t from_data(
     Channels::img_params_t *img_params, const std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 0;
-  i += from_data(&img_params->in_left, data + i, spec_version);
-  i += from_data(&img_params->in_right, data + i, spec_version);
+
+  if (spec_version->major() == 1) {
+    if (spec_version->minor() == 0) {
+      i += from_data(
+          &img_params->in_left_map[Resolution::RES_752x480], data + i,
+          spec_version);
+      i += from_data(
+          &img_params->in_right_map[Resolution::RES_752x480], data + i,
+          spec_version);
+    }
+
+    if (spec_version->minor() == 1) {
+      i += from_data(
+          &img_params->in_left_map[Resolution::RES_1280x400], data + i,
+          spec_version);
+      i += from_data(
+          &img_params->in_right_map[Resolution::RES_1280x400], data + i,
+          spec_version);
+      i += from_data(
+          &img_params->in_left_map[Resolution::RES_2560x800], data + i,
+          spec_version);
+      i += from_data(
+          &img_params->in_right_map[Resolution::RES_2560x800], data + i,
+          spec_version);
+    }
+  }
+
   i += from_data(&img_params->ex_left_to_right, data + i, spec_version);
   return i;
 }
@@ -826,8 +851,34 @@ std::size_t to_data(
     const Channels::img_params_t *img_params, std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 3;  // skip id, size
-  i += to_data(&img_params->in_left, data + i, spec_version);
-  i += to_data(&img_params->in_right, data + i, spec_version);
+
+  if (spec_version->major() == 1) {
+    if (spec_version->minor() == 0) {
+      i += to_data(
+          &img_params->in_left_map.at(Resolution::RES_752x480), data + i,
+          spec_version);
+      i += to_data(
+          &img_params->in_right_map.at(Resolution::RES_752x480), data + i,
+          spec_version);
+    }
+
+    if (spec_version->minor() == 1) {
+      i += to_data(
+          &img_params->in_left_map.at(Resolution::RES_1280x400), data + i,
+          spec_version);
+      i += to_data(
+          &img_params->in_right_map.at(Resolution::RES_1280x400), data + i,
+          spec_version);
+
+      i += to_data(
+          &img_params->in_left_map.at(Resolution::RES_2560x800), data + i,
+          spec_version);
+      i += to_data(
+          &img_params->in_right_map.at(Resolution::RES_2560x800), data + i,
+          spec_version);
+    }
+  }
+
   i += to_data(&img_params->ex_left_to_right, data + i, spec_version);
   // others
   std::size_t size = i - 3;
diff --git a/src/internal/channels.h b/src/internal/channels.h
index c0f9de0..c2f5664 100644
--- a/src/internal/channels.h
+++ b/src/internal/channels.h
@@ -70,8 +70,8 @@ class MYNTEYE_API Channels {
 
   typedef struct ImgParams {
     bool ok;
-    Intrinsics in_left;
-    Intrinsics in_right;
+    std::map<Resolution, Intrinsics> in_left_map;
+    std::map<Resolution, Intrinsics> in_right_map;
     Extrinsics ex_left_to_right;
   } img_params_t;
 
diff --git a/src/internal/config.cc b/src/internal/config.cc
index 40df322..62def10 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -23,10 +23,9 @@ const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
 
 const std::map<Model, OptionSupports> option_supports_map = {
     {Model::STANDARD,
-     {Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST, Option::EXPOSURE_MODE,
-      Option::MAX_EXPOSURE_TIME, Option::ERASE_CHIP, Option::MIN_EXPOSURE_TIME,
-      Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
-      Option::ACCELEROMETER_LOW_PASS_FILTER,
+     {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::ERASE_CHIP,
+      Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
+      Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
       Option::GYROSCOPE_LOW_PASS_FILTER}}};
 
 const std::map<Model, std::map<Capabilities, StreamRequests>>
diff --git a/src/public/types.cc b/src/public/types.cc
index 7516d1b..8af31e4 100644
--- a/src/public/types.cc
+++ b/src/public/types.cc
@@ -114,6 +114,11 @@ const char *to_string(const Option &value) {
     CASE(HDR_MODE)
     CASE(ZERO_DRIFT_CALIBRATION)
     CASE(ERASE_CHIP)
+    CASE(MIN_EXPOSURE_TIME)
+    CASE(ACCELEROMETER_RANGE)
+    CASE(GYROSCOPE_RANGE)
+    CASE(ACCELEROMETER_LOW_PASS_FILTER)
+    CASE(GYROSCOPE_LOW_PASS_FILTER)
     default:
       CHECK(is_valid(value));
       return "Option::UNKNOWN";
diff --git a/tools/dataset/CMakeLists.txt b/tools/dataset/CMakeLists.txt
index 33d8809..22dae35 100644
--- a/tools/dataset/CMakeLists.txt
+++ b/tools/dataset/CMakeLists.txt
@@ -20,6 +20,10 @@ set_outdir(
   "${OUT_DIR}/bin/${DIR_NAME}"
 )
 
+include_directories(
+  ${PRO_DIR}/src
+)
+
 ## record
 
 make_executable(record
diff --git a/tools/writer/config/img.params b/tools/writer/config/img.params
index 54fbb10..97d6681 100644
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@@ -1,6 +1,6 @@
 %YAML:1.0
 ---
-in_left:
+in_left_map:
    -
       width: 640
       height: 400
@@ -11,7 +11,17 @@ in_left:
       model: 0
       coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
           2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
-in_right:
+   -
+      width: 1280
+      height: 800
+      fx: 1.9739641213416058e+02
+      fy: 1.9772337597617189e+02
+      cx: 3.2611983633916327e+02
+      cy: 1.9986969132833946e+02
+      model: 0
+      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
+          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
+in_right_map:
    -
       width: 640
       height: 400
@@ -22,6 +32,16 @@ in_right:
       model: 0
       coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
           3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
+   -
+      width: 1280
+      height: 800
+      fx: 2.0335498653655989e+02
+      fy: 2.0453858622699008e+02
+      cx: 3.1589962248180814e+02
+      cy: 2.1871688038954812e+02
+      model: 0
+      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
+          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
 ex_left_to_right:
    rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
        -4.3917309443490191e-03, 1.8166060642710027e-03,
diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc
index 7c57456..6e51eb1 100644
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -17,10 +17,14 @@
 
 #include <glog/logging.h>
 
+#include <map>
 #include <vector>
 
 #include "mynteye/device.h"
 #include "mynteye/files.h"
+#include "mynteye/types.h"
+
+#include "internal/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -70,8 +74,8 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
           nullptr, const_cast<img_params_t *>(&params), nullptr,
           &dev_info->spec_version)) {
     LOG(INFO) << "Write img params success";
-    LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
-    LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
+    // LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
+    // LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
     LOG(INFO) << "Extrinsics left to right: {" << params.ex_left_to_right
               << "}";
     return true;
@@ -184,11 +188,33 @@ bool DeviceWriter::SaveImgParams(
     LOG(ERROR) << "Failed to save file: " << filepath;
     return false;
   }
-  fs << "in_left" << std::vector<Intrinsics>{params.in_left} << "in_right"
-     << std::vector<Intrinsics>{params.in_right} << "ex_left_to_right"
-     << params.ex_left_to_right;
-  fs.release();
-  return true;
+
+  std::vector<Intrinsics> v_left;
+  std::vector<Intrinsics> v_right;
+  std::map<Resolution, Intrinsics>::const_iterator it;
+
+  for (it = params.in_left_map.begin(); it != params.in_left_map.end(); it++)
+    v_left.push_back((*it).second);
+
+  for (it = params.in_right_map.begin(); it != params.in_right_map.end(); it++)
+    v_right.push_back((*it).second);
+
+  if (v_left.size() == v_right.size() && v_left.size() > 0) {
+    fs << "in_left_map";
+    for (unsigned int i = 0; i < v_left.size(); i++)
+      fs << v_left[i];
+
+    fs << "in_right_map";
+    for (unsigned int i = 0; i < v_right.size(); i++)
+      fs << v_right[i];
+
+    fs << "ex_left_to_right" << params.ex_left_to_right;
+    fs.release();
+    return true;
+  } else {
+    fs.release();
+    return false;
+  }
 }
 
 bool DeviceWriter::SaveImuParams(
@@ -210,11 +236,7 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
     LOG(FATAL) << "Create directory failed: " << dir;
   }
   SaveDeviceInfo(*device_->GetInfo(), dir + OS_SEP "device.info");
-  SaveImgParams(
-      {false, device_->GetIntrinsics(Stream::LEFT),
-       device_->GetIntrinsics(Stream::RIGHT),
-       device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT)},
-      dir + OS_SEP "img.params");
+  SaveImgParams(device_->GetImgParams(), dir + OS_SEP "img.params");
   auto &&m_in = device_->GetMotionIntrinsics();
   SaveImuParams(
       {
@@ -327,34 +349,50 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
   }
 
   img_params_t params;
-  if (fs["in_left"].isNone()) {
-    std::uint16_t w = 640;
-    std::uint16_t h = 400;
-    std::uint8_t m = 0;
-    if (!fs["width"].isNone())
-      w = static_cast<int>(fs["width"]);
-    if (!fs["height"].isNone())
-      h = static_cast<int>(fs["height"]);
-    if (!fs["model"].isNone())
-      m = static_cast<int>(fs["model"]);
+  if (fs["version"].isNone()) {
+    if (fs["in_left"].isNone()) {
+      std::uint16_t w = 752;
+      std::uint16_t h = 480;
+      std::uint8_t m = 0;
+      if (!fs["width"].isNone())
+        w = static_cast<int>(fs["width"]);
+      if (!fs["height"].isNone())
+        h = static_cast<int>(fs["height"]);
+      if (!fs["model"].isNone())
+        m = static_cast<int>(fs["model"]);
 
-    cv::Mat M1, D1, M2, D2, R, T;
-    fs["M1"] >> M1;
-    fs["D1"] >> D1;
-    fs["M2"] >> M2;
-    fs["D2"] >> D2;
-    fs["R"] >> R;
-    fs["T"] >> T;
+      cv::Mat M1, D1, M2, D2, R, T;
+      fs["M1"] >> M1;
+      fs["D1"] >> D1;
+      fs["M2"] >> M2;
+      fs["D2"] >> D2;
+      fs["R"] >> R;
+      fs["T"] >> T;
 
-    to_intrinsics(w, h, m, M1, D1, &params.in_left);
-    to_intrinsics(w, h, m, M2, D2, &params.in_right);
-    to_extrinsics(R, T, &params.ex_left_to_right);
+      to_intrinsics(
+          w, h, m, M1, D1, &params.in_left_map[Resolution::RES_752x480]);
+      to_intrinsics(
+          w, h, m, M2, D2, &params.in_right_map[Resolution::RES_752x480]);
+      to_extrinsics(R, T, &params.ex_left_to_right);
+    } else {
+      fs["in_left"][0] >> params.in_left_map[Resolution::RES_752x480];
+      fs["in_right"][0] >> params.in_right_map[Resolution::RES_752x480];
+      fs["ex_left_to_right"] >> params.ex_left_to_right;
+    }
   } else {
-    fs["in_left"][0] >> params.in_left;
-    fs["in_right"][0] >> params.in_right;
-    fs["ex_left_to_right"] >> params.ex_left_to_right;
+    if (static_cast<double>(fs["version"]) == 1.0) {
+      fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
+      fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];
+      fs["ex_left_to_right"] >> params.ex_left_to_right;
+    }
+    if (static_cast<double>(fs["version"]) == 1.1) {
+      fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_1280x400];
+      fs["in_left_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
+      fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_1280x400];
+      fs["in_right_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
+      fs["ex_left_to_right"] >> params.ex_left_to_right;
+    }
   }
-
   fs.release();
   return params;
 }

From 13e9a89b59a92f2cac6799f83856347632fc08de Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 20 Sep 2018 15:53:55 +0800
Subject: [PATCH 35/96] fix save img params bug

---
 samples/tutorials/data/get_img_params.cc |  3 +-
 src/internal/channels.cc                 |  3 +-
 tools/writer/config/img.params           |  1 +
 tools/writer/device_writer.cc            | 38 +++++++++++-------------
 4 files changed, 22 insertions(+), 23 deletions(-)

diff --git a/samples/tutorials/data/get_img_params.cc b/samples/tutorials/data/get_img_params.cc
index 4298c38..aa79016 100644
--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -21,7 +21,8 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-
+  api->SetStreamRequest(
+      Resolution::RES_2560x800, Format::BGR888, FrameRate::RATE_30_FPS);
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 06bf1d1..b20845a 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -663,7 +663,8 @@ bool Channels::GetFiles(
           img_params->ok = file_size > 0;
           if (img_params->ok) {
             CheckSpecVersion(spec_ver);
-            CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
+            from_data(img_params, data + i, spec_ver);
+            // CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
           }
         } break;
         case FID_IMU_PARAMS: {
diff --git a/tools/writer/config/img.params b/tools/writer/config/img.params
index 97d6681..4570dda 100644
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@@ -1,5 +1,6 @@
 %YAML:1.0
 ---
+version: 1.1
 in_left_map:
    -
       width: 640
diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc
index 6e51eb1..b960b72 100644
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -130,6 +130,16 @@ cv::FileStorage &operator<<(
   return fs;
 }
 
+cv::FileStorage &operator<<(
+    cv::FileStorage &fs, const std::map<Resolution, Intrinsics> &mapIn) {
+  fs << "[";
+  std::map<Resolution, Intrinsics>::const_iterator it;
+  for (it = mapIn.begin(); it != mapIn.end(); it++)
+    fs << (*it).second;
+  fs << "]";
+  return fs;
+}
+
 cv::FileStorage &operator<<(cv::FileStorage &fs, const ImuIntrinsics &in) {
   std::vector<double> scales;
   for (std::size_t i = 0; i < 3; i++) {
@@ -189,26 +199,9 @@ bool DeviceWriter::SaveImgParams(
     return false;
   }
 
-  std::vector<Intrinsics> v_left;
-  std::vector<Intrinsics> v_right;
-  std::map<Resolution, Intrinsics>::const_iterator it;
-
-  for (it = params.in_left_map.begin(); it != params.in_left_map.end(); it++)
-    v_left.push_back((*it).second);
-
-  for (it = params.in_right_map.begin(); it != params.in_right_map.end(); it++)
-    v_right.push_back((*it).second);
-
-  if (v_left.size() == v_right.size() && v_left.size() > 0) {
-    fs << "in_left_map";
-    for (unsigned int i = 0; i < v_left.size(); i++)
-      fs << v_left[i];
-
-    fs << "in_right_map";
-    for (unsigned int i = 0; i < v_right.size(); i++)
-      fs << v_right[i];
-
-    fs << "ex_left_to_right" << params.ex_left_to_right;
+  if (params.in_left_map.size() == params.in_right_map.size()) {
+    fs << "in_left_map" << params.in_left_map << "in_right_map"
+       << params.in_right_map << "ex_left_to_right" << params.ex_left_to_right;
     fs.release();
     return true;
   } else {
@@ -351,6 +344,7 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
   img_params_t params;
   if (fs["version"].isNone()) {
     if (fs["in_left"].isNone()) {
+      LOG(INFO) << "static_cast<double>(fs[version]) == 0.1";
       std::uint16_t w = 752;
       std::uint16_t h = 480;
       std::uint8_t m = 0;
@@ -381,15 +375,17 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
     }
   } else {
     if (static_cast<double>(fs["version"]) == 1.0) {
+      LOG(INFO) << "static_cast<double>(fs[version]) == 1.0";
       fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
       fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];
       fs["ex_left_to_right"] >> params.ex_left_to_right;
     }
     if (static_cast<double>(fs["version"]) == 1.1) {
+      LOG(INFO) << "static_cast<double>(fs[version]) == 1.1";
       fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_1280x400];
       fs["in_left_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
       fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_1280x400];
-      fs["in_right_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
+      fs["in_right_map"][1] >> params.in_right_map[Resolution::RES_2560x800];
       fs["ex_left_to_right"] >> params.ex_left_to_right;
     }
   }

From 30332a80deb2bddcdcde007e4a935a5c5dbadb63 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 20 Sep 2018 16:52:08 +0800
Subject: [PATCH 36/96] add spc version in img.params

---
 src/internal/channels.cc       |  4 ++--
 tools/writer/config/img.params |  2 +-
 tools/writer/device_writer.cc  | 18 +++++++++---------
 tools/writer/device_writer.h   |  4 +++-
 4 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index b20845a..0462ef2 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -102,9 +102,9 @@ void CheckSpecVersion(const Version *spec_version) {
     LOG(FATAL) << "Spec version must be specified";
   }
 
-  std::vector<std::string> spec_versions{"1.0"};
+  std::vector<std::string> spec_versions{"1.0", "1.1"};
   for (auto &&spec_ver : spec_versions) {
-    if (*spec_version >= Version(spec_ver)) {
+    if (*spec_version == Version(spec_ver)) {
       return;  // supported
     }
   }
diff --git a/tools/writer/config/img.params b/tools/writer/config/img.params
index 4570dda..d78da8d 100644
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@@ -1,6 +1,6 @@
 %YAML:1.0
 ---
-version: 1.1
+version: "1.1"
 in_left_map:
    -
       width: 640
diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc
index b960b72..5eb0d40 100644
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -191,7 +191,8 @@ bool DeviceWriter::SaveDeviceInfo(
 }
 
 bool DeviceWriter::SaveImgParams(
-    const img_params_t &params, const std::string &filepath) {
+    const dev_info_t &info, const img_params_t &params,
+    const std::string &filepath) {
   using FileStorage = cv::FileStorage;
   FileStorage fs(filepath, FileStorage::WRITE);
   if (!fs.isOpened()) {
@@ -200,8 +201,9 @@ bool DeviceWriter::SaveImgParams(
   }
 
   if (params.in_left_map.size() == params.in_right_map.size()) {
-    fs << "in_left_map" << params.in_left_map << "in_right_map"
-       << params.in_right_map << "ex_left_to_right" << params.ex_left_to_right;
+    fs << "version" << info.spec_version.to_string() << "in_left_map"
+       << params.in_left_map << "in_right_map" << params.in_right_map
+       << "ex_left_to_right" << params.ex_left_to_right;
     fs.release();
     return true;
   } else {
@@ -229,7 +231,8 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
     LOG(FATAL) << "Create directory failed: " << dir;
   }
   SaveDeviceInfo(*device_->GetInfo(), dir + OS_SEP "device.info");
-  SaveImgParams(device_->GetImgParams(), dir + OS_SEP "img.params");
+  SaveImgParams(
+      *device_->GetInfo(), device_->GetImgParams(), dir + OS_SEP "img.params");
   auto &&m_in = device_->GetMotionIntrinsics();
   SaveImuParams(
       {
@@ -344,7 +347,6 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
   img_params_t params;
   if (fs["version"].isNone()) {
     if (fs["in_left"].isNone()) {
-      LOG(INFO) << "static_cast<double>(fs[version]) == 0.1";
       std::uint16_t w = 752;
       std::uint16_t h = 480;
       std::uint8_t m = 0;
@@ -374,14 +376,12 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
       fs["ex_left_to_right"] >> params.ex_left_to_right;
     }
   } else {
-    if (static_cast<double>(fs["version"]) == 1.0) {
-      LOG(INFO) << "static_cast<double>(fs[version]) == 1.0";
+    if (static_cast<std::string>(fs["version"]) == "1.0") {
       fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
       fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];
       fs["ex_left_to_right"] >> params.ex_left_to_right;
     }
-    if (static_cast<double>(fs["version"]) == 1.1) {
-      LOG(INFO) << "static_cast<double>(fs[version]) == 1.1";
+    if (static_cast<std::string>(fs["version"]) == "1.1") {
       fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_1280x400];
       fs["in_left_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
       fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_1280x400];
diff --git a/tools/writer/device_writer.h b/tools/writer/device_writer.h
index f65005e..cd22021 100644
--- a/tools/writer/device_writer.h
+++ b/tools/writer/device_writer.h
@@ -48,7 +48,9 @@ class DeviceWriter {
   bool WriteImuParams(const std::string &filepath);
 
   bool SaveDeviceInfo(const dev_info_t &info, const std::string &filepath);
-  bool SaveImgParams(const img_params_t &params, const std::string &filepath);
+  bool SaveImgParams(
+      const dev_info_t &info, const img_params_t &params,
+      const std::string &filepath);
   bool SaveImuParams(const imu_params_t &params, const std::string &filepath);
 
   /** Save all infos of this device */

From fbdbb5b6f61cbcd67657f48db57cc32ffe4641ef Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 21 Sep 2018 19:25:27 +0800
Subject: [PATCH 37/96] Add initReslution

---
 samples/api/camera.cc                         |  3 +-
 samples/device/camera.cc                      |  4 +-
 samples/tutorials/data/get_img_params.cc      |  3 +-
 src/api/api.cc                                | 52 +++++++++++++------
 src/api/api.h                                 | 12 +++--
 src/device/device.cc                          | 20 ++++---
 src/device/device.h                           |  9 ++--
 .../src/mynt_eye_ros_wrapper/CMakeLists.txt   |  1 +
 .../src/wrapper_nodelet.cc                    |  5 +-
 9 files changed, 70 insertions(+), 39 deletions(-)

diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index b72530c..a90c102 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -24,8 +24,7 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-  api->SetStreamRequest(
-      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   api->SetOptionValue(Option::IR_CONTROL, 80);
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 19f03d4..e59211c 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -51,8 +51,8 @@ int main(int argc, char *argv[]) {
   // device->RunOptionAction(Option::ERASE_CHIP);
 
   std::size_t left_count = 0;
-  device->SetStreamRequest(
-      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
+  device->InitResolution(Resolution::RES_1280x400);
+  device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
diff --git a/samples/tutorials/data/get_img_params.cc b/samples/tutorials/data/get_img_params.cc
index aa79016..3f09524 100644
--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -21,8 +21,7 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-  api->SetStreamRequest(
-      Resolution::RES_2560x800, Format::BGR888, FrameRate::RATE_30_FPS);
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";
diff --git a/src/api/api.cc b/src/api/api.cc
index 50b0893..7751fe6 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -220,29 +220,51 @@ API::~API() {
   VLOG(2) << __func__;
 }
 
-std::shared_ptr<API> API::Create() {
-  return Create(device::select());
-}
-
-std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
-  if (!device)
-    return nullptr;
-  return std::make_shared<API>(device);
-}
-
-std::shared_ptr<API> API::Create(int argc, char *argv[]) {
-  static glog_init _(argc, argv);
+std::shared_ptr<API> API::Create(Resolution res) {
   auto &&device = device::select();
   if (!device)
     return nullptr;
+  device->InitResolution(res);
   return std::make_shared<API>(device);
 }
 
+std::shared_ptr<API> API::Create(
+    std::shared_ptr<Device> device, Resolution res) {
+  if (!device)
+    return nullptr;
+  LOG(INFO) << "API::Create(std::shared_ptr<Device> device,Resolution res)";
+  device->InitResolution(res);
+  return std::make_shared<API>(device);
+}
+
+std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
+  return Create(device, Resolution::RES_2560x800);
+}
+
+std::shared_ptr<API> API::Create(int argc, char *argv[]) {
+  auto &&device = device::select();
+  return Create(argc, argv, device);
+}
+
 std::shared_ptr<API> API::Create(
     int argc, char *argv[], std::shared_ptr<Device> device) {
   static glog_init _(argc, argv);
+  int index = 0;
+  if (argc >= 2) {
+    try {
+      index = std::stoi(argv[1]);
+    } catch (...) {
+      LOG(WARNING) << "Unexpected index.";
+    }
+  }
   if (!device)
     return nullptr;
+  if (index == 0)
+    device->InitResolution(Resolution::RES_1280x400);
+  else if (index == 1)
+    device->InitResolution(Resolution::RES_2560x800);
+  else
+    device->InitResolution(Resolution::RES_1280x400);
   return std::make_shared<API>(device);
 }
 
@@ -266,10 +288,8 @@ bool API::Supports(const AddOns &addon) const {
   return device_->Supports(addon);
 }
 
-void API::SetStreamRequest(
-    const Resolution &res, const Format &format, const FrameRate &rate) {
-  device_->SetStreamRequest(res, format, rate);
-  CheckImageParams();
+void API::SetStreamRequest(const Format &format, const FrameRate &rate) {
+  device_->SetStreamRequest(format, rate);
 }
 
 const std::vector<StreamRequest> &API::GetStreamRequests(
diff --git a/src/api/api.h b/src/api/api.h
index 5f17147..5451ad0 100644
--- a/src/api/api.h
+++ b/src/api/api.h
@@ -95,7 +95,14 @@ class MYNTEYE_API API {
    * @return the API instance.
    * @note This will call device::select() to select a device.
    */
-  static std::shared_ptr<API> Create();
+  static std::shared_ptr<API> Create(Resolution res);
+  /**
+   * Create the API instance.
+   * @param device the selected device.
+   * @return the API instance.
+   */
+  static std::shared_ptr<API> Create(
+      std::shared_ptr<Device> device, Resolution res);
   /**
    * Create the API instance.
    * @param device the selected device.
@@ -147,8 +154,7 @@ class MYNTEYE_API API {
   /**
    * set the stream request.
    */
-  void SetStreamRequest(
-      const Resolution &res, const Format &format, const FrameRate &rate);
+  void SetStreamRequest(const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
diff --git a/src/device/device.cc b/src/device/device.cc
index b92208e..c78f850 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -104,13 +104,14 @@ std::shared_ptr<Device> Device::Create(
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
     if (model.type == 'S') {
-      switch (model.custom_code) {
-        case '0':
+      switch (model.generation) {
+        case 1:
           return std::make_shared<StandardDevice>(device);
-        case 'A':
+        case 2:
           return std::make_shared<StandardDevice>(device);
         default:
-          LOG(FATAL) << "No such custom code now";
+          return std::make_shared<StandardDevice>(device);
+          // LOG(FATAL) << "No such generation now";
       }
     } else {
       LOG(FATAL) << "MYNT EYE model is not supported now";
@@ -432,10 +433,13 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
   return motions_->GetMotionDatas();
 }
 
-void Device::SetStreamRequest(
-    const Resolution &res, const Format &format, const FrameRate &rate) {
-  StreamRequest request(res, format, rate);
-  ConfigIntrinsics(res);
+void Device::InitResolution(const Resolution &res) {
+  res_ = res;
+  ConfigIntrinsics(res_);
+}
+
+void Device::SetStreamRequest(const Format &format, const FrameRate &rate) {
+  StreamRequest request(res_, format, rate);
   request_ = request;
 }
 
diff --git a/src/device/device.h b/src/device/device.h
index ae9d608..035335e 100644
--- a/src/device/device.h
+++ b/src/device/device.h
@@ -103,12 +103,14 @@ class MYNTEYE_API Device {
    * Supports the addon or not.
    */
   bool Supports(const AddOns &addon) const;
-
+  /**
+   * Init device resolution.
+   */
+  void InitResolution(const Resolution &res);
   /**
    * set the stream request.
    */
-  void SetStreamRequest(
-      const Resolution &res, const Format &format, const FrameRate &rate);
+  void SetStreamRequest(const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
@@ -296,6 +298,7 @@ class MYNTEYE_API Device {
 
  private:
   Model model_;
+  Resolution res_ = Resolution::RES_752x480;
   StreamRequest request_;
   std::shared_ptr<uvc::device> device_;
   std::shared_ptr<DeviceInfo> device_info_;
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
index 83ffce1..a8ef045 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@@ -96,6 +96,7 @@ add_compile_options(-std=c++11)
 
 include_directories(
   ${catkin_INCLUDE_DIRS}
+  ${SDK_DIR}/src
 )
 
 set(LINK_LIBS
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 866d057..e0fddc6 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
@@ -531,9 +531,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
     }
 
-    api_ = API::Create(device);
-    api_->SetStreamRequest(
-        Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
+    api_ = API::Create(device, Resolution::RES_1280x400);
+    api_->SetStreamRequest(Format::BGR888, FrameRate::RATE_20_FPS);
   }
 
   sensor_msgs::CameraInfoPtr getCameraInfo(const Stream &stream) {

From 41222abfec795f64bf5ea5d00198e737022f6ca0 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 21 Sep 2018 19:35:35 +0800
Subject: [PATCH 38/96] make_shared device by model.generation

---
 src/device/device.cc | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/device/device.cc b/src/device/device.cc
index c78f850..a6c27e3 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -104,14 +104,14 @@ std::shared_ptr<Device> Device::Create(
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
     if (model.type == 'S') {
+      LOG(INFO) << "model.generation " << model.generation;
       switch (model.generation) {
-        case 1:
+        case '1':
           return std::make_shared<StandardDevice>(device);
-        case 2:
+        case '2':
           return std::make_shared<StandardDevice>(device);
         default:
-          return std::make_shared<StandardDevice>(device);
-          // LOG(FATAL) << "No such generation now";
+          LOG(FATAL) << "No such generation now";
       }
     } else {
       LOG(FATAL) << "MYNT EYE model is not supported now";

From aa7e89a502d2391defecc02bd0e1a7109ef21849 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 21 Sep 2018 19:36:54 +0800
Subject: [PATCH 39/96] Delete a useless log

---
 src/device/device.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/device/device.cc b/src/device/device.cc
index a6c27e3..c25b794 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -104,7 +104,6 @@ std::shared_ptr<Device> Device::Create(
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
     if (model.type == 'S') {
-      LOG(INFO) << "model.generation " << model.generation;
       switch (model.generation) {
         case '1':
           return std::make_shared<StandardDevice>(device);

From 6a39aae98f630b097008ebfd343e6dd95fba62f8 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 21 Sep 2018 19:39:49 +0800
Subject: [PATCH 40/96] delete a useless log again

---
 src/api/api.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/api/api.cc b/src/api/api.cc
index 7751fe6..fb8d958 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -232,7 +232,6 @@ std::shared_ptr<API> API::Create(
     std::shared_ptr<Device> device, Resolution res) {
   if (!device)
     return nullptr;
-  LOG(INFO) << "API::Create(std::shared_ptr<Device> device,Resolution res)";
   device->InitResolution(res);
   return std::make_shared<API>(device);
 }

From 672b9da6f9183a8abe43cce741fa1160c31fdf98 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 26 Sep 2018 10:48:57 +0800
Subject: [PATCH 41/96] Modified a spelling mistake

---
 src/internal/motions.cc | 12 ++++++------
 src/internal/types.h    |  8 ++++----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 52d68b4..0ef938f 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -55,9 +55,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         imu->temperature = seg.temperature / 326.8f + 25;
 
         if (imu->flag == 1) {
-          imu->accel[0] = seg.aceel_or_gyro[0] * 1.f * accel_range / 0x10000;
-          imu->accel[1] = seg.aceel_or_gyro[1] * 1.f * accel_range / 0x10000;
-          imu->accel[2] = seg.aceel_or_gyro[2] * 1.f * accel_range / 0x10000;
+          imu->accel[0] = seg.accel_or_gyro[0] * 1.f * accel_range / 0x10000;
+          imu->accel[1] = seg.accel_or_gyro[1] * 1.f * accel_range / 0x10000;
+          imu->accel[2] = seg.accel_or_gyro[2] * 1.f * accel_range / 0x10000;
           imu->gyro[0] = 0;
           imu->gyro[1] = 0;
           imu->gyro[2] = 0;
@@ -65,9 +65,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
           imu->accel[0] = 0;
           imu->accel[1] = 0;
           imu->accel[2] = 0;
-          imu->gyro[0] = seg.aceel_or_gyro[0] * 1.f * gyro_range / 0x10000;
-          imu->gyro[1] = seg.aceel_or_gyro[1] * 1.f * gyro_range / 0x10000;
-          imu->gyro[2] = seg.aceel_or_gyro[2] * 1.f * gyro_range / 0x10000;
+          imu->gyro[0] = seg.accel_or_gyro[0] * 1.f * gyro_range / 0x10000;
+          imu->gyro[1] = seg.accel_or_gyro[1] * 1.f * gyro_range / 0x10000;
+          imu->gyro[2] = seg.accel_or_gyro[2] * 1.f * gyro_range / 0x10000;
         } else {
           imu->Reset();
         }
diff --git a/src/internal/types.h b/src/internal/types.h
index a34f1ad..d63f6b9 100644
--- a/src/internal/types.h
+++ b/src/internal/types.h
@@ -208,7 +208,7 @@ struct ImuSegment {
   std::uint64_t timestamp;
   std::uint8_t flag;
   std::int16_t temperature;
-  std::int16_t aceel_or_gyro[3];
+  std::int16_t accel_or_gyro[3];
 
   ImuSegment() = default;
   explicit ImuSegment(std::uint8_t *data) {
@@ -228,9 +228,9 @@ struct ImuSegment {
     timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
     flag = *(data + 12);
     temperature = (*(data + 13) << 8) | *(data + 14);
-    aceel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
-    aceel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
-    aceel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
+    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)

From 59370e3e8decc04f37c530ed07f862907fa7dfc2 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 27 Sep 2018 14:28:20 +0800
Subject: [PATCH 42/96] Fix record bug

---
 tools/dataset/record.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 4a4276d..dd5024d 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -31,8 +31,8 @@ int main(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device)
     return 1;
-  device->SetStreamRequest(
-      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
+  device->InitResolution(Resolution::RES_1280x400);
+  device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   /*
   {  // auto-exposure
     device->SetOptionValue(Option::EXPOSURE_MODE, 0);

From 33e38bba2fb5131071c92ea666fc4849e2471648 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Sat, 29 Sep 2018 16:36:14 +0800
Subject: [PATCH 43/96] Update option_supports_map

---
 src/internal/channels.cc | 19 +++++++------------
 src/internal/config.cc   |  8 +++++---
 src/internal/motions.cc  |  4 ++--
 tools/dataset/record.cc  | 17 -----------------
 4 files changed, 14 insertions(+), 34 deletions(-)

diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 0462ef2..bf65f1e 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -143,32 +143,27 @@ void Channels::LogControlInfos() const {
 }
 
 void Channels::UpdateControlInfos() {
-  /*
-    for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
-                                             Option::CONTRAST}) {
-       control_infos_[option] = PuControlInfo(option);
+  for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) {
+    control_infos_[option] = PuControlInfo(option);
     }
 
     for (auto &&option : std::vector<Option>{
-             Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
+             Option::EXPOSURE_MODE, Option::DESIRED_BRIGHTNESS,
              Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-             Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE
              Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
              Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
-             Option::GYROSCOPE_LOW_PASS_FILTER})
-    {
-       control_infos_[option] = XuControlInfo(option);
+             Option::GYROSCOPE_LOW_PASS_FILTER}) {
+      control_infos_[option] = XuControlInfo(option);
     }
 
     if (VLOG_IS_ON(2)) {
-      for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++)
-    {
+      for (auto &&it = control_infos_.begin(); it != control_infos_.end();
+           it++) {
         VLOG(2) << it->first << ": min=" << it->second.min
                 << ", max=" << it->second.max << ", def=" << it->second.def
                 << ", cur=" << GetControlValue(it->first);
       }
     }
-  */
 }
 
 Channels::control_info_t Channels::GetControlInfo(const Option &option) const {
diff --git a/src/internal/config.cc b/src/internal/config.cc
index 62def10..f956b69 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -23,9 +23,11 @@ const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
 
 const std::map<Model, OptionSupports> option_supports_map = {
     {Model::STANDARD,
-     {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::ERASE_CHIP,
-      Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
-      Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+     {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN,
+      Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
+      Option::MIN_EXPOSURE_TIME, Option::ERASE_CHIP,
+      Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
+      Option::ACCELEROMETER_LOW_PASS_FILTER,
       Option::GYROSCOPE_LOW_PASS_FILTER}}};
 
 const std::map<Model, std::map<Capabilities, StreamRequests>>
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 0ef938f..3b49c6c 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -35,8 +35,8 @@ Motions::~Motions() {
 void Motions::SetMotionCallback(motion_callback_t callback) {
   motion_callback_ = callback;
   if (motion_callback_) {
-    // accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
-    // gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
+    accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
+    gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     channels_->SetImuCallback([this](const ImuPacket &packet) {
       if (!motion_callback_ && !motion_datas_enabled_) {
         LOG(WARNING) << "";
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index dd5024d..1f699b9 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -33,23 +33,6 @@ int main(int argc, char *argv[]) {
     return 1;
   device->InitResolution(Resolution::RES_1280x400);
   device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
-  /*
-  {  // auto-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
-    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
-    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
-    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
-  }
-  {  // manual-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
-    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
-    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
-    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
-  }
-  device->SetOptionValue(Option::IR_CONTROL, 80);
-  device->SetOptionValue(Option::FRAME_RATE, 25);
-  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  */
   device->LogOptionInfos();
 
   // Enable this will cache the motion datas until you get them.

From 30363e18c6082912ad1b78e8b024d5e2aca97734 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Sun, 30 Sep 2018 13:57:21 +0800
Subject: [PATCH 44/96] Add constraints to imu's parameter settings

---
 src/api/api.cc           |  3 +++
 src/internal/channels.cc | 29 ++++++++++++++++++++++++-----
 src/internal/config.cc   |  1 +
 3 files changed, 28 insertions(+), 5 deletions(-)

diff --git a/src/api/api.cc b/src/api/api.cc
index fb8d958..a7b8a8d 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -236,6 +236,7 @@ std::shared_ptr<API> API::Create(
   return std::make_shared<API>(device);
 }
 
+// TODO(Kalman): Compatible with two generation
 std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
   return Create(device, Resolution::RES_2560x800);
 }
@@ -245,6 +246,7 @@ std::shared_ptr<API> API::Create(int argc, char *argv[]) {
   return Create(argc, argv, device);
 }
 
+// TODO(Kalman): Compatible with two generation
 std::shared_ptr<API> API::Create(
     int argc, char *argv[], std::shared_ptr<Device> device) {
   static glog_init _(argc, argv);
@@ -458,6 +460,7 @@ std::shared_ptr<Device> API::device() {
   return device_;
 }
 
+// TODO(Kalman): Call this function in the appropriate place
 void API::CheckImageParams() {
   if (device_ != nullptr) {
     bool in_l_ok, in_r_ok, ex_l2r_ok;
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index bf65f1e..05dfc80 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -142,6 +142,7 @@ void Channels::LogControlInfos() const {
   }
 }
 
+// TODO(Kalman): Compatible with two generation
 void Channels::UpdateControlInfos() {
   for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) {
     control_infos_[option] = PuControlInfo(option);
@@ -255,17 +256,33 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
         break;
       XuCamCtrlSet(option, value);
     } break;
+    case Option::ACCELEROMETER_RANGE: {
+      if (!in_range() || !in_values({6, 12, 24, 48}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::GYROSCOPE_RANGE: {
+      if (!in_range() || !in_values({6, 12, 24, 48}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::ACCELEROMETER_LOW_PASS_FILTER: {
+      if (!in_range() || !in_values({0, 1, 2}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::GYROSCOPE_LOW_PASS_FILTER: {
+      if (!in_range() || !in_values({23, 64}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
     case Option::EXPOSURE_MODE:
     case Option::MAX_GAIN:
     case Option::MAX_EXPOSURE_TIME:
     case Option::DESIRED_BRIGHTNESS:
     case Option::IR_CONTROL:
     case Option::HDR_MODE:
-    case Option::MIN_EXPOSURE_TIME:
-    case Option::ACCELEROMETER_RANGE:
-    case Option::GYROSCOPE_RANGE:
-    case Option::ACCELEROMETER_LOW_PASS_FILTER:
-    case Option::GYROSCOPE_LOW_PASS_FILTER: {
+    case Option::MIN_EXPOSURE_TIME: {
       if (!in_range())
         break;
       XuCamCtrlSet(option, value);
@@ -545,6 +562,7 @@ std::size_t from_data(
   return i;
 }
 
+// TODO(Kalman): Is there a more elegant way?
 std::size_t from_data(
     Channels::img_params_t *img_params, const std::uint8_t *data,
     const Version *spec_version) {
@@ -659,6 +677,7 @@ bool Channels::GetFiles(
           if (img_params->ok) {
             CheckSpecVersion(spec_ver);
             from_data(img_params, data + i, spec_ver);
+            // Considering the upgrade, comment this
             // CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
           }
         } break;
diff --git a/src/internal/config.cc b/src/internal/config.cc
index f956b69..68a893f 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -21,6 +21,7 @@ const std::map<Model, StreamSupports> stream_supports_map = {
 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
     {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
 
+// TODO(Kalman): Compatible with two generation
 const std::map<Model, OptionSupports> option_supports_map = {
     {Model::STANDARD,
      {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN,

From 2a56616195ade0dcd9fda8366f53d2cf4ead29b0 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Sun, 30 Sep 2018 14:51:24 +0800
Subject: [PATCH 45/96] Update doc

---
 doc/zh-Hans/spec_control_api.md     | 20 +++++++++-----------
 doc/zh-Hans/spec_control_channel.md |  2 +-
 samples/device/camera.cc            | 21 +--------------------
 src/internal/streams.cc             |  1 +
 tools/writer/device_writer.cc       |  1 +
 5 files changed, 13 insertions(+), 32 deletions(-)

diff --git a/doc/zh-Hans/spec_control_api.md b/doc/zh-Hans/spec_control_api.md
index 7a294a0..ac45089 100644
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@@ -6,9 +6,7 @@
 
 | 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 |
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
-| 增益 | gain | 2 | 24 | 0 | 48 | √ | 0x12 | 关闭自动曝光，手动设定的参数 |
-| 亮度 | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
-| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | |
+| 亮度 | brightness | 2 | 192 | 0 | 255 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
 
 > UVC 标准协议实现的控制，有现成的 API 进行 Get & Set ，包括 Min, Max, Default 。
 
@@ -16,13 +14,13 @@
 
 | 名称 | 字段 | 字节数 |  默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 通道地址 | 说明 |
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
-| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 0x0100 | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
-| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 0x0100 | 有效值为{100,200,250,333,500} |
 | 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
-| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 期望亮度 | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
-| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | 0x0100 | |
-| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0x0100 | 0：10-bit；1：12-bit |
-| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
+| 最大增益 | max_gain | 2 | 8 | 0 | 255 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
 | 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
+| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | ?? | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
+| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
diff --git a/doc/zh-Hans/spec_control_channel.md b/doc/zh-Hans/spec_control_channel.md
index 9208182..d85f452 100644
--- a/doc/zh-Hans/spec_control_channel.md
+++ b/doc/zh-Hans/spec_control_channel.md
@@ -49,5 +49,5 @@
 | File | ID | Max Size |
 | :--- | :- | :------- |
 | 硬件信息 | 1 | 250 |
-| 图像参数 | 2 | 250 |
+| 图像参数 | 2 | 404 |
 | IMU 参数 | 4 | 500 |
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index e59211c..c79028e 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -29,26 +29,6 @@ int main(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device)
     return 1;
-  /*
-  {  // auto-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
-    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
-    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
-    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
-  }
-  {  // manual-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
-    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
-    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
-    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
-  }
-  device->SetOptionValue(Option::IR_CONTROL, 80);
-  device->SetOptionValue(Option::FRAME_RATE, 25);
-  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  */
-  // device->LogOptionInfos();
-  // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
-  // device->RunOptionAction(Option::ERASE_CHIP);
 
   std::size_t left_count = 0;
   device->InitResolution(Resolution::RES_1280x400);
@@ -117,6 +97,7 @@ int main(int argc, char *argv[]) {
 
     cv::Mat img;
 
+    // TODO(Kalman): Extract into public or internal method
     if (left_data.frame->format() == Format::GREY) {
       cv::Mat left_img(
           left_data.frame->height(), left_data.frame->width(), CV_8UC1,
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index 4ee742f..de34e15 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -100,6 +100,7 @@ bool unpack_left_img_pixels(
   return true;
 }
 
+// TODO(Kalman): Too similar to 'unpack_left_img_pixels'
 bool unpack_right_img_pixels(
     const void *data, const StreamRequest &request, Streams::frame_t *frame) {
   CHECK_NOTNULL(frame);
diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc
index 5eb0d40..be3f5e0 100644
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -376,6 +376,7 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
       fs["ex_left_to_right"] >> params.ex_left_to_right;
     }
   } else {
+    // TODO(Kalman): Is there a more reasonable way?
     if (static_cast<std::string>(fs["version"]) == "1.0") {
       fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
       fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];

From 77e4411a4c2b670b7820e770ecdcf4e893a695ca Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 11 Oct 2018 10:54:23 +0800
Subject: [PATCH 46/96] Fix time stamp bug

---
 wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 e0fddc6..9bb7b8c 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
@@ -82,7 +82,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
 
     return ros::Time(
-        soft_time_begin + (_hard_time - hard_time_begin) * 0.00001f);
+        soft_time_begin + (_hard_time - hard_time_begin) * 0.000001f);
   }
 
   void onInit() override {

From c58dd28f639a36cf74555e28f0e9dd52fb2effef Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 23 Oct 2018 16:08:59 +0800
Subject: [PATCH 47/96] Add imu publish by sync

---
 include/mynteye/types.h                       |  2 +-
 .../launch/mynteye.launch                     |  2 +-
 .../src/wrapper_nodelet.cc                    | 81 ++++++++++++++++++-
 3 files changed, 81 insertions(+), 4 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 633e11f..66fcd33 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -525,7 +525,7 @@ std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
 struct MYNTEYE_API ImgData {
   /** Image frame id */
   std::uint16_t frame_id;
-  /** Image timestamp in 0.01ms */
+  /** Image timestamp in 1us */
   std::uint64_t timestamp;
   /** Image exposure time, virtual value in [1, 480] */
   std::uint16_t exposure_time;
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index c906c32..6b8f792 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -37,7 +37,7 @@
   <arg name="enable_disparity" default="false" />
   <arg name="enable_disparity_norm" default="false" />
   <arg name="enable_points" default="false" />
-  <arg name="enable_depth" default="true" />
+  <arg name="enable_depth" default="false" />
 
   <!-- device options, -1 will not set the value -->
 
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 9bb7b8c..8b42ebc 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
@@ -62,8 +62,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                 << ", fps: " << (left_count_ / time_elapsed);
       LOG(INFO) << "Right count: " << right_count_
                 << ", fps: " << (right_count_ / time_elapsed);
-      LOG(INFO) << "Imu count: " << imu_count_
-                << ", hz: " << (imu_count_ / time_elapsed);
+      if (publish_imu_by_sync_) {
+        LOG(INFO) << "imu_sync_count: " << imu_sync_count_
+                  << ", hz: " << (imu_sync_count_ / time_elapsed);
+      } else {
+        LOG(INFO) << "Imu count: " << imu_count_
+                  << ", hz: " << (imu_count_ / time_elapsed);
+      }
 
       // ROS messages could not be reliably printed here, using glog instead :(
       // ros::Duration(1).sleep();  // 1s
@@ -322,6 +327,21 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       // imu_time_prev = data.imu->timestamp;
 
       ++imu_count_;
+      if (publish_imu_by_sync_) {
+        if (data.imu) {
+          if (data.imu->flag == 1) {  // accelerometer
+            imu_accel_ = data.imu;
+            publishImuBySync(stamp);
+          } else if (data.imu->flag == 2) {  // gyroscope
+            imu_gyro_ = data.imu;
+            publishImuBySync(stamp);
+          } else {
+            NODELET_WARN_STREAM("Imu type is unknown");
+          }
+        } else {
+          NODELET_WARN_STREAM("Motion data is empty");
+        }
+      }
       publishImu(data, imu_count_, stamp);
       publishTemp(data.imu->temperature, imu_count_, stamp);
       NODELET_DEBUG_STREAM(
@@ -484,6 +504,59 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     pub_imu_.publish(msg);
   }
 
+  void publishImuBySync(ros::Time stamp) {
+    if (imu_accel_ == nullptr || imu_gyro_ == nullptr) {
+      return;
+    }
+    sensor_msgs::Imu msg;
+
+    msg.header.seq = imu_sync_count_;
+    msg.header.stamp = stamp;
+    msg.header.frame_id = imu_frame_id_;
+
+    // acceleration should be in m/s^2 (not in g's)
+    msg.linear_acceleration.x = imu_accel_->accel[0] * gravity_;
+    msg.linear_acceleration.y = imu_accel_->accel[1] * gravity_;
+    msg.linear_acceleration.z = imu_accel_->accel[2] * gravity_;
+
+    msg.linear_acceleration_covariance[0] = 0;
+    msg.linear_acceleration_covariance[1] = 0;
+    msg.linear_acceleration_covariance[2] = 0;
+
+    msg.linear_acceleration_covariance[3] = 0;
+    msg.linear_acceleration_covariance[4] = 0;
+    msg.linear_acceleration_covariance[5] = 0;
+
+    msg.linear_acceleration_covariance[6] = 0;
+    msg.linear_acceleration_covariance[7] = 0;
+    msg.linear_acceleration_covariance[8] = 0;
+
+    // velocity should be in rad/sec
+    msg.angular_velocity.x = imu_gyro_->gyro[0] * M_PI / 180;
+    msg.angular_velocity.y = imu_gyro_->gyro[1] * M_PI / 180;
+    msg.angular_velocity.z = imu_gyro_->gyro[2] * M_PI / 180;
+
+    msg.angular_velocity_covariance[0] = 0;
+    msg.angular_velocity_covariance[1] = 0;
+    msg.angular_velocity_covariance[2] = 0;
+
+    msg.angular_velocity_covariance[3] = 0;
+    msg.angular_velocity_covariance[4] = 0;
+    msg.angular_velocity_covariance[5] = 0;
+
+    msg.angular_velocity_covariance[6] = 0;
+    msg.angular_velocity_covariance[7] = 0;
+    msg.angular_velocity_covariance[8] = 0;
+
+    pub_imu_.publish(msg);
+
+    publishTemp(imu_accel_->temperature, imu_sync_count_, stamp);
+
+    ++imu_sync_count_;
+    imu_accel_ = nullptr;
+    imu_gyro_ = nullptr;
+  }
+
   void publishTemp(float temperature, std::uint32_t seq, ros::Time stamp) {
     if (pub_temp_.getNumSubscribers() == 0)
       return;
@@ -795,6 +868,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   std::size_t left_count_ = 0;
   std::size_t right_count_ = 0;
   std::size_t imu_count_ = 0;
+  std::size_t imu_sync_count_ = 0;
+  std::shared_ptr<ImuData> imu_accel_;
+  std::shared_ptr<ImuData> imu_gyro_;
+  bool publish_imu_by_sync_ = false;
 };
 
 MYNTEYE_END_NAMESPACE

From a9353c965a4b029f1d94c0ed0bc9730c4234756d Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 24 Oct 2018 11:16:19 +0800
Subject: [PATCH 48/96] Increase the effectiveness of checking all values

---
 src/api/processor/object.h     | 9 +++++++++
 src/api/processor/processor.cc | 4 ++++
 2 files changed, 13 insertions(+)

diff --git a/src/api/processor/object.h b/src/api/processor/object.h
index 8f43829..808b150 100644
--- a/src/api/processor/object.h
+++ b/src/api/processor/object.h
@@ -31,6 +31,7 @@ struct MYNTEYE_API Object {
   virtual ~Object() = default;
 
   virtual Object *Clone() const = 0;
+  virtual bool DecValidity() const = 0;
 
   /** Cast the obj to T pointer */
   template <typename T>
@@ -65,6 +66,10 @@ struct MYNTEYE_API ObjMat : public Object {
     mat->value = value.clone();
     return mat;
   }
+
+  bool DecValidity() const {
+    return !value.empty();
+  }
 };
 
 /**
@@ -87,6 +92,10 @@ struct MYNTEYE_API ObjMat2 : public Object {
     mat2->second = second.clone();
     return mat2;
   }
+
+  bool DecValidity() const {
+    return !first.empty() && !second.empty();
+  }
 };
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/api/processor/processor.cc b/src/api/processor/processor.cc
index 851b464..8ba3bca 100644
--- a/src/api/processor/processor.cc
+++ b/src/api/processor/processor.cc
@@ -130,6 +130,10 @@ bool Processor::Process(const Object &in) {
       return false;
     }
   }
+  if (!in.DecValidity()) {
+    LOG(WARNING) << Name() << " process with invalid input";
+    return false;
+  }
   {
     std::lock_guard<std::mutex> lk(mtx_input_ready_);
     input_.reset(in.Clone());

From 5c46c7288368d551e2e2c7c6b47cf28caf6726d9 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 24 Oct 2018 17:13:25 +0800
Subject: [PATCH 49/96] Fix imu stamp bug in ros

---
 tools/dataset/record.cc                                      | 3 +--
 wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc | 5 +++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 1f699b9..45df013 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -99,8 +99,7 @@ int main(int argc, char *argv[]) {
       return -1;
     }
     cv::imshow("frame", img);
-
-    {  // save
+    if (img_count > 10 && imu_count > 50) {  // save
       for (auto &&left : left_datas) {
         dataset.SaveStreamData(Stream::LEFT, left);
       }
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 8b42ebc..80b941f 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
@@ -341,9 +341,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         } else {
           NODELET_WARN_STREAM("Motion data is empty");
         }
+      } else {
+        publishImu(data, imu_count_, stamp);
+        publishTemp(data.imu->temperature, imu_count_, stamp);
       }
-      publishImu(data, imu_count_, stamp);
-      publishTemp(data.imu->temperature, imu_count_, stamp);
       NODELET_DEBUG_STREAM(
           "Imu count: " << imu_count_ << ", timestamp: " << data.imu->timestamp
                         << ", accel_x: " << data.imu->accel[0]

From 48a9cd046147345b09b6259b923924fd2d9bf2b3 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 25 Oct 2018 20:25:14 +0800
Subject: [PATCH 50/96] Publish gray topic

---
 .../launch/mynteye.launch                     |  6 +++
 .../mynt_eye_ros_wrapper/rviz/mynteye.rviz    | 29 ++++++++++++++
 .../src/wrapper_nodelet.cc                    | 39 +++++++++++++++++++
 3 files changed, 74 insertions(+)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index 6b8f792..c40222e 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -13,6 +13,9 @@
   <arg name="depth_topic" default="depth/image_raw" />
   <arg name="points_topic" default="points/data_raw" />
 
+  <arg name="left_gray_topic" default="left/image_gray" />
+  <arg name="right_gray_topic" default="right/image_gray" />
+
   <arg name="imu_topic" default="imu/data_raw" />
   <arg name="temp_topic" default="temp/data_raw" />
 
@@ -102,6 +105,9 @@
       <param name="points_topic" value="$(arg points_topic)" />
       <param name="depth_topic" value="$(arg depth_topic)" />
 
+      <param name="left_gray_topic" value="$(arg left_gray_topic)" />
+      <param name="right_gray_topic" value="$(arg right_gray_topic)" />
+
       <param name="imu_topic" value="$(arg imu_topic)" />
       <param name="temp_topic" value="$(arg temp_topic)" />
 
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
index 0fd02ab..d378a1a 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
@@ -7,6 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
         - /Images1
+        - /Images1/Gray1
         - /Images1/Rectified1
         - /Disparity1
       Splitter Ratio: 0.5
@@ -77,6 +78,34 @@ Visualization Manager:
           Transport Hint: raw
           Unreliable: false
           Value: true
+        - Class: rviz/Group
+          Displays:
+            - Class: rviz/Image
+              Enabled: true
+              Image Topic: /mynteye/left/image_gray
+              Max Value: 1
+              Median window: 5
+              Min Value: 0
+              Name: LeftGray
+              Normalize Range: true
+              Queue Size: 2
+              Transport Hint: raw
+              Unreliable: false
+              Value: true
+            - Class: rviz/Image
+              Enabled: true
+              Image Topic: /mynteye/right/image_gray
+              Max Value: 1
+              Median window: 5
+              Min Value: 0
+              Name: RightGray
+              Normalize Range: true
+              Queue Size: 2
+              Transport Hint: raw
+              Unreliable: false
+              Value: true
+          Enabled: false
+          Name: Gray
         - Class: rviz/Group
           Displays:
             - Class: rviz/Image
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 80b941f..3f6d0a4 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
@@ -115,6 +115,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       private_nh_.getParam(it->second + "_topic", stream_topics[it->first]);
     }
 
+    std::map<Stream, std::string> gray_names{{Stream::LEFT, "left_gray"},
+                                             {Stream::RIGHT, "right_gray"}};
+
+    std::map<Stream, std::string> gray_topics{};
+    for (auto &&it = gray_names.begin(); it != gray_names.end(); ++it) {
+      gray_topics[it->first] = it->second;
+      private_nh_.getParam(it->second + "_topic", gray_topics[it->first]);
+    }
+
     std::string imu_topic = "imu";
     std::string temp_topic = "temp";
     private_nh_.getParam("imu_topic", imu_topic);
@@ -179,6 +188,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
 
+    for (auto &&it = gray_topics.begin(); it != gray_topics.end(); ++it) {
+      auto &&topic = gray_topics[it->first];
+      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
+        gray_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
+      }
+      NODELET_INFO_STREAM("Advertized on topic " << topic);
+    }
+
     camera_encodings_ = {{Stream::LEFT, enc::BGR8}, {Stream::RIGHT, enc::BGR8}};
 
     image_encodings_ = {{Stream::LEFT_RECTIFIED, enc::BGR8},
@@ -274,6 +291,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
           ++left_count_;
           publishCamera(Stream::LEFT, data, left_count_, stamp);
+          publishGray(Stream::LEFT, data, left_count_, stamp);
           NODELET_DEBUG_STREAM(
               Stream::LEFT << ", count: " << left_count_
                            << ", frame_id: " << data.img->frame_id
@@ -287,6 +305,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
           ++right_count_;
           publishCamera(Stream::RIGHT, data, right_count_, stamp);
+          publishGray(Stream::RIGHT, data, right_count_, stamp);
           NODELET_DEBUG_STREAM(
               Stream::RIGHT << ", count: " << right_count_
                             << ", frame_id: " << data.img->frame_id
@@ -400,6 +419,23 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     image_publishers_[stream].publish(msg);
   }
 
+  void publishGray(
+      const Stream &stream, const api::StreamData &data, std::uint32_t seq,
+      ros::Time stamp) {
+    if (gray_publishers_[stream].getNumSubscribers() == 0)
+      return;
+    std_msgs::Header header;
+    header.seq = seq;
+    header.stamp = stamp;
+    header.frame_id = frame_ids_[stream];
+    cv::Mat gray;
+    cv::cvtColor(data.frame, gray, CV_RGB2GRAY);
+    auto &&msg = cv_bridge::CvImage(header, enc::MONO8, gray).toImageMsg();
+    auto &&info = getCameraInfo(stream);
+    info->header.stamp = msg->header.stamp;
+    gray_publishers_[stream].publish(msg, info);
+  }
+
   void publishPoints(
       const api::StreamData &data, std::uint32_t seq, ros::Time stamp) {
     if (points_publisher_.getNumSubscribers() == 0)
@@ -842,6 +878,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   std::map<Stream, image_transport::Publisher> image_publishers_;
   std::map<Stream, std::string> image_encodings_;
 
+  // gray: LEFT, RIGHT
+  std::map<Stream, image_transport::CameraPublisher> gray_publishers_;
+
   // pointcloud: POINTS
   ros::Publisher points_publisher_;
 

From 14988ffd249f3765d02b70f96136ed362c8e4187 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 25 Oct 2018 20:28:27 +0800
Subject: [PATCH 51/96] Fix point publish bug in wrapper

---
 .../ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

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 3f6d0a4..d4b9c52 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
@@ -473,9 +473,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       for (std::size_t x = 0; x < in.width; ++x) {
         auto &&point = data.frame.at<cv::Vec3f>(y, x);
 
-        *iter_x = point[0];
-        *iter_y = point[1];
-        *iter_z = point[2];
+        *iter_x = point[0] * 0.001;
+        *iter_y = point[1] * 0.001;
+        *iter_z = point[2] * 0.001;
 
         *iter_r = static_cast<uint8_t>(255);
         *iter_g = static_cast<uint8_t>(255);

From 9a465b9f045371bdbf8bfa66e104fc2e1013441b Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Mon, 29 Oct 2018 15:42:04 +0800
Subject: [PATCH 52/96] Rename gray topic

---
 .../launch/mynteye.launch                     |  8 ++--
 .../mynt_eye_ros_wrapper/rviz/mynteye.rviz    | 12 +++---
 .../src/wrapper_nodelet.cc                    | 38 +++++++++----------
 3 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index c40222e..e477f62 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -13,8 +13,8 @@
   <arg name="depth_topic" default="depth/image_raw" />
   <arg name="points_topic" default="points/data_raw" />
 
-  <arg name="left_gray_topic" default="left/image_gray" />
-  <arg name="right_gray_topic" default="right/image_gray" />
+  <arg name="left_mono_topic" default="left/image_mono" />
+  <arg name="right_mono_topic" default="right/image_mono" />
 
   <arg name="imu_topic" default="imu/data_raw" />
   <arg name="temp_topic" default="temp/data_raw" />
@@ -105,8 +105,8 @@
       <param name="points_topic" value="$(arg points_topic)" />
       <param name="depth_topic" value="$(arg depth_topic)" />
 
-      <param name="left_gray_topic" value="$(arg left_gray_topic)" />
-      <param name="right_gray_topic" value="$(arg right_gray_topic)" />
+      <param name="left_mono_topic" value="$(arg left_mono_topic)" />
+      <param name="right_mono_topic" value="$(arg right_mono_topic)" />
 
       <param name="imu_topic" value="$(arg imu_topic)" />
       <param name="temp_topic" value="$(arg temp_topic)" />
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
index d378a1a..c43513f 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
@@ -82,11 +82,11 @@ Visualization Manager:
           Displays:
             - Class: rviz/Image
               Enabled: true
-              Image Topic: /mynteye/left/image_gray
+              Image Topic: /mynteye/left/image_mono
               Max Value: 1
               Median window: 5
               Min Value: 0
-              Name: LeftGray
+              Name: LeftMono
               Normalize Range: true
               Queue Size: 2
               Transport Hint: raw
@@ -94,18 +94,18 @@ Visualization Manager:
               Value: true
             - Class: rviz/Image
               Enabled: true
-              Image Topic: /mynteye/right/image_gray
+              Image Topic: /mynteye/right/image_mono
               Max Value: 1
               Median window: 5
               Min Value: 0
-              Name: RightGray
+              Name: RightMono
               Normalize Range: true
               Queue Size: 2
               Transport Hint: raw
               Unreliable: false
               Value: true
-          Enabled: false
-          Name: Gray
+          Enabled: true
+          Name: Mono
         - Class: rviz/Group
           Displays:
             - Class: rviz/Image
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 d4b9c52..dd33f48 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
@@ -115,13 +115,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       private_nh_.getParam(it->second + "_topic", stream_topics[it->first]);
     }
 
-    std::map<Stream, std::string> gray_names{{Stream::LEFT, "left_gray"},
-                                             {Stream::RIGHT, "right_gray"}};
+    std::map<Stream, std::string> mono_names{{Stream::LEFT, "left_mono"},
+                                             {Stream::RIGHT, "right_mono"}};
 
-    std::map<Stream, std::string> gray_topics{};
-    for (auto &&it = gray_names.begin(); it != gray_names.end(); ++it) {
-      gray_topics[it->first] = it->second;
-      private_nh_.getParam(it->second + "_topic", gray_topics[it->first]);
+    std::map<Stream, std::string> mono_topics{};
+    for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) {
+      mono_topics[it->first] = it->second;
+      private_nh_.getParam(it->second + "_topic", mono_topics[it->first]);
     }
 
     std::string imu_topic = "imu";
@@ -188,10 +188,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
 
-    for (auto &&it = gray_topics.begin(); it != gray_topics.end(); ++it) {
-      auto &&topic = gray_topics[it->first];
+    for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
+      auto &&topic = mono_topics[it->first];
       if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
-        gray_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
+        mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
       }
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
@@ -291,7 +291,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
           ++left_count_;
           publishCamera(Stream::LEFT, data, left_count_, stamp);
-          publishGray(Stream::LEFT, data, left_count_, stamp);
+          publishMono(Stream::LEFT, data, left_count_, stamp);
           NODELET_DEBUG_STREAM(
               Stream::LEFT << ", count: " << left_count_
                            << ", frame_id: " << data.img->frame_id
@@ -305,7 +305,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
           ++right_count_;
           publishCamera(Stream::RIGHT, data, right_count_, stamp);
-          publishGray(Stream::RIGHT, data, right_count_, stamp);
+          publishMono(Stream::RIGHT, data, right_count_, stamp);
           NODELET_DEBUG_STREAM(
               Stream::RIGHT << ", count: " << right_count_
                             << ", frame_id: " << data.img->frame_id
@@ -419,21 +419,21 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     image_publishers_[stream].publish(msg);
   }
 
-  void publishGray(
+  void publishMono(
       const Stream &stream, const api::StreamData &data, std::uint32_t seq,
       ros::Time stamp) {
-    if (gray_publishers_[stream].getNumSubscribers() == 0)
+    if (mono_publishers_[stream].getNumSubscribers() == 0)
       return;
     std_msgs::Header header;
     header.seq = seq;
     header.stamp = stamp;
     header.frame_id = frame_ids_[stream];
-    cv::Mat gray;
-    cv::cvtColor(data.frame, gray, CV_RGB2GRAY);
-    auto &&msg = cv_bridge::CvImage(header, enc::MONO8, gray).toImageMsg();
+    cv::Mat mono;
+    cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
+    auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
     auto &&info = getCameraInfo(stream);
     info->header.stamp = msg->header.stamp;
-    gray_publishers_[stream].publish(msg, info);
+    mono_publishers_[stream].publish(msg, info);
   }
 
   void publishPoints(
@@ -878,8 +878,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   std::map<Stream, image_transport::Publisher> image_publishers_;
   std::map<Stream, std::string> image_encodings_;
 
-  // gray: LEFT, RIGHT
-  std::map<Stream, image_transport::CameraPublisher> gray_publishers_;
+  // mono: LEFT, RIGHT
+  std::map<Stream, image_transport::CameraPublisher> mono_publishers_;
 
   // pointcloud: POINTS
   ros::Publisher points_publisher_;

From a57edded4b2fefe605abd1c3293f7351a66e7140 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Mon, 5 Nov 2018 16:23:32 +0800
Subject: [PATCH 53/96] Add pulse detection

---
 src/uvc/uvc-v4l2.cc | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/src/uvc/uvc-v4l2.cc b/src/uvc/uvc-v4l2.cc
index a064552..afbc7ed 100755
--- a/src/uvc/uvc-v4l2.cc
+++ b/src/uvc/uvc-v4l2.cc
@@ -41,6 +41,11 @@ namespace uvc {
     LOG(severity) << str << " error " << errno << ", " << strerror(errno); \
   } while (0)
 
+#define NO_DATA_MAX_COUNT 200
+#define LIVING_MAX_COUNT 9000
+
+int no_data_count = 0;
+int living_count = 0;
 /*
 class device_error : public std::exception {
  public:
@@ -385,7 +390,25 @@ struct device {
           if (xioctl(fd, VIDIOC_QBUF, &buf) < 0)
             throw_error("VIDIOC_QBUF");
         });
+        if (living_count < LIVING_MAX_COUNT) {
+          living_count++;
+        } else {
+          living_count = 0;
+          LOG(INFO) << "UVC pulse detection,Please ignore.";
+        }
       }
+
+      no_data_count = 0;
+    } else {
+      no_data_count++;
+    }
+
+    if (no_data_count > NO_DATA_MAX_COUNT) {
+      no_data_count = 0;
+      living_count = 0;
+      LOG(WARNING) << __func__ << "v4l2 get stream time out,Try to reboot!";
+      stop_capture();
+      start_capture();
     }
   }
 

From 8331b8415dcad7a40c98123fd1f9d01e82f4ac7d Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Thu, 8 Nov 2018 15:31:15 +0800
Subject: [PATCH 54/96] Fix push motion datas in callback

---
 src/internal/motions.cc | 4 +++-
 src/uvc/uvc-v4l2.cc     | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 3b49c6c..349a5ea 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -74,7 +74,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
 
         std::lock_guard<std::mutex> _(mtx_datas_);
         motion_data_t data = {imu};
-        motion_datas_.push_back(data);
+        if (motion_datas_enabled_) {
+          motion_datas_.push_back(data);
+        }
 
         motion_callback_(data);
       }
diff --git a/src/uvc/uvc-v4l2.cc b/src/uvc/uvc-v4l2.cc
index afbc7ed..f86a209 100755
--- a/src/uvc/uvc-v4l2.cc
+++ b/src/uvc/uvc-v4l2.cc
@@ -394,7 +394,7 @@ struct device {
           living_count++;
         } else {
           living_count = 0;
-          LOG(INFO) << "UVC pulse detection,Please ignore.";
+          // LOG(INFO) << "UVC pulse detection,Please ignore.";
         }
       }
 

From 2096f93a925f616d2d17a10d3d3a35f315ab71e9 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 16 Nov 2018 16:30:13 +0800
Subject: [PATCH 55/96] Add miniglog

---
 CMakeLists.txt                                |  54 +-
 CPPLINT.cfg                                   |   2 +
 Makefile                                      |  11 +-
 cmake/DetectGLog.cmake                        |  26 +
 cmake/Option.cmake                            |   2 +
 config/SN07C624160009071F/device.info         |  10 +
 config/SN07C624160009071F/img.params          |  53 ++
 config/SN07C624160009071F/imu.params          |  15 +
 doc/zh-Hans/guide_log.md                      |   4 +-
 include/mynteye/global.h                      |   4 +-
 include/mynteye/{glog_init.h => logger.h}     |  48 +-
 include/mynteye/miniglog.h                    | 469 ++++++++++++++++++
 mynteye-config.cmake.in                       |   2 +
 samples/CMakeLists.txt                        |   7 +-
 samples/api/camera.cc                         |   3 +-
 samples/api/get_depth_with_region.cc          |   2 -
 samples/device/camera.cc                      |   2 +-
 samples/tutorials/control/auto_exposure.cc    |   3 +-
 samples/tutorials/control/framerate.cc        |   3 +-
 samples/tutorials/control/infrared.cc         |   3 +-
 samples/tutorials/control/manual_exposure.cc  |   3 +-
 samples/tutorials/data/get_depth.cc           |   3 +-
 samples/tutorials/data/get_device_info.cc     |   3 +-
 samples/tutorials/data/get_disparity.cc       |   2 +-
 samples/tutorials/data/get_from_callbacks.cc  |   3 +-
 samples/tutorials/data/get_img_params.cc      |   3 +-
 samples/tutorials/data/get_imu.cc             |   3 +-
 samples/tutorials/data/get_imu_params.cc      |   3 +-
 samples/tutorials/data/get_points.cc          |   3 +-
 samples/tutorials/data/get_stereo.cc          |   3 +-
 .../tutorials/data/get_stereo_rectified.cc    |   3 +-
 samples/tutorials/data/get_with_plugin.cc     |   3 +-
 .../intermediate/get_all_device_info.cc       |   2 +-
 .../intermediate/get_depth_and_points.cc      |   1 -
 samples/tutorials/util/cv_painter.cc          |   3 +-
 samples/tutorials/util/pc_viewer.cc           |   4 +-
 samples/uvc/camera.cc                         |   2 +-
 scripts/init.sh                               | 163 +-----
 scripts/init_tools.sh                         | 219 ++++++++
 scripts/version.sh                            |  24 +
 .../win/cmake/mynteye-targets-release.cmake   |  29 ++
 scripts/win/cmake/mynteye-targets.cmake       | 102 ++++
 scripts/win/generate.bat                      |  20 +
 scripts/win/nsis/Include/EnvVarUpdate.nsh     | 350 +++++++++++++
 scripts/win/nsis/mynt.ico                     | Bin 0 -> 4286 bytes
 scripts/win/nsis/winpack.nsi.in               | 198 ++++++++
 scripts/win/winpack.sh                        | 179 +++++++
 src/api/api.cc                                |  10 +-
 src/api/processor/depth_processor.cc          |   2 +-
 .../disparity_normalized_processor.cc         |   4 +-
 src/api/processor/disparity_processor.cc      |   4 +-
 src/api/processor/points_processor.cc         |   4 +-
 src/api/processor/processor.cc                |   4 +-
 src/api/processor/rectify_processor.cc        |   4 +-
 src/api/synthetic.cc                          |   3 +-
 src/device/context.cc                         |   2 +-
 src/device/device.cc                          |   3 +-
 src/device/device_s.cc                        |   2 +-
 src/internal/async_callback_impl.h            |   4 +-
 src/internal/channels.cc                      |   4 +-
 src/internal/dl.cc                            |   2 +-
 src/internal/files.cc                         |   7 +-
 src/internal/motions.cc                       |   2 +-
 src/internal/streams.cc                       |   3 +-
 src/internal/types.cc                         |   6 +-
 src/main.cc                                   |   2 +-
 src/public/miniglog.cc                        |  41 ++
 src/public/miniglog.readme                    |   3 +
 src/public/types.cc                           |   4 +-
 src/public/utils.cc                           |   4 +-
 src/uvc/uvc-libuvc.cc                         |   2 +-
 src/uvc/uvc-v4l2.cc                           |   8 +-
 src/uvc/uvc-wmf.cc                            |   2 +-
 tools/CMakeLists.txt                          |   4 -
 tools/dataset/dataset.cc                      |  12 +-
 tools/writer/device_writer.cc                 |   9 +-
 tools/writer/save_all_infos.cc                |   2 +-
 wrappers/python/CMakeLists.txt                |  25 +-
 .../src/mynt_eye_ros_wrapper/CMakeLists.txt   |  16 +-
 .../src/wrapper_nodelet.cc                    |   3 +-
 80 files changed, 1948 insertions(+), 313 deletions(-)
 create mode 100644 CPPLINT.cfg
 create mode 100644 cmake/DetectGLog.cmake
 create mode 100644 config/SN07C624160009071F/device.info
 create mode 100644 config/SN07C624160009071F/img.params
 create mode 100644 config/SN07C624160009071F/imu.params
 rename include/mynteye/{glog_init.h => logger.h} (51%)
 create mode 100644 include/mynteye/miniglog.h
 create mode 100644 scripts/init_tools.sh
 create mode 100755 scripts/version.sh
 create mode 100644 scripts/win/cmake/mynteye-targets-release.cmake
 create mode 100644 scripts/win/cmake/mynteye-targets.cmake
 create mode 100644 scripts/win/generate.bat
 create mode 100644 scripts/win/nsis/Include/EnvVarUpdate.nsh
 create mode 100644 scripts/win/nsis/mynt.ico
 create mode 100644 scripts/win/nsis/winpack.nsi.in
 create mode 100644 scripts/win/winpack.sh
 create mode 100644 src/public/miniglog.cc
 create mode 100644 src/public/miniglog.readme

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5299cb0..4b25354 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()
 
 if(WITH_API)
   include(cmake/DetectOpenCV.cmake)
@@ -106,20 +113,28 @@ set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
 set(MYNTEYE_CMAKE_INSTALLDIR "${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
@@ -136,6 +151,11 @@ 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)
@@ -180,21 +200,25 @@ 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})
+option(WITH_GLOG "Include glog support" OFF)
 
 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 5c65f55..3091003 100644
--- a/Makefile
+++ b/Makefile
@@ -24,9 +24,10 @@ help:
 	@echo "  make apidoc          make api doc"
 	@echo "  make opendoc         open api doc (html)"
 	@echo "  make init            init project"
+	@echo "  make 3rdparty        build 3rdparty: glog"
 	@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"
@@ -35,7 +36,7 @@ help:
 
 .PHONY: help
 
-all: test tools samples
+all: test samples tools
 
 .PHONY: all
 
@@ -66,7 +67,9 @@ third_party: submodules
 	@$(call echo,Make glog,33)
 	@$(call cmake_build,./third_party/glog/_build)
 
-.PHONY: submodules third_party
+3rdparty: third_party
+
+.PHONY: submodules third_party 3rdparty
 
 # init
 
@@ -78,7 +81,7 @@ init: submodules
 
 # build
 
-build: third_party
+build: submodules
 	@$(call echo,Make $@)
 	@$(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 ac68eac..a169987 100644
--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@@ -16,3 +16,5 @@ option(WITH_API "Build with API layer, need OpenCV" ON)
 
 message(STATUS "Options:")
 message(STATUS "  WITH_API: ${WITH_API}")
+
+option(WITH_GLOG "Include glog support" OFF)
diff --git a/config/SN07C624160009071F/device.info b/config/SN07C624160009071F/device.info
new file mode 100644
index 0000000..1a515df
--- /dev/null
+++ b/config/SN07C624160009071F/device.info
@@ -0,0 +1,10 @@
+%YAML:1.0
+---
+device_name: MYNT-EYE-S210A
+serial_number: "07C624160009071F"
+firmware_version: "0.1"
+hardware_version: "1.0"
+spec_version: "1.1"
+lens_type: "0000"
+imu_type: "0000"
+nominal_baseline: 0
diff --git a/config/SN07C624160009071F/img.params b/config/SN07C624160009071F/img.params
new file mode 100644
index 0000000..d78da8d
--- /dev/null
+++ b/config/SN07C624160009071F/img.params
@@ -0,0 +1,53 @@
+%YAML:1.0
+---
+version: "1.1"
+in_left_map:
+   -
+      width: 640
+      height: 400
+      fx: 1.9739641213416058e+02
+      fy: 1.9772337597617189e+02
+      cx: 3.2611983633916327e+02
+      cy: 1.9986969132833946e+02
+      model: 0
+      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
+          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
+   -
+      width: 1280
+      height: 800
+      fx: 1.9739641213416058e+02
+      fy: 1.9772337597617189e+02
+      cx: 3.2611983633916327e+02
+      cy: 1.9986969132833946e+02
+      model: 0
+      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
+          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
+in_right_map:
+   -
+      width: 640
+      height: 400
+      fx: 2.0335498653655989e+02
+      fy: 2.0453858622699008e+02
+      cx: 3.1589962248180814e+02
+      cy: 2.1871688038954812e+02
+      model: 0
+      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
+          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
+   -
+      width: 1280
+      height: 800
+      fx: 2.0335498653655989e+02
+      fy: 2.0453858622699008e+02
+      cx: 3.1589962248180814e+02
+      cy: 2.1871688038954812e+02
+      model: 0
+      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
+          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
+ex_left_to_right:
+   rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
+       -4.3917309443490191e-03, 1.8166060642710027e-03,
+       9.9968925981619028e-01, -2.4861290203142431e-02,
+       4.4382582477776426e-03, 2.4853026274046636e-02,
+       9.9968126367795229e-01 ]
+   translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
+       2.2588034344482368e+00 ]
diff --git a/config/SN07C624160009071F/imu.params b/config/SN07C624160009071F/imu.params
new file mode 100644
index 0000000..070f13a
--- /dev/null
+++ b/config/SN07C624160009071F/imu.params
@@ -0,0 +1,15 @@
+%YAML:1.0
+---
+in_accel:
+   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   drift: [ 0., 0., 0. ]
+   noise: [ 0., 0., 0. ]
+   bias: [ 0., 0., 0. ]
+in_gyro:
+   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   drift: [ 0., 0., 0. ]
+   noise: [ 0., 0., 0. ]
+   bias: [ 0., 0., 0. ]
+ex_left_to_imu:
+   rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   translation: [ 0., 0., 0. ]
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/global.h b/include/mynteye/global.h
index 7a58f4e..f60e341 100644
--- a/include/mynteye/global.h
+++ b/include/mynteye/global.h
@@ -67,9 +67,9 @@
 #endif
 
 #if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
-#define OS_SEP "\\"
+#define MYNTEYE_OS_SEP "\\"
 #else
-#define OS_SEP "/"
+#define MYNTEYE_OS_SEP "/"
 #endif
 
 #define STRINGIFY_HELPER(X) #X
diff --git a/include/mynteye/glog_init.h b/include/mynteye/logger.h
similarity index 51%
rename from include/mynteye/glog_init.h
rename to include/mynteye/logger.h
index c095f20..83a7642 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. */
@@ -25,14 +27,30 @@ struct glog_init {
   glog_init(int argc, char *argv[]) {
     (void)argc;
 
-    // FLAGS_logtostderr = true;
-    FLAGS_alsologtostderr = true;
+    // Set whether log messages go to stderr instead of logfiles
+    FLAGS_logtostderr = true;
+
+    // Set whether log messages go to stderr in addition to logfiles.
+    // FLAGS_alsologtostderr = true;
+
+    // Set color messages logged to stderr (if supported by terminal).
     FLAGS_colorlogtostderr = true;
 
-    // FLAGS_log_dir = ".";
-    FLAGS_max_log_size = 1024;
+    // Log suppression level: messages logged at a lower level than this
+    // are suppressed.
+    FLAGS_minloglevel = google::GLOG_INFO;
+
+    // If specified, logfiles are written into this directory instead of the
+    // default logging directory.
+    FLAGS_log_dir = ".";
+
+    // Sets the maximum log file size (in MB).
+    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;
 
+    // Show all VLOG(m) messages for m <= this.
     // FLAGS_v = 2;
 
     google::InitGoogleLogging(argv[0]);
@@ -46,4 +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 MYNTEYE_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..02d377a
--- /dev/null
+++ b/include/mynteye/miniglog.h
@@ -0,0 +1,469 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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_
+
+#include <algorithm>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "mynteye/mynteye.h"
+
+#ifdef MYNTEYE_OS_ANDROID
+#  include <android/log.h>
+#endif  // ANDROID
+
+// Log severity level constants.
+#ifdef MYNTEYE_OS_WIN
+
+const int FATAL   = -1;
+#ifndef ERROR  // NOT windows.h
+const int ERROR   = 0;
+#endif
+const int WARNING = 1;
+const int INFO    = 2;
+
+#else
+
+const int FATAL   = -3;
+const int ERROR   = -2;
+const int WARNING = -1;
+const int INFO    =  0;
+
+#endif
+
+// ------------------------- Glog compatibility ------------------------------
+
+namespace google {
+
+typedef int LogSeverity;
+const int FATAL   = ::FATAL;
+#ifndef ERROR  // NOT windows.h
+const int ERROR   = ::ERROR;
+#endif
+const int WARNING = ::WARNING;
+const int INFO    = ::INFO;
+
+// 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 MYNTEYE_API LogSink {
+ public:
+  virtual ~LogSink() {}
+  virtual void send(LogSeverity severity,
+                    const char* full_filename,
+                    const char* base_filename,
+                    int line,
+                    const struct tm* tm_time,
+                    const char* message,
+                    size_t message_len) = 0;
+  virtual void WaitTillSent() = 0;
+};
+
+// 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.
+}
+
+// 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 MYNTEYE_API 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_ << SeverityLabel() << "/" << filename_only_ << ":" << line << " ";
+  }
+
+  // Output the contents of the stream to the proper channel on destruction.
+  ~MessageLogger() {
+    stream_ << "\n";
+
+#ifdef MYNTEYE_OS_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
+    // If not building on Android, log all output to std::cerr.
+    std::cerr << stream_.str();
+#endif  // ANDROID
+
+    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;
+    struct tm* timeinfo;
+
+    time (&rawtime);
+    timeinfo = localtime(&rawtime);
+    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(MYNTEYE_OS_SEP);
+    if (pos != std::string::npos) {
+      *filename = full_path.substr(pos + 1, std::string::npos);
+    } else {
+      *filename = full_path;
+    }
+  }
+
+  char SeverityLabel() {
+    switch (severity_) {
+      case INFO:
+        return 'I';
+      case WARNING:
+        return 'W';
+      case ERROR:
+        return 'E';
+      case FATAL:
+        return 'F';
+      default:
+        return 'V';
+    }
+  }
+
+  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 MYNTEYE_API 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) \
+  (static_cast<int>(severity) > google::log_severity_global || !(condition)) ? \
+  (void) 0 : LoggerVoidify() &                                          \
+  MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+
+// Log only if condition is NOT met.  Otherwise evaluates to void.
+#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
+
+// 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 MYNTEYE_MAX_LOG_LEVEL
+#  define LOG(n)  LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
+#  define VLOG(n) LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
+#  define LG      LOG_IF(INFO, (INFO <= MYNTEYE_MAX_LOG_LEVEL))
+#  define VLOG_IF(n, condition)                                         \
+    LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL) && condition)
+#else
+#  define LOG(n)  LOG_IF(n, true)
+#  define VLOG(n) LOG_IF(n, true)
+#  define LG      LOG_IF(INFO, true)
+#  define VLOG_IF(n, condition) LOG_IF(n, condition)
+#endif
+
+// Currently, VLOG is always on for levels below MYNTEYE_MAX_LOG_LEVEL.
+#ifndef MYNTEYE_MAX_LOG_LEVEL
+#  define VLOG_IS_ON(x) (1)
+#else
+#  define VLOG_IS_ON(x) (x <= MYNTEYE_MAX_LOG_LEVEL)
+#endif
+
+#ifdef MYNTEYE_OS_WIN  // INFO is 2, change VLOG(2) to VLOG(4)
+#undef VLOG
+#undef VLOG_IF
+#undef VLOG_IS_ON
+
+#ifdef MYNTEYE_MAX_LOG_LEVEL
+#  define VLOG(n) LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL))
+#  define VLOG_IF(n, condition)                                         \
+    LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL) && condition)
+#else
+#  define VLOG(n) LOG_IF(n+2, true)
+#  define VLOG_IF(n, condition) LOG_IF(n+2, condition)
+#endif
+
+#ifndef MYNTEYE_MAX_LOG_LEVEL
+#  define VLOG_IS_ON(x) (1+2)
+#else
+#  define VLOG_IS_ON(x) (x+2 <= MYNTEYE_MAX_LOG_LEVEL)
+#endif
+
+#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(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, >)
+
+#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, >)
+#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, >)
+#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
+
+#endif  // MYNTEYE_MINIGLOG_H_
diff --git a/mynteye-config.cmake.in b/mynteye-config.cmake.in
index aaeb16a..9fff75c 100644
--- a/mynteye-config.cmake.in
+++ b/mynteye-config.cmake.in
@@ -13,5 +13,7 @@
 # limitations under the License.
 
 @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 58a0157..31bcdaf 100644
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@@ -47,9 +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)
@@ -57,6 +54,10 @@ 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/samples/api/camera.cc b/samples/api/camera.cc
index a90c102..1e5cde2 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -13,8 +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 4698e2f..344a0a6 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"
 
 #define WIN_FLAGS \
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index c79028e..190d0b6 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 55cfd30..a6ab3b3 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..5dcf1f5 100644
--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.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/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..f706354 100644
--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@@ -13,9 +13,9 @@
 // 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/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 3f09524..d741853 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..49aeeaf 100644
--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.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/pc_viewer.h"
 
diff --git a/samples/tutorials/data/get_stereo.cc b/samples/tutorials/data/get_stereo.cc
index a82a9e9..b06ec42 100644
--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.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/data/get_stereo_rectified.cc b/samples/tutorials/data/get_stereo_rectified.cc
index 04c4eae..2012996 100644
--- a/samples/tutorials/data/get_stereo_rectified.cc
+++ b/samples/tutorials/data/get_stereo_rectified.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/data/get_with_plugin.cc b/samples/tutorials/data/get_with_plugin.cc
index a2201ba..65f7d19 100644
--- a/samples/tutorials/data/get_with_plugin.cc
+++ b/samples/tutorials/data/get_with_plugin.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/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 ec73a11..079c6fe 100644
--- a/samples/tutorials/intermediate/get_depth_and_points.cc
+++ b/samples/tutorials/intermediate/get_depth_and_points.cc
@@ -14,7 +14,6 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
 
 #include "mynteye/api.h"
 
diff --git a/samples/tutorials/util/cv_painter.cc b/samples/tutorials/util/cv_painter.cc
index 83fa767..ec59f73 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 04b6010..cf0287d 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..c75a70f 100755
--- a/scripts/init.sh
+++ b/scripts/init.sh
@@ -14,181 +14,30 @@
 # limitations under the License.
 
 # _VERBOSE_=1
+# _INIT_LINTER_=1
 # _FORCE_INSRALL_=1
+_INSTALL_OPTIONS_=$@
 
 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..0078271
--- /dev/null
+++ b/scripts/init_tools.sh
@@ -0,0 +1,219 @@
+#!/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
+# _INSTALL_OPTIONS_=-y
+
+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="$1"; shift; _deps_all=($@)
+  if [ -n "${_INSTALL_OPTIONS_}" ]; then
+    _cmd="$_cmd $_INSTALL_OPTIONS_"
+  fi
+  _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_cmd $SUDO || SUDO=
+  # detect apt-get
+  _detect apt-get
+  # apt-get install
+  if [ -n "${_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 $PYTHON not found"
+fi
+
+fi  # _INIT_LINTER_
diff --git a/scripts/version.sh b/scripts/version.sh
new file mode 100755
index 0000000..e3903e1
--- /dev/null
+++ b/scripts/version.sh
@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+ROOT_DIR=$(dirname "$BASE_DIR")
+CONFIG_FILE="$ROOT_DIR/CMakeLists.txt"
+
+version=$(cat "$CONFIG_FILE" | grep -m1 "mynteye VERSION")
+version=$(echo "${version%LANGUAGES*}")
+version=$(echo "${version#*VERSION}" | tr -d '[:space:]')
+
+echo "$version"
diff --git a/scripts/win/cmake/mynteye-targets-release.cmake b/scripts/win/cmake/mynteye-targets-release.cmake
new file mode 100644
index 0000000..a009b81
--- /dev/null
+++ b/scripts/win/cmake/mynteye-targets-release.cmake
@@ -0,0 +1,29 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "mynteye" for configuration "Release"
+set_property(TARGET mynteye APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(mynteye PROPERTIES
+  IMPORTED_IMPLIB_RELEASE "${MYNTEYES_SDK_ROOT}/lib/mynteye.lib"
+  IMPORTED_LOCATION_RELEASE "${MYNTEYES_SDK_ROOT}/bin/mynteye.dll"
+  )
+
+# Import target "mynteye" for configuration "Debug"
+set_property(TARGET mynteye APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG)
+set_target_properties(mynteye PROPERTIES
+  IMPORTED_IMPLIB_DEBUG "${MYNTEYES_SDK_ROOT}/lib/mynteyed.lib"
+  IMPORTED_LOCATION_DEBUG "${MYNTEYES_SDK_ROOT}/bin/mynteyed.dll"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS mynteye )
+list(APPEND _IMPORT_CHECK_FILES_FOR_mynteye
+  "${MYNTEYES_SDK_ROOT}/lib/mynteye.lib" "${MYNTEYES_SDK_ROOT}/bin/mynteye.dll"
+  "${MYNTEYES_SDK_ROOT}/lib/mynteyed.lib" "${MYNTEYES_SDK_ROOT}/bin/mynteyed.dll"
+  )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/scripts/win/cmake/mynteye-targets.cmake b/scripts/win/cmake/mynteye-targets.cmake
new file mode 100644
index 0000000..dd35c23
--- /dev/null
+++ b/scripts/win/cmake/mynteye-targets.cmake
@@ -0,0 +1,102 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget mynteye)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+if(NOT MYNTEYES_SDK_ROOT)
+  if(DEFINED ENV{MYNTEYES_SDK_ROOT})
+    set(MYNTEYES_SDK_ROOT $ENV{MYNTEYES_SDK_ROOT})
+  else()
+    get_filename_component(MYNTEYES_SDK_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+  endif()
+endif()
+
+# The installation prefix configured by this project.
+set(_IMPORT_PREFIX "${MYNTEYES_SDK_ROOT}")
+
+# Create imported target mynteye
+add_library(mynteye SHARED IMPORTED)
+
+set_target_properties(mynteye PROPERTIES
+  INTERFACE_COMPILE_DEFINITIONS "GLOG_NO_ABBREVIATED_SEVERITIES"
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab;opencv_world"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/mynteye-targets-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/scripts/win/generate.bat b/scripts/win/generate.bat
new file mode 100644
index 0000000..71d5e8d
--- /dev/null
+++ b/scripts/win/generate.bat
@@ -0,0 +1,20 @@
+@echo off
+setlocal
+set _MY_DIR=%~dp0
+
+set _VS_GEN="Visual Studio 15 2017 Win64"
+REM set _VS_GEN="Visual Studio 14 2015 Win64"
+
+cd %_MY_DIR%
+
+mkdir _build
+cd _build/
+
+cmake -DCMAKE_BUILD_TYPE=Release ^
+-DCMAKE_PREFIX_PATH="%_MY_DIR%/../lib/cmake" ^
+-DOpenCV_DIR="%_MY_DIR%/../3rdparty/opencv/build" ^
+-G %_VS_GEN% ^
+..
+
+cd %_MY_DIR%
+pause
diff --git a/scripts/win/nsis/Include/EnvVarUpdate.nsh b/scripts/win/nsis/Include/EnvVarUpdate.nsh
new file mode 100644
index 0000000..8aeba45
--- /dev/null
+++ b/scripts/win/nsis/Include/EnvVarUpdate.nsh
@@ -0,0 +1,350 @@
+/**
+ *  EnvVarUpdate.nsh
+ *    : Environmental Variables: append, prepend, and remove entries
+ *
+ *     WARNING: If you use StrFunc.nsh header then include it before this file
+ *              with all required definitions. This is to avoid conflicts
+ *
+ *  Usage:
+ *    ${EnvVarUpdate} "ResultVar" "EnvVarName" "Action" "RegLoc" "PathString"
+ *
+ *  Credits:
+ *  Version 1.0
+ *  * Cal Turney (turnec2)
+ *  * Amir Szekely (KiCHiK) and e-circ for developing the forerunners of this
+ *    function: AddToPath, un.RemoveFromPath, AddToEnvVar, un.RemoveFromEnvVar,
+ *    WriteEnvStr, and un.DeleteEnvStr
+ *  * Diego Pedroso (deguix) for StrTok
+ *  * Kevin English (kenglish_hi) for StrContains
+ *  * Hendri Adriaens (Smile2Me), Diego Pedroso (deguix), and Dan Fuhry
+ *    (dandaman32) for StrReplace
+ *
+ *  Version 1.1 (compatibility with StrFunc.nsh)
+ *  * techtonik
+ *
+ *  http://nsis.sourceforge.net/Environmental_Variables:_append%2C_prepend%2C_and_remove_entries
+ *
+ */
+
+
+!ifndef ENVVARUPDATE_FUNCTION
+!define ENVVARUPDATE_FUNCTION
+!verbose push
+!verbose 3
+!include "LogicLib.nsh"
+!include "WinMessages.NSH"
+!include "StrFunc.nsh"
+
+; ---- Fix for conflict if StrFunc.nsh is already includes in main file -----------------------
+!macro _IncludeStrFunction StrFuncName
+  !ifndef ${StrFuncName}_INCLUDED
+    ${${StrFuncName}}
+  !endif
+  !ifndef Un${StrFuncName}_INCLUDED
+    ${Un${StrFuncName}}
+  !endif
+  !define un.${StrFuncName} "${Un${StrFuncName}}"
+!macroend
+
+!insertmacro _IncludeStrFunction StrTok
+!insertmacro _IncludeStrFunction StrStr
+!insertmacro _IncludeStrFunction StrRep
+
+; ---------------------------------- Macro Definitions ----------------------------------------
+!macro _EnvVarUpdateConstructor ResultVar EnvVarName Action Regloc PathString
+  Push "${EnvVarName}"
+  Push "${Action}"
+  Push "${RegLoc}"
+  Push "${PathString}"
+    Call EnvVarUpdate
+  Pop "${ResultVar}"
+!macroend
+!define EnvVarUpdate '!insertmacro "_EnvVarUpdateConstructor"'
+
+!macro _unEnvVarUpdateConstructor ResultVar EnvVarName Action Regloc PathString
+  Push "${EnvVarName}"
+  Push "${Action}"
+  Push "${RegLoc}"
+  Push "${PathString}"
+    Call un.EnvVarUpdate
+  Pop "${ResultVar}"
+!macroend
+!define un.EnvVarUpdate '!insertmacro "_unEnvVarUpdateConstructor"'
+; ---------------------------------- Macro Definitions end-------------------------------------
+
+;----------------------------------- EnvVarUpdate start----------------------------------------
+!define hklm_all_users     'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
+!define hkcu_current_user  'HKCU "Environment"'
+
+!macro EnvVarUpdate UN
+
+Function ${UN}EnvVarUpdate
+
+  Push $0
+  Exch 4
+  Exch $1
+  Exch 3
+  Exch $2
+  Exch 2
+  Exch $3
+  Exch
+  Exch $4
+  Push $5
+  Push $6
+  Push $7
+  Push $8
+  Push $9
+  Push $R0
+
+  /* After this point:
+  -------------------------
+     $0 = ResultVar     (returned)
+     $1 = EnvVarName    (input)
+     $2 = Action        (input)
+     $3 = RegLoc        (input)
+     $4 = PathString    (input)
+     $5 = Orig EnvVar   (read from registry)
+     $6 = Len of $0     (temp)
+     $7 = tempstr1      (temp)
+     $8 = Entry counter (temp)
+     $9 = tempstr2      (temp)
+     $R0 = tempChar     (temp)  */
+
+  ; Step 1:  Read contents of EnvVarName from RegLoc
+  ;
+  ; Check for empty EnvVarName
+  ${If} $1 == ""
+    SetErrors
+    DetailPrint "ERROR: EnvVarName is blank"
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ; Check for valid Action
+  ${If}    $2 != "A"
+  ${AndIf} $2 != "P"
+  ${AndIf} $2 != "R"
+    SetErrors
+    DetailPrint "ERROR: Invalid Action - must be A, P, or R"
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ${If} $3 == HKLM
+    ReadRegStr $5 ${hklm_all_users} $1     ; Get EnvVarName from all users into $5
+  ${ElseIf} $3 == HKCU
+    ReadRegStr $5 ${hkcu_current_user} $1  ; Read EnvVarName from current user into $5
+  ${Else}
+    SetErrors
+    DetailPrint 'ERROR: Action is [$3] but must be "HKLM" or HKCU"'
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ; Check for empty PathString
+  ${If} $4 == ""
+    SetErrors
+    DetailPrint "ERROR: PathString is blank"
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ;;khc - here check if length is going to be greater then max string length
+  ;;      and abort if so - also abort if original path empty - may mean
+  ;;      it was too long as well- write message to say set it by hand
+  Push $6
+  Push $7
+  Push $8
+  StrLen $7 $4
+  StrLen $6 $5
+  IntOp $8 $6 + $7
+  ${If} $5 == ""
+  ${OrIf} $8 >= ${NSIS_MAX_STRLEN}
+    SetErrors
+    DetailPrint "Current $1 length ($6) too long to modify in NSIS; set manually if needed"
+    Pop $8
+    Pop $7
+    Pop $6
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+  Pop $8
+  Pop $7
+  Pop $6
+  ;;khc
+
+  ; Make sure we've got some work to do
+  ${If} $5 == ""
+  ${AndIf} $2 == "R"
+    SetErrors
+    DetailPrint "$1 is empty - Nothing to remove"
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ; Step 2: Scrub EnvVar
+  ;
+  StrCpy $0 $5                             ; Copy the contents to $0
+  ; Remove spaces around semicolons (NOTE: spaces before the 1st entry or
+  ; after the last one are not removed here but instead in Step 3)
+  ${If} $0 != ""                           ; If EnvVar is not empty ...
+    ${Do}
+      ${${UN}StrStr} $7 $0 " ;"
+      ${If} $7 == ""
+        ${ExitDo}
+      ${EndIf}
+      ${${UN}StrRep} $0  $0 " ;" ";"         ; Remove '<space>;'
+    ${Loop}
+    ${Do}
+      ${${UN}StrStr} $7 $0 "; "
+      ${If} $7 == ""
+        ${ExitDo}
+      ${EndIf}
+      ${${UN}StrRep} $0  $0 "; " ";"         ; Remove ';<space>'
+    ${Loop}
+    ${Do}
+      ${${UN}StrStr} $7 $0 ";;"
+      ${If} $7 == ""
+        ${ExitDo}
+      ${EndIf}
+      ${${UN}StrRep} $0  $0 ";;" ";"
+    ${Loop}
+
+    ; Remove a leading or trailing semicolon from EnvVar
+    StrCpy  $7  $0 1 0
+    ${If} $7 == ";"
+      StrCpy $0  $0 "" 1                   ; Change ';<EnvVar>' to '<EnvVar>'
+    ${EndIf}
+    StrLen $6 $0
+    IntOp $6 $6 - 1
+    StrCpy $7  $0 1 $6
+    ${If} $7 == ";"
+     StrCpy $0  $0 $6                      ; Change ';<EnvVar>' to '<EnvVar>'
+    ${EndIf}
+    ; DetailPrint "Scrubbed $1: [$0]"      ; Uncomment to debug
+  ${EndIf}
+
+  /* Step 3. Remove all instances of the target path/string (even if "A" or "P")
+     $6 = bool flag (1 = found and removed PathString)
+     $7 = a string (e.g. path) delimited by semicolon(s)
+     $8 = entry counter starting at 0
+     $9 = copy of $0
+     $R0 = tempChar      */
+
+  ${If} $5 != ""                           ; If EnvVar is not empty ...
+    StrCpy $9 $0
+    StrCpy $0 ""
+    StrCpy $8 0
+    StrCpy $6 0
+
+    ${Do}
+      ${${UN}StrTok} $7 $9 ";" $8 "0"      ; $7 = next entry, $8 = entry counter
+
+      ${If} $7 == ""                       ; If we've run out of entries,
+        ${ExitDo}                          ;    were done
+      ${EndIf}                             ;
+
+      ; Remove leading and trailing spaces from this entry (critical step for Action=Remove)
+      ${Do}
+        StrCpy $R0  $7 1
+        ${If} $R0 != " "
+          ${ExitDo}
+        ${EndIf}
+        StrCpy $7   $7 "" 1                ;  Remove leading space
+      ${Loop}
+      ${Do}
+        StrCpy $R0  $7 1 -1
+        ${If} $R0 != " "
+          ${ExitDo}
+        ${EndIf}
+        StrCpy $7   $7 -1                  ;  Remove trailing space
+      ${Loop}
+      ${If} $7 == $4                       ; If string matches, remove it by not appending it
+        StrCpy $6 1                        ; Set 'found' flag
+      ${ElseIf} $7 != $4                   ; If string does NOT match
+      ${AndIf}  $0 == ""                   ;    and the 1st string being added to $0,
+        StrCpy $0 $7                       ;    copy it to $0 without a prepended semicolon
+      ${ElseIf} $7 != $4                   ; If string does NOT match
+      ${AndIf}  $0 != ""                   ;    and this is NOT the 1st string to be added to $0,
+        StrCpy $0 $0;$7                    ;    append path to $0 with a prepended semicolon
+      ${EndIf}                             ;
+
+      IntOp $8 $8 + 1                      ; Bump counter
+    ${Loop}                                ; Check for duplicates until we run out of paths
+  ${EndIf}
+
+  ; Step 4:  Perform the requested Action
+  ;
+  ${If} $2 != "R"                          ; If Append or Prepend
+    ${If} $6 == 1                          ; And if we found the target
+      DetailPrint "Target is already present in $1. It will be removed and"
+    ${EndIf}
+    ${If} $0 == ""                         ; If EnvVar is (now) empty
+      StrCpy $0 $4                         ;   just copy PathString to EnvVar
+      ${If} $6 == 0                        ; If found flag is either 0
+      ${OrIf} $6 == ""                     ; or blank (if EnvVarName is empty)
+        DetailPrint "$1 was empty and has been updated with the target"
+      ${EndIf}
+    ${ElseIf} $2 == "A"                    ;  If Append (and EnvVar is not empty),
+      StrCpy $0 $0;$4                      ;     append PathString
+      ${If} $6 == 1
+        DetailPrint "appended to $1"
+      ${Else}
+        DetailPrint "Target was appended to $1"
+      ${EndIf}
+    ${Else}                                ;  If Prepend (and EnvVar is not empty),
+      StrCpy $0 $4;$0                      ;     prepend PathString
+      ${If} $6 == 1
+        DetailPrint "prepended to $1"
+      ${Else}
+        DetailPrint "Target was prepended to $1"
+      ${EndIf}
+    ${EndIf}
+  ${Else}                                  ; If Action = Remove
+    ${If} $6 == 1                          ;   and we found the target
+      DetailPrint "Target was found and removed from $1"
+    ${Else}
+      DetailPrint "Target was NOT found in $1 (nothing to remove)"
+    ${EndIf}
+    ${If} $0 == ""
+      DetailPrint "$1 is now empty"
+    ${EndIf}
+  ${EndIf}
+
+  ; Step 5:  Update the registry at RegLoc with the updated EnvVar and announce the change
+  ;
+  ClearErrors
+  ${If} $3  == HKLM
+    WriteRegExpandStr ${hklm_all_users} $1 $0     ; Write it in all users section
+  ${ElseIf} $3 == HKCU
+    WriteRegExpandStr ${hkcu_current_user} $1 $0  ; Write it to current user section
+  ${EndIf}
+
+  IfErrors 0 +4
+    MessageBox MB_OK|MB_ICONEXCLAMATION "Could not write updated $1 to $3"
+    DetailPrint "Could not write updated $1 to $3"
+    Goto EnvVarUpdate_Restore_Vars
+
+  ; "Export" our change
+  SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
+
+  EnvVarUpdate_Restore_Vars:
+  ;
+  ; Restore the user's variables and return ResultVar
+  Pop $R0
+  Pop $9
+  Pop $8
+  Pop $7
+  Pop $6
+  Pop $5
+  Pop $4
+  Pop $3
+  Pop $2
+  Pop $1
+  Push $0  ; Push my $0 (ResultVar)
+  Exch
+  Pop $0   ; Restore his $0
+
+FunctionEnd
+
+!macroend   ; EnvVarUpdate UN
+!insertmacro EnvVarUpdate ""
+!insertmacro EnvVarUpdate "un."
+;----------------------------------- EnvVarUpdate end----------------------------------------
+
+!verbose pop
+!endif
diff --git a/scripts/win/nsis/mynt.ico b/scripts/win/nsis/mynt.ico
new file mode 100644
index 0000000000000000000000000000000000000000..f4d3c3953060ac2104c9157cf57434cb1f29a93a
GIT binary patch
literal 4286
zcmeI0J!n%=6vt197;&&gq?4FZM2d)mh!pV)2gg!HoQi`uh&U7{5iwar#KA#|h)4$!
z73m-j4n>F*hf<1^5=xOmL`0;Biii<wufKnJS1xJt^7`T+m{)$iC+FPrKkt6Mm)0!9
zPj|QJw>|7M>oT)mz-5O({^g5U`)bd?zdi#;_xJ6ENqE`ny`oWuG1%5ji#{7+7+l0c
zvz%sebUsE}KWHz(+Il(o&%+1swbjnm>$@5s8n0_K=lMM7HL&-<R85~>(dWNe-)s8u
zJ)=esEJU>w4^h8af1hbvH2nB$wWa?EzJqM7&(8q)%4zHRJT&G&TA{XT$u|mqf9O6!
z6rb@rX<Ib3|D_db`!PSj@Aup{>=5Nlr>*Pr(3k;fh1#;^yASUo`wMM|;;+0;+7^xJ
z82x+1-hlRo)*(doCmYozb^@e54hLfTO%az?s4ZK*5ts+9ht?rP@rhbpe7oQ&C?2A*
z^wjA;5%mkTWh?hC%)(cA8=yH+{LlJhcf!rcAJz?R?duESJ@8rkU-K)?u!iz(gXU1r
z0L_EWs#@tNr(asMr{O(>wc>2;x#LmpxhPL#l)kT_^EeE8&*;9CqZ;aW2fAP<C>~cU
zF7_nS>7|veb@sJX=LWope4l8?U>|IP%MhoXG^U!G18Mey_Jj7H>Rp2}XpIJ7J)8u;
zKa<u-(ogGp7}mfU&@({me-Sj-J764=XtmPkF*UZrb{GV`gGQhg%`~}JsHrv4GdNAY
za<r$Ow~(*7?}l5e)X;u8=Fd6yS@6%4BxBL}z6$zNW%<I^zHhevIy1WG72l!o>ATx?
zXjXreJ`KMM5<3O{`4?*GUA4vEZ=;qzyFuqT%$2R@+(4te&`-a0ps{GYI<H5<coLf&
zy`QvBI?F>za@u|VzZr0Ku0`h#es(TjaV}SME@RHw3YH3H)x24y!!o68F>6-ZU^die
ewz*=KE9&14P|TJxm5xfTny=;;3rmICa=!ueT5qfX

literal 0
HcmV?d00001

diff --git a/scripts/win/nsis/winpack.nsi.in b/scripts/win/nsis/winpack.nsi.in
new file mode 100644
index 0000000..b70cd3d
--- /dev/null
+++ b/scripts/win/nsis/winpack.nsi.in
@@ -0,0 +1,198 @@
+; winpack.nsi
+
+!addincludedir scripts\win\nsis\Include
+!include EnvVarUpdate.nsh
+
+!addplugindir scripts\win\nsis\Plugins
+
+!include WinMessages.nsh
+
+!define VERSION "@mynteye_VERSION@"
+!define OpenCV_VERSION "@OpenCV_VERSION@"
+
+!define DSETDIR "$APPDATA"
+;!define DSETDIR "$PROGRAMFILES64"
+
+; HKLM (all users) vs HKCU (current user) defines
+!define ENV_HKLM 'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
+!define ENV_HKCU 'HKCU "Environment"'
+
+;--------------------------------
+
+; The name of the installer
+Name "MYNTEYE S SDK ${VERSION}"
+
+; The icon of the installer
+Icon "scripts\win\nsis\mynt.ico"
+
+; The file to write
+OutFile "mynteye-s-${VERSION}-win-x64-opencv-${OpenCV_VERSION}.exe"
+
+; The default installation directory
+InstallDir ${DSETDIR}\Slightech\MYNTEYES\SDK\${VERSION}
+
+; Registry key to check for directory (so if you install again, it will
+; overwrite the old one automatically)
+InstallDirRegKey HKLM "Software\MYNTEYESSDK" "Install_Dir"
+
+; Request application privileges for Windows Vista
+;RequestExecutionLevel user
+RequestExecutionLevel admin
+
+;--------------------------------
+
+; Pages
+
+Page components
+Page directory
+Page instfiles
+
+UninstPage uninstConfirm
+UninstPage instfiles
+
+;--------------------------------
+
+; The stuff to install
+Section "SDK (required)"
+
+  SectionIn RO
+
+  ; Set output path to the installation directory.
+  SetOutPath $INSTDIR
+
+  ; Put file there
+  File /r "mynteye-s-${VERSION}-win-x64-opencv-${OpenCV_VERSION}\*"
+
+  ; Write the installation path into the registry
+  WriteRegStr HKLM "SOFTWARE\MYNTEYESSDK" "Install_Dir" "$INSTDIR"
+
+  ; Write the uninstall keys for Windows
+  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "DisplayName" "MYNTEYE S SDK"
+  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "UninstallString" '"$INSTDIR\uninstall.exe"'
+  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "NoModify" 1
+  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "NoRepair" 1
+  WriteUninstaller "uninstall.exe"
+
+  ; Set variables for local machine
+  WriteRegExpandStr ${ENV_HKLM} MYNTEYES_SDK_ROOT "$INSTDIR"
+
+  ;${EnvVarUpdate} $0 "PATH" "P" "HKLM" "%MYNTEYES_SDK_PATH%"
+  ${EnvVarUpdate} $0 "PATH" "P" "HKLM" "$INSTDIR\bin;$INSTDIR\3rdparty\opencv\build\x64\vc15\bin"
+
+  ; Push "%MYNTEYES_SDK_PATH%"
+  ; Call AddToPath
+
+  ; Make sure windows knows about the change
+  SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
+
+SectionEnd
+
+; Optional section (can be disabled by the user)
+Section "Desktop Shortcuts"
+
+  CreateShortcut "$DESKTOP\MYNTEYE S SDK ${VERSION}.lnk" "$INSTDIR" "" "$INSTDIR" 0
+
+SectionEnd
+
+Function .onInstSuccess
+
+  WriteRegStr "HKLM" "SOFTWARE\Microsoft\Windows\CurrentVersion\RunOnce" \
+    "View MYNTEYES README.txt" \
+    "cmd.exe /c start /max notepad.exe $INSTDIR\README.txt"
+
+  MessageBox MB_OKCANCEL "Reboot your system now?" /SD IDOK IDCANCEL NoReboot
+    Reboot
+  NoReboot:
+
+FunctionEnd
+
+Function .onInstFailed
+  MessageBox MB_OK "Install failed."
+FunctionEnd
+
+;--------------------------------
+
+; Uninstaller
+
+Section "Uninstall"
+
+  ; Remove registry keys
+  DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK"
+  DeleteRegKey HKLM "SOFTWARE\MYNTEYESSDK"
+
+  ; Remove install stuff
+  RMDir /r "$INSTDIR"
+
+  ; Remove shortcuts, if any
+  Delete "$DESKTOP\MYNTEYE S SDK ${VERSION}.lnk"
+
+  ; Remove directories used
+  StrCpy $0 "${DSETDIR}\Slightech\MYNTEYES"
+  Call un.DeleteDirIfEmpty
+  StrCpy $0 "${DSETDIR}\Slightech"
+  Call un.DeleteDirIfEmpty
+
+  RMDir /r "$APPDATA\Slightech\MYNTEYES"
+  StrCpy $0 "$APPDATA\Slightech"
+  Call un.DeleteDirIfEmpty
+
+  ; Delete variables
+  DeleteRegValue ${ENV_HKLM} MYNTEYES_SDK_ROOT
+
+  ;${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "%MYNTEYES_SDK_PATH%"
+  ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin"
+  ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\3rdparty\opencv\build\x64\vc15\bin"
+
+  ; Push "%MYNTEYES_SDK_PATH%"
+  ; Call un.RemoveFromPath
+
+  ; Make sure windows knows about the change
+  SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
+
+SectionEnd
+
+Function un.onUninstSuccess
+  MessageBox MB_OK "Uninstall success."
+FunctionEnd
+
+Function un.onUninstFailed
+  MessageBox MB_OK "Uninstall failed."
+FunctionEnd
+
+;--------------------------------
+
+; DeleteDirIfEmpty - Delete dir only if empty
+
+Function un.DeleteDirIfEmpty
+  FindFirst $R0 $R1 "$0\*.*"
+  strcmp $R1 "." 0 NoDelete
+   FindNext $R0 $R1
+   strcmp $R1 ".." 0 NoDelete
+    ClearErrors
+    FindNext $R0 $R1
+    IfErrors 0 NoDelete
+     FindClose $R0
+     Sleep 1000
+     RMDir "$0"
+  NoDelete:
+   FindClose $R0
+FunctionEnd
+
+;--------------------------------
+
+; Path Manipulation
+;   http://nsis.sourceforge.net/Path_Manipulation
+; Environmental Variables: append, prepend, and remove entries
+;   http://nsis.sourceforge.net/Environmental_Variables:_append%2C_prepend%2C_and_remove_entries
+; Setting Environment Variables
+;   http://nsis.sourceforge.net/Setting_Environment_Variables
+; Setting Environment Variables to Active Installer Process
+;   http://nsis.sourceforge.net/Setting_Environment_Variables_to_Active_Installer_Process
+
+; Delete files and subdirectories
+;   http://nsis.sourceforge.net/Delete_files_and_subdirectories
+; Delete dir only if empty
+;   http://nsis.sourceforge.net/Delete_dir_only_if_empty
+
+;https://gist.github.com/azalea/deb3c1ed2a984eadf96be77b81dd49b1
+;!include ProcessEnvPrependPath.nsh
diff --git a/scripts/win/winpack.sh b/scripts/win/winpack.sh
new file mode 100644
index 0000000..e081ac9
--- /dev/null
+++ b/scripts/win/winpack.sh
@@ -0,0 +1,179 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+ROOT_DIR=$(realpath "$BASE_DIR/../..")
+SCRIPTS_DIR=$(realpath "$BASE_DIR/..")
+
+source "$SCRIPTS_DIR/common/echo.sh"
+source "$SCRIPTS_DIR/common/detect.sh"
+
+if [ ! -d "$ROOT_DIR/3rdparty/opencv" ]; then
+  _echo_e "3rdparty/opencv not found, please manually download it to here."
+  _echo_e
+  _echo_e "  OpenCV Win pack 3.4.3: https://opencv.org/releases.html"
+  exit 1
+fi
+
+if ! _detect_cmd makensis; then
+  _echo_e "makensis not found, please manually download and install it."
+  _echo_e
+  _echo_e "  NSIS: http://nsis.sourceforge.net"
+  exit 1
+fi
+
+export OpenCV_DIR="$ROOT_DIR/3rdparty/opencv/build"
+
+_rm() {
+  [ -e "$1" ] && (rm -r "$1" && _echo_i "RM: $1")
+}
+
+_md() {
+  [ ! -d "$1" ] && (mkdir -p "$1" && _echo_i "MD: $1")
+}
+
+# _mv_subs <srcdir> <dstdir> [sub1 sub2 ...]
+_mv_subs() {
+  _src_dir="$1"; shift; _dst_dir="$1"; shift; _subs="$@";
+  if [ -z "$_subs" ]; then
+    _subs=`ls $_src_dir`
+  fi
+  for _sub in $_subs; do
+    _src="$_src_dir/$_sub"
+    [ ! -e "$_src" ] && (_echo_i "Not exist: $_src") && continue
+    _dst=
+    [ -f "$_src" ] && _dst="$_dst_dir"
+    [ -d "$_src" ] && _dst="$_dst_dir/$_sub"
+    [ -z "$_dst" ] && continue
+    # _echo "_src: $_src"
+    # _echo "_dst: $_dst"
+    mv "$_src" "$_dst"
+  done
+}
+
+################################################################################
+# build release
+
+make samples tools
+
+################################################################################
+# build debug
+
+rm -r "$ROOT_DIR/_build"
+rm -r "$ROOT_DIR/_output"
+make build BUILD_TYPE=Debug
+
+mv "$ROOT_DIR/_output/bin/mynteyed.dll" "$ROOT_DIR/_install/bin/mynteyed.dll"
+mv "$ROOT_DIR/_output/lib/mynteyed.lib" "$ROOT_DIR/_install/lib/mynteyed.lib"
+
+################################################################################
+# move to _install
+
+# 3rdparty/opencv
+_md "$ROOT_DIR/_install/3rdparty"
+mv "$ROOT_DIR/3rdparty/opencv" "$ROOT_DIR/_install/3rdparty/opencv"
+
+# cmake
+mv "$ROOT_DIR/cmake" "$ROOT_DIR/_install/cmake"
+
+# samples
+mv "$ROOT_DIR/samples/_output/bin" "$ROOT_DIR/_install/bin/samples"
+mv "$ROOT_DIR/samples/_output/lib" "$ROOT_DIR/_install/lib/samples"
+_rm "$ROOT_DIR/samples/_build"
+_rm "$ROOT_DIR/samples/_output"
+mv "$ROOT_DIR/samples" "$ROOT_DIR/_install/samples"
+
+# tools
+mv "$ROOT_DIR/tools/_output/bin" "$ROOT_DIR/_install/bin/tools"
+mv "$ROOT_DIR/tools/_output/lib" "$ROOT_DIR/_install/lib/tools"
+_rm "$ROOT_DIR/tools/_build"
+_rm "$ROOT_DIR/tools/_output"
+mv "$ROOT_DIR/tools/linter" "$ROOT_DIR/3rdparty/linter"
+mv "$ROOT_DIR/tools" "$ROOT_DIR/_install/tools"
+
+# platforms/win
+mv "$ROOT_DIR/platforms/win/README.txt" "$ROOT_DIR/_install"
+
+_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/.vs"
+_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/x64"
+_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/x64"
+_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj.user"
+mv "$ROOT_DIR/platforms/projects" "$ROOT_DIR/_install/projects"
+
+################################################################################
+# copy to _install
+
+cp -f "$ROOT_DIR/scripts/win/cmake/mynteye-targets.cmake" "$ROOT_DIR/_install/lib/cmake/mynteye/"
+cp -f "$ROOT_DIR/scripts/win/cmake/mynteye-targets-release.cmake" "$ROOT_DIR/_install/lib/cmake/mynteye/"
+
+cp -f "$ROOT_DIR/scripts/win/generate.bat" "$ROOT_DIR/_install/samples/"
+cp -f "$ROOT_DIR/scripts/win/generate.bat" "$ROOT_DIR/_install/tools/"
+
+################################################################################
+# archive exe
+
+source "$ROOT_DIR/pkginfo.sh"
+_pkgname="$1-opencv-$OpenCV_VERSION"
+
+_rm "$ROOT_DIR/$_pkgname.exe"
+mv "$ROOT_DIR/_install" "$ROOT_DIR/$_pkgname"
+
+makensis "$ROOT_DIR/winpack.nsi"
+
+if _detect_cmd git; then
+  _git_branch=`git symbolic-ref --short -q HEAD`
+  if [ "$_git_branch" == "develop" ]; then
+    _git_hash=`git rev-parse --short HEAD`
+    mv "$ROOT_DIR/$_pkgname.exe" "$ROOT_DIR/$_pkgname-dev-$_git_hash.exe"
+  fi
+fi
+
+mv "$ROOT_DIR/$_pkgname" "$ROOT_DIR/_install"
+
+################################################################################
+# remove from _install
+
+_rm "$ROOT_DIR/_install/samples/generate.bat"
+_rm "$ROOT_DIR/_install/tools/generate.bat"
+
+################################################################################
+# move back from _install
+
+# 3rdparty/opencv
+mv "$ROOT_DIR/_install/3rdparty/opencv" "$ROOT_DIR/3rdparty/opencv"
+
+# cmake
+mv "$ROOT_DIR/_install/cmake" "$ROOT_DIR/cmake"
+
+# samples
+mv "$ROOT_DIR/_install/samples" "$ROOT_DIR/samples"
+
+# tools
+mv "$ROOT_DIR/_install/tools" "$ROOT_DIR/tools"
+mv "$ROOT_DIR/3rdparty/linter" "$ROOT_DIR/tools/linter"
+
+# platforms/win
+mv "$ROOT_DIR/_install/README.txt" "$ROOT_DIR/platforms/win"
+
+mv "$ROOT_DIR/_install/projects" "$ROOT_DIR/platforms/projects"
+
+################################################################################
+# clean build
+
+_rm "$ROOT_DIR/_build"
+_rm "$ROOT_DIR/_output"
+
+
+_echo_d "Win pack success"
diff --git a/src/api/api.cc b/src/api/api.cc
index a7b8a8d..3f3c640 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"
@@ -92,7 +90,7 @@ bool dir_exists(const std::string &p) {
 
 std::vector<std::string> get_plugin_paths() {
   std::string info_path(MYNTEYE_SDK_INSTALL_DIR);
-  info_path.append(OS_SEP "share" OS_SEP "mynteye" OS_SEP "build.info");
+  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
@@ -189,13 +187,13 @@ std::vector<std::string> get_plugin_paths() {
   std::vector<std::string> dirs{MYNTEYE_SDK_ROOT_DIR, MYNTEYE_SDK_INSTALL_DIR};
   for (auto &&plat : plats) {
     for (auto &&dir : dirs) {
-      auto &&plat_dir = dir + OS_SEP "plugins" + OS_SEP + plat;
+      auto &&plat_dir = dir + MYNTEYE_OS_SEP "plugins" + MYNTEYE_OS_SEP + plat;
       // VLOG(2) << "plat_dir: " << plat_dir;
       if (!dir_exists(plat_dir))
         continue;
       for (auto &&name : names) {
         // VLOG(2) << "  name: " << name;
-        auto &&path = plat_dir + OS_SEP + name;
+        auto &&path = plat_dir + MYNTEYE_OS_SEP + name;
         if (!file_exists(path))
           continue;
         paths.push_back(path);
diff --git a/src/api/processor/depth_processor.cc b/src/api/processor/depth_processor.cc
index 8d5c9d4..1fa4dfd 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 fa13844..22227ad 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
 
 DisparityNormalizedProcessor::DisparityNormalizedProcessor(
diff --git a/src/api/processor/disparity_processor.cc b/src/api/processor/disparity_processor.cc
index ff3e71c..b6b177c 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
 
 DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
diff --git a/src/api/processor/points_processor.cc b/src/api/processor/points_processor.cc
index 0bb82ec..6fa6345 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
 
 PointsProcessor::PointsProcessor(cv::Mat Q, std::int32_t proc_period)
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 6197f0b..938e82c 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 ac6075e..873a9ef 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -13,13 +13,14 @@
 // limitations under the License.
 #include "api/synthetic.h"
 
-#include <glog/logging.h>
 #include <opencv2/imgproc/imgproc.hpp>
 
 #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 c25b794..503f48c 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -13,13 +13,14 @@
 // 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 23f8ead..865488b 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 05dfc80..9f82b9e 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>
@@ -25,6 +23,8 @@
 #include "internal/strings.h"
 #include "internal/times.h"
 
+#include "mynteye/logger.h"
+
 #define IMU_TRACK_PERIOD 25  // ms
 
 MYNTEYE_BEGIN_NAMESPACE
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..9a47eaf 100644
--- a/src/internal/files.cc
+++ b/src/internal/files.cc
@@ -12,8 +12,7 @@
 // See the License for the specific language governing permissions and
 // 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>
@@ -51,7 +50,7 @@ bool _mkdir(const std::string &path) {
 }
 
 bool mkdir(const std::string &path) {
-  auto &&dirs = strings::split(path, OS_SEP);
+  auto &&dirs = strings::split(path, MYNTEYE_OS_SEP);
   auto &&size = dirs.size();
   if (size <= 0)
     return false;
@@ -59,7 +58,7 @@ bool mkdir(const std::string &path) {
   if (!_mkdir(p))
     return false;
   for (std::size_t i = 1; i < size; i++) {
-    p.append(OS_SEP).append(dirs[i]);
+    p.append(MYNTEYE_OS_SEP).append(dirs[i]);
     if (!_mkdir(p))
       return false;
   }
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 349a5ea..1e2b61c 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 de34e15..24b7331 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -13,14 +13,13 @@
 // limitations under the License.
 #include "internal/streams.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <chrono>
 #include <iomanip>
 #include <stdexcept>
 
 #include "internal/types.h"
+#include "mynteye/logger.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/main.cc b/src/main.cc
index 360e2a0..9137481 100644
--- a/src/main.cc
+++ b/src/main.cc
@@ -16,13 +16,13 @@
 #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
 #define GLOG_NO_ABBREVIATED_SEVERITIES
 #endif
-#include <glog/logging.h>
 
 #ifdef HAVE_LIB_GFLAGS
 #include <gflags/gflags.h>
 #endif
 
 #include "mynteye/mynteye.h"
+#include "mynteye/logger.h"
 
 int main(int /*argc*/, char *argv[]) {
   // Set whether log messages go to stderr instead of logfiles
diff --git a/src/public/miniglog.cc b/src/public/miniglog.cc
new file mode 100644
index 0000000..0bda4be
--- /dev/null
+++ b/src/public/miniglog.cc
@@ -0,0 +1,41 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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;
+
+int log_severity_global(INFO);
+
+}  // namespace google
diff --git a/src/public/miniglog.readme b/src/public/miniglog.readme
new file mode 100644
index 0000000..e10b189
--- /dev/null
+++ b/src/public/miniglog.readme
@@ -0,0 +1,3 @@
+miniglog:
+  * https://github.com/arpg/miniglog
+  * https://github.com/tzutalin/miniglog
diff --git a/src/public/types.cc b/src/public/types.cc
index 8af31e4..ecee3a5 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 c8d2d77..217cc3f 100644
--- a/src/public/utils.cc
+++ b/src/public/utils.cc
@@ -13,11 +13,11 @@
 // limitations under the License.
 #include "mynteye/utils.h"
 
-#include <glog/logging.h>
-
 #include "device/context.h"
 #include "device/device.h"
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace device {
diff --git a/src/uvc/uvc-libuvc.cc b/src/uvc/uvc-libuvc.cc
index 1b260d7..5ec0896 100644
--- a/src/uvc/uvc-libuvc.cc
+++ b/src/uvc/uvc-libuvc.cc
@@ -13,9 +13,9 @@
 // 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 f86a209..cc21af6 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/tools/CMakeLists.txt b/tools/CMakeLists.txt
index a617541..892cc52 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -43,10 +43,6 @@ 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/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 392e8bf..33cbd6c 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -14,7 +14,6 @@
 #include "dataset/dataset.h"
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
-#include <glog/logging.h>
 
 #include <iomanip>
 #include <limits>
@@ -22,6 +21,7 @@
 #include <utility>
 
 #include "mynteye/files.h"
+#include "mynteye/logger.h"
 
 #define FULL_PRECISION \
   std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
@@ -62,7 +62,7 @@ void Dataset::SaveStreamData(
               << std::endl;
   if (data.frame) {
     std::stringstream ss;
-    ss << writer->outdir << OS_SEP << std::dec
+    ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
        << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
     if (data.frame->format() == Format::GREY) {
       cv::Mat img(
@@ -120,15 +120,15 @@ Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
     writer_t writer = std::make_shared<Writer>();
     switch (stream) {
       case Stream::LEFT: {
-        writer->outdir = outdir_ + OS_SEP "left";
+        writer->outdir = outdir_ + MYNTEYE_OS_SEP "left";
       } break;
       case Stream::RIGHT: {
-        writer->outdir = outdir_ + OS_SEP "right";
+        writer->outdir = outdir_ + MYNTEYE_OS_SEP "right";
       } break;
       default:
         LOG(FATAL) << "Unsupported stream: " << stream;
     }
-    writer->outfile = writer->outdir + OS_SEP "stream.txt";
+    writer->outfile = writer->outdir + MYNTEYE_OS_SEP "stream.txt";
 
     files::mkdir(writer->outdir);
     writer->ofs.open(writer->outfile, std::ofstream::out);
@@ -145,7 +145,7 @@ Dataset::writer_t Dataset::GetMotionWriter() {
   if (motion_writer_ == nullptr) {
     writer_t writer = std::make_shared<Writer>();
     writer->outdir = outdir_;
-    writer->outfile = writer->outdir + OS_SEP "motion.txt";
+    writer->outfile = writer->outdir + MYNTEYE_OS_SEP "motion.txt";
 
     files::mkdir(writer->outdir);
     writer->ofs.open(writer->outfile, std::ofstream::out);
diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc
index be3f5e0..8c7b5b7 100644
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -15,14 +15,13 @@
 
 #include <opencv2/core/core.hpp>
 
-#include <glog/logging.h>
-
 #include <map>
 #include <vector>
 
 #include "mynteye/device.h"
 #include "mynteye/files.h"
 #include "mynteye/types.h"
+#include "mynteye/logger.h"
 
 #include "internal/types.h"
 
@@ -230,16 +229,16 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
   if (!files::mkdir(dir)) {
     LOG(FATAL) << "Create directory failed: " << dir;
   }
-  SaveDeviceInfo(*device_->GetInfo(), dir + OS_SEP "device.info");
+  SaveDeviceInfo(*device_->GetInfo(), dir + MYNTEYE_OS_SEP "device.info");
   SaveImgParams(
-      *device_->GetInfo(), device_->GetImgParams(), dir + OS_SEP "img.params");
+      *device_->GetInfo(), device_->GetImgParams(), dir + MYNTEYE_OS_SEP "img.params");
   auto &&m_in = device_->GetMotionIntrinsics();
   SaveImuParams(
       {
           false, m_in.accel, m_in.gyro,
           device_->GetMotionExtrinsics(Stream::LEFT),
       },
-      dir + OS_SEP "imu.params");
+      dir + MYNTEYE_OS_SEP "imu.params");
 }
 
 namespace {
diff --git a/tools/writer/save_all_infos.cc b/tools/writer/save_all_infos.cc
index a4ff051..2823268 100644
--- a/tools/writer/save_all_infos.cc
+++ b/tools/writer/save_all_infos.cc
@@ -32,7 +32,7 @@ int main(int argc, char *argv[]) {
   if (!device)
     return 1;
 
-  dir.append(OS_SEP "SN").append(device->GetInfo()->serial_number);
+  dir.append(MYNTEYE_OS_SEP "SN").append(device->GetInfo()->serial_number);
 
   tools::DeviceWriter writer(device);
   writer.SaveAllInfos(dir);
diff --git a/wrappers/python/CMakeLists.txt b/wrappers/python/CMakeLists.txt
index 4cecbff..fd4c11c 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 +69,23 @@ 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 +104,6 @@ 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/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
index a8ef045..79cb94a 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 +79,21 @@ 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_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index dd33f48..6037d19 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
@@ -26,8 +26,6 @@
 #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>
@@ -36,6 +34,7 @@
 #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)

From 4021c565d2d329d579be8a7a741b8127bfdb022c Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 16 Nov 2018 17:52:58 +0800
Subject: [PATCH 56/96] Remove submodule glog

---
 .gitmodules                   |   3 -
 Makefile                      |  11 +-
 cmake/Option.cmake            |   2 +
 include/mynteye/miniglog.h    | 185 +++++++++++++++++++---------------
 samples/api/camera.cc         |   2 +-
 src/api/api.cc                |   4 +-
 src/main.cc                   |   2 +-
 third_party/glog              |   1 -
 tools/writer/device_writer.cc |   5 +-
 9 files changed, 112 insertions(+), 103 deletions(-)
 delete mode 160000 third_party/glog

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/Makefile b/Makefile
index 3091003..2c83078 100644
--- a/Makefile
+++ b/Makefile
@@ -24,7 +24,6 @@ help:
 	@echo "  make apidoc          make api doc"
 	@echo "  make opendoc         open api doc (html)"
 	@echo "  make init            init project"
-	@echo "  make 3rdparty        build 3rdparty: glog"
 	@echo "  make build           build project"
 	@echo "  make install         install project"
 	@echo "  make test            build test and run"
@@ -61,15 +60,7 @@ opendoc: apidoc
 
 submodules:
 	@git submodule update --init
-
-third_party: submodules
-	@$(call echo,Make $@)
-	@$(call echo,Make glog,33)
-	@$(call cmake_build,./third_party/glog/_build)
-
-3rdparty: third_party
-
-.PHONY: submodules third_party 3rdparty
+.PHONY: submodules
 
 # init
 
diff --git a/cmake/Option.cmake b/cmake/Option.cmake
index a169987..bb22438 100644
--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@@ -17,4 +17,6 @@ option(WITH_API "Build with API layer, need OpenCV" ON)
 message(STATUS "Options:")
 message(STATUS "  WITH_API: ${WITH_API}")
 
+# How to install glog?
+#   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
 option(WITH_GLOG "Include glog support" OFF)
diff --git a/include/mynteye/miniglog.h b/include/mynteye/miniglog.h
index 02d377a..5af44a2 100644
--- a/include/mynteye/miniglog.h
+++ b/include/mynteye/miniglog.h
@@ -103,25 +103,25 @@
 #include "mynteye/mynteye.h"
 
 #ifdef MYNTEYE_OS_ANDROID
-#  include <android/log.h>
+#include <android/log.h>
 #endif  // ANDROID
 
 // Log severity level constants.
 #ifdef MYNTEYE_OS_WIN
 
-const int FATAL   = -1;
+const int FATAL = -1;
 #ifndef ERROR  // NOT windows.h
-const int ERROR   = 0;
+const int ERROR = 0;
 #endif
 const int WARNING = 1;
-const int INFO    = 2;
+const int INFO = 2;
 
 #else
 
-const int FATAL   = -3;
-const int ERROR   = -2;
+const int FATAL = -3;
+const int ERROR = -2;
 const int WARNING = -1;
-const int INFO    =  0;
+const int INFO = 0;
 
 #endif
 
@@ -130,12 +130,12 @@ const int INFO    =  0;
 namespace google {
 
 typedef int LogSeverity;
-const int FATAL   = ::FATAL;
+const int FATAL = ::FATAL;
 #ifndef ERROR  // NOT windows.h
-const int ERROR   = ::ERROR;
+const int ERROR = ::ERROR;
 #endif
 const int WARNING = ::WARNING;
-const int INFO    = ::INFO;
+const int INFO = ::INFO;
 
 // 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.
@@ -144,13 +144,10 @@ const int INFO    = ::INFO;
 class MYNTEYE_API LogSink {
  public:
   virtual ~LogSink() {}
-  virtual void send(LogSeverity severity,
-                    const char* full_filename,
-                    const char* base_filename,
-                    int line,
-                    const struct tm* tm_time,
-                    const char* message,
-                    size_t message_len) = 0;
+  virtual void send(
+      LogSeverity severity, const char *full_filename,
+      const char *base_filename, int line, const struct tm *tm_time,
+      const char *message, size_t message_len) = 0;
   virtual void WaitTillSent() = 0;
 };
 
@@ -160,7 +157,7 @@ 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*/) {
+inline void InitGoogleLogging(char * /*argv*/) {
   // Do nothing; this is ignored.
 }
 
@@ -186,7 +183,7 @@ inline void RemoveLogSink(LogSink *sink) {
 class MYNTEYE_API MessageLogger {
  public:
   MessageLogger(const char *file, int line, const char *tag, int severity)
-    : file_(file), line_(line), tag_(tag), severity_(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_ << SeverityLabel() << "/" << filename_only_ << ":" << line << " ";
@@ -208,8 +205,8 @@ class MYNTEYE_API MessageLogger {
 
     // Bound the logging level.
     const int kMaxVerboseLevel = 2;
-    int android_level_index = std::min(std::max(FATAL, severity_),
-                                       kMaxVerboseLevel) - FATAL;
+    int android_level_index =
+        std::min(std::max(FATAL, severity_), kMaxVerboseLevel) - FATAL;
     int android_log_level = android_log_levels[android_level_index];
 
     // Output the log string the Android log at the appropriate level.
@@ -217,9 +214,7 @@ class MYNTEYE_API MessageLogger {
 
     // Indicate termination if needed.
     if (severity_ == FATAL) {
-      __android_log_write(ANDROID_LOG_FATAL,
-                          tag_.c_str(),
-                          "terminating.\n");
+      __android_log_write(ANDROID_LOG_FATAL, tag_.c_str(), "terminating.\n");
     }
 #else
     // If not building on Android, log all output to std::cerr.
@@ -237,21 +232,24 @@ class MYNTEYE_API MessageLogger {
   }
 
   // Return the stream associated with the logger object.
-  std::stringstream &stream() { return stream_; }
+  std::stringstream &stream() {
+    return stream_;
+  }
 
  private:
   void LogToSinks(int severity) {
     time_t rawtime;
-    struct tm* timeinfo;
+    struct tm *timeinfo;
 
-    time (&rawtime);
-    timeinfo = localtime(&rawtime);
-    std::set<google::LogSink*>::iterator iter;
+    time(&rawtime);
+    timeinfo = localtime_r(&rawtime);
+    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());
+      (*iter)->send(
+          severity, file_.c_str(), filename_only_.c_str(), line_, timeinfo,
+          stream_.str().c_str(), stream_.str().size());
     }
   }
 
@@ -307,17 +305,19 @@ class MYNTEYE_API MessageLogger {
 // is not used" and "statement has no effect".
 class MYNTEYE_API LoggerVoidify {
  public:
-  LoggerVoidify() { }
+  LoggerVoidify() {}
   // This has to be an operator with a precedence lower than << but
   // higher than ?:
-  void operator&(const std::ostream &/*s*/) { }
+  void operator&(const std::ostream & /*s*/) {}
 };
 
 // Log only if condition is met.  Otherwise evaluates to void.
-#define LOG_IF(severity, condition) \
-  (static_cast<int>(severity) > google::log_severity_global || !(condition)) ? \
-  (void) 0 : LoggerVoidify() &                                          \
-  MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+#define LOG_IF(severity, condition)                                          \
+  (static_cast<int>(severity) > google::log_severity_global || !(condition)) \
+      ? (void)0                                                              \
+      : LoggerVoidify() &                                                    \
+            MessageLogger((char *)__FILE__, __LINE__, "native", severity)    \
+                .stream()
 
 // Log only if condition is NOT met.  Otherwise evaluates to void.
 #define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
@@ -326,23 +326,23 @@ class MYNTEYE_API LoggerVoidify {
 // google3 code is discouraged and the following shortcut exists for
 // backward compatibility with existing code.
 #ifdef MYNTEYE_MAX_LOG_LEVEL
-#  define LOG(n)  LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
-#  define VLOG(n) LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
-#  define LG      LOG_IF(INFO, (INFO <= MYNTEYE_MAX_LOG_LEVEL))
-#  define VLOG_IF(n, condition)                                         \
-    LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL) && condition)
+#define LOG(n) LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
+#define VLOG(n) LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
+#define LG LOG_IF(INFO, (INFO <= MYNTEYE_MAX_LOG_LEVEL))
+#define VLOG_IF(n, condition) \
+  LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL) && condition)
 #else
-#  define LOG(n)  LOG_IF(n, true)
-#  define VLOG(n) LOG_IF(n, true)
-#  define LG      LOG_IF(INFO, true)
-#  define VLOG_IF(n, condition) LOG_IF(n, condition)
+#define LOG(n) LOG_IF(n, true)
+#define VLOG(n) LOG_IF(n, true)
+#define LG LOG_IF(INFO, true)
+#define VLOG_IF(n, condition) LOG_IF(n, condition)
 #endif
 
 // Currently, VLOG is always on for levels below MYNTEYE_MAX_LOG_LEVEL.
 #ifndef MYNTEYE_MAX_LOG_LEVEL
-#  define VLOG_IS_ON(x) (1)
+#define VLOG_IS_ON(x) (1)
 #else
-#  define VLOG_IS_ON(x) (x <= MYNTEYE_MAX_LOG_LEVEL)
+#define VLOG_IS_ON(x) (x <= MYNTEYE_MAX_LOG_LEVEL)
 #endif
 
 #ifdef MYNTEYE_OS_WIN  // INFO is 2, change VLOG(2) to VLOG(4)
@@ -351,32 +351,34 @@ class MYNTEYE_API LoggerVoidify {
 #undef VLOG_IS_ON
 
 #ifdef MYNTEYE_MAX_LOG_LEVEL
-#  define VLOG(n) LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL))
-#  define VLOG_IF(n, condition)                                         \
-    LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL) && condition)
+#define VLOG(n) LOG_IF(n + 2, (n + 2 <= MYNTEYE_MAX_LOG_LEVEL))
+#define VLOG_IF(n, condition) \
+  LOG_IF(n + 2, (n + 2 <= MYNTEYE_MAX_LOG_LEVEL) && condition)
 #else
-#  define VLOG(n) LOG_IF(n+2, true)
-#  define VLOG_IF(n, condition) LOG_IF(n+2, condition)
+#define VLOG(n) LOG_IF(n + 2, true)
+#define VLOG_IF(n, condition) LOG_IF(n + 2, condition)
 #endif
 
 #ifndef MYNTEYE_MAX_LOG_LEVEL
-#  define VLOG_IS_ON(x) (1+2)
+#define VLOG_IS_ON(x) (1 + 2)
 #else
-#  define VLOG_IS_ON(x) (x+2 <= MYNTEYE_MAX_LOG_LEVEL)
+#define VLOG_IS_ON(x) (x + 2 <= MYNTEYE_MAX_LOG_LEVEL)
 #endif
 
 #endif
 
 #ifndef NDEBUG
-#  define DLOG LOG
+#define DLOG LOG
 #else
-#  define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
-      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+#define DLOG(severity)                                                     \
+  true ? (void)0                                                           \
+       : LoggerVoidify() &                                                 \
+             MessageLogger((char *)__FILE__, __LINE__, "native", severity) \
+                 .stream()
 #endif
 
-
 // Log a message and terminate.
-template<class T>
+template <class T>
 void LogMessageFatal(const char *file, int line, const T &message) {
   MessageLogger(file, line, "native", FATAL).stream() << message;
 }
@@ -384,25 +386,27 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 // ---------------------------- CHECK macros ---------------------------------
 
 // Check for a given boolean condition.
-#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \
-        << "Check failed: " #condition " "
+#define CHECK(condition) \
+  LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
 
 #ifndef NDEBUG
 // Debug only version of CHECK
-#  define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \
-          << "Check failed: " #condition " "
+#define DCHECK(condition) \
+  LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
 #else
 // Optimized version - generates no code.
-#  define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \
-          << "Check failed: " #condition " "
+#define DCHECK(condition) \
+  if (false)              \
+  LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
 #endif  // NDEBUG
 
 // ------------------------- CHECK_OP macros ---------------------------------
 
 // Generic binary operator check macro. This should not be directly invoked,
 // instead use the binary comparison macros defined below.
-#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, (val1 op val2)) \
-  << "Check failed: " #val1 " " #op " " #val2 " "
+#define CHECK_OP(val1, val2, op)      \
+  LOG_IF_FALSE(FATAL, (val1 op val2)) \
+      << "Check failed: " #val1 " " #op " " #val2 " "
 
 // Check_op macro definitions
 #define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
@@ -414,20 +418,32 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 
 #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, >)
+#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, >)
 #else
 // These versions generate no code in optimized mode.
-#  define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
-#  define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
-#  define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
-#  define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
-#  define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
-#  define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
+#define DCHECK_EQ(val1, val2) \
+  if (false)                  \
+  CHECK_OP(val1, val2, ==)
+#define DCHECK_NE(val1, val2) \
+  if (false)                  \
+  CHECK_OP(val1, val2, !=)
+#define DCHECK_LE(val1, val2) \
+  if (false)                  \
+  CHECK_OP(val1, val2, <=)
+#define DCHECK_LT(val1, val2) \
+  if (false)                  \
+  CHECK_OP(val1, val2, <)
+#define DCHECK_GE(val1, val2) \
+  if (false)                  \
+  CHECK_OP(val1, val2, >=)
+#define DCHECK_GT(val1, val2) \
+  if (false)                  \
+  CHECK_OP(val1, val2, >)
 #endif  // NDEBUG
 
 // ---------------------------CHECK_NOTNULL macros ---------------------------
@@ -435,7 +451,7 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 // 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) {
+T &CheckNotNullCommon(const char *file, int line, const char *names, T &t) {
   if (t == NULL) {
     LogMessageFatal(file, line, std::string(names));
   }
@@ -443,12 +459,12 @@ T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) {
 }
 
 template <typename T>
-T* CheckNotNull(const char *file, int line, const char *names, T* 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) {
+T &CheckNotNull(const char *file, int line, const char *names, T &t) {
   return CheckNotNullCommon(file, line, names, t);
 }
 
@@ -462,7 +478,8 @@ T& CheckNotNull(const char *file, int line, const char *names, T& t) {
   CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
 #else
 // Optimized version - generates no code.
-#define DCHECK_NOTNULL(val) if (false)\
+#define DCHECK_NOTNULL(val) \
+  if (false)                \
   CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
 #endif  // NDEBUG
 
diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 1e5cde2..e013a78 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -13,8 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/logger.h"
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 #include "mynteye/times.h"
 
 MYNTEYE_USE_NAMESPACE
diff --git a/src/api/api.cc b/src/api/api.cc
index 3f3c640..46b2ca9 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -90,7 +90,9 @@ bool dir_exists(const std::string &p) {
 
 std::vector<std::string> get_plugin_paths() {
   std::string info_path(MYNTEYE_SDK_INSTALL_DIR);
-  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
+  info_path.append(
+      MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP
+                     "build.info");
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
diff --git a/src/main.cc b/src/main.cc
index 9137481..e87e1e9 100644
--- a/src/main.cc
+++ b/src/main.cc
@@ -21,8 +21,8 @@
 #include <gflags/gflags.h>
 #endif
 
-#include "mynteye/mynteye.h"
 #include "mynteye/logger.h"
+#include "mynteye/mynteye.h"
 
 int main(int /*argc*/, char *argv[]) {
   // Set whether log messages go to stderr instead of logfiles
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/writer/device_writer.cc b/tools/writer/device_writer.cc
index 8c7b5b7..1ca60a0 100644
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -20,8 +20,8 @@
 
 #include "mynteye/device.h"
 #include "mynteye/files.h"
-#include "mynteye/types.h"
 #include "mynteye/logger.h"
+#include "mynteye/types.h"
 
 #include "internal/types.h"
 
@@ -231,7 +231,8 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
   }
   SaveDeviceInfo(*device_->GetInfo(), dir + MYNTEYE_OS_SEP "device.info");
   SaveImgParams(
-      *device_->GetInfo(), device_->GetImgParams(), dir + MYNTEYE_OS_SEP "img.params");
+      *device_->GetInfo(), device_->GetImgParams(),
+      dir + MYNTEYE_OS_SEP "img.params");
   auto &&m_in = device_->GetMotionIntrinsics();
   SaveImuParams(
       {

From 0610d43fe5af936a133a3cbc86ba10a5a3458659 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Fri, 16 Nov 2018 18:42:54 +0800
Subject: [PATCH 57/96] Fix miniglog.h bug

---
 include/mynteye/miniglog.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/mynteye/miniglog.h b/include/mynteye/miniglog.h
index 5af44a2..844bf85 100644
--- a/include/mynteye/miniglog.h
+++ b/include/mynteye/miniglog.h
@@ -242,7 +242,7 @@ class MYNTEYE_API MessageLogger {
     struct tm *timeinfo;
 
     time(&rawtime);
-    timeinfo = localtime_r(&rawtime);
+    timeinfo = localtime(&rawtime);
     std::set<google::LogSink *>::iterator iter;
     // Send the log message to all sinks.
     for (iter = google::log_sinks_global.begin();

From 2b1288bcd481a1550f2c4ffd6eb339787ddb1d63 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 20 Nov 2018 19:13:41 +0800
Subject: [PATCH 58/96] Fix imu range bug

---
 doc/zh-Hans/spec_control_api.md | 10 +++++-----
 include/mynteye/types.h         | 10 +++++-----
 src/internal/channels.cc        |  2 +-
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/doc/zh-Hans/spec_control_api.md b/doc/zh-Hans/spec_control_api.md
index ac45089..5f3469f 100644
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@@ -19,8 +19,8 @@
 | 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
 | 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
 | 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
-| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | ?? | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
-| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
-| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
-| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
+| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | - | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | |
diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 66fcd33..c85a45a 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -200,31 +200,31 @@ enum class Option : std::uint8_t {
   /**
    * min exposure time, valid if auto-exposure
    *
-   *   range: [0,?], default: ?
+   *   range: [0,1000], default: 0
    */
   MIN_EXPOSURE_TIME,
   /**
    * The range of accelerometer
    *
-   *   values: {?}, default: ?
+   *   values: {6,12,24,48}, default: 6
    */
   ACCELEROMETER_RANGE,
   /**
    * The range of gyroscope
    *
-   *   values: {?}, default: ?
+   *   values: {250,500,1000,2000,4000}, default: 1000
    */
   GYROSCOPE_RANGE,
   /**
    * The parameter of accelerometer low pass filter
    *
-   *   values: {?}, default: ?
+   *   values: {0,1,2}, default: 2
    */
   ACCELEROMETER_LOW_PASS_FILTER,
   /**
    * The parameter of gyroscope low pass filter
    *
-   *   values: {?}, default: ?
+   *   values: {23,64}, default: 64
    */
   GYROSCOPE_LOW_PASS_FILTER,
   /** Last guard */
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 9f82b9e..c671b29 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -262,7 +262,7 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
       XuCamCtrlSet(option, value);
     } break;
     case Option::GYROSCOPE_RANGE: {
-      if (!in_range() || !in_values({6, 12, 24, 48}))
+      if (!in_range() || !in_values({250, 500, 1000, 2000, 4000}))
         break;
       XuCamCtrlSet(option, value);
     } break;

From 7e5b3ee4199b4078803ab5c20cbf94dbe3001001 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 20 Nov 2018 19:31:54 +0800
Subject: [PATCH 59/96] Modify option_names

---
 .../launch/mynteye.launch                     | 64 +++++++++----------
 .../src/wrapper_nodelet.cc                    | 12 ++--
 2 files changed, 34 insertions(+), 42 deletions(-)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index e477f62..39df4df 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -44,49 +44,45 @@
 
   <!-- device options, -1 will not set the value -->
 
-  <!-- gain range: [0,48] -->
-  <arg name="gain" default="-1" />
-  <!-- <arg name="gain" default="24" /> -->
-
   <!-- brightness range: [0,240] -->
   <arg name="brightness" default="-1" />
   <!-- <arg name="brightness" default="120" /> -->
 
-  <!-- contrast range: [0,255] -->
-  <arg name="contrast" default="-1" />
-  <!-- <arg name="contrast" default="127" /> -->
-
-  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
-  <arg name="frame_rate" default="-1" />
-  <!-- <arg name="frame_rate" default="25" /> -->
-
-  <!-- imu_frequency range: {100,200,250,333,500} -->
-  <arg name="imu_frequency" default="-1" />
-  <!-- <arg name="imu_frequency" default="200" /> -->
-
   <!-- exposure_mode, 0: auto-exposure, 1: manual-exposure -->
   <arg name="exposure_mode" default="-1" />
   <!-- <arg name="exposure_mode" default="0" /> -->
 
-  <!-- max_gain range: [0,48] -->
+  <!-- max_gain range: [0,255] -->
   <arg name="max_gain" default="-1" />
-  <!-- <arg name="max_gain" default="48" /> -->
+  <!-- <arg name="max_gain" default="8" /> -->
 
-  <!-- max_exposure_time range: [0,240] -->
+  <!-- max_exposure_time range: [0,1000] -->
   <arg name="max_exposure_time" default="-1" />
-  <!-- <arg name="max_exposure_time" default="240" /> -->
+  <!-- <arg name="max_exposure_time" default="333" /> -->
 
-  <!-- desired_brightness range: [0,255] -->
+  <!-- desired_brightness range: [1,255] -->
   <arg name="desired_brightness" default="-1" />
-  <!-- <arg name="desired_brightness" default="192" /> -->
+  <!-- <arg name="desired_brightness" default="122" /> -->
 
-  <!-- ir_control range: [0,160] -->
-  <arg name="ir_control" default="80" />
-  <!-- <arg name="ir_control" default="0" /> -->
+  <!-- min_exposure_time range: [0,1000] -->
+  <arg name="min_exposure_time" default="-1" />
+  <!-- <arg name="min_exposure_time" default="0" /> -->
 
-  <!-- hdr_mode, 0: 10-bit, 1: 12-bit -->
-  <arg name="hdr_mode" default="-1" />
-  <!-- <arg name="hdr_mode" default="0" /> -->
+  <!-- accel_range range: [6,48] -->
+  <arg name="accel_range" default="-1" />
+  <!-- <arg name="accel_range" default="6" /> -->
+
+  <!-- gyro_range range: [250,4000] -->
+  <arg name="gyro_range" default="-1" />
+  <!-- <arg name="gyro_range" default="1000" /> -->
+
+  <!-- accel_low_filter range: [0,2] -->
+  <arg name="accel_low_filter" default="-1" />
+  <!-- <arg name="accel_low_filter" default="2" /> -->
+
+  <!-- gyro_low_filter range: [23,64] -->
+  <arg name="gyro_low_filter" default="-1" />
+  <!-- <arg name="gyro_low_filter" default="64" /> -->
 
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
@@ -136,18 +132,16 @@
 
       <!-- device options -->
 
-      <param name="gain" value="$(arg gain)" />
       <param name="brightness" value="$(arg brightness)" />
-      <param name="contrast" value="$(arg contrast)" />
-      <param name="frame_rate" value="$(arg frame_rate)" />
-      <param name="imu_frequency" value="$(arg imu_frequency)" />
       <param name="exposure_mode" value="$(arg exposure_mode)" />
       <param name="max_gain" value="$(arg max_gain)" />
       <param name="max_exposure_time" value="$(arg max_exposure_time)" />
       <param name="desired_brightness" value="$(arg desired_brightness)" />
-      <param name="ir_control" value="$(arg ir_control)" />
-      <param name="hdr_mode" value="$(arg hdr_mode)" />
-
+      <param name="min_exposure_time" value="$(arg max_exposure_time)" />
+      <param name="accel_range" value="$(arg accel_range)" />
+      <param name="gyro_range" value="$(arg gyro_range)" />
+      <param name="accel_low_filter" value="$(arg accel_low_filter)" />
+      <param name="gyro_low_filter" value="$(arg gyro_low_filter)" />
     </node>
 
   </group> <!-- mynteye -->
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 6037d19..e35a6e8 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
@@ -147,18 +147,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     // device options
 
     std::map<Option, std::string> option_names = {
-        {Option::GAIN, "gain"},
         {Option::BRIGHTNESS, "brightness"},
-        {Option::CONTRAST, "contrast"},
-        {Option::FRAME_RATE, "frame_rate"},
-        {Option::IMU_FREQUENCY, "imu_frequency"},
         {Option::EXPOSURE_MODE, "exposure_mode"},
         {Option::MAX_GAIN, "max_gain"},
         {Option::MAX_EXPOSURE_TIME, "max_exposure_time"},
         {Option::DESIRED_BRIGHTNESS, "desired_brightness"},
-        {Option::IR_CONTROL, "ir_control"},
-        {Option::HDR_MODE, "hdr_mode"},
-    };
+        {Option::MIN_EXPOSURE_TIME, "min_exposure_time"},
+        {Option::EXPOSURE_MODE, "accel_range"},
+        {Option::GYROSCOPE_RANGE, "gyro_range"},
+        {Option::ACCELEROMETER_LOW_PASS_FILTER, "accel_low_filter"},
+        {Option::GYROSCOPE_LOW_PASS_FILTER, "gyro_low_filter"}};
     for (auto &&it = option_names.begin(); it != option_names.end(); ++it) {
       if (!api_->Supports(it->first))
         continue;

From 7789bc8474838c2028cafd861e95c6285530540f Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 20 Nov 2018 19:33:02 +0800
Subject: [PATCH 60/96] Do small change

---
 wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 e35a6e8..b0eb9e4 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
@@ -153,7 +153,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         {Option::MAX_EXPOSURE_TIME, "max_exposure_time"},
         {Option::DESIRED_BRIGHTNESS, "desired_brightness"},
         {Option::MIN_EXPOSURE_TIME, "min_exposure_time"},
-        {Option::EXPOSURE_MODE, "accel_range"},
+        {Option::ACCELEROMETER_RANGE, "accel_range"},
         {Option::GYROSCOPE_RANGE, "gyro_range"},
         {Option::ACCELEROMETER_LOW_PASS_FILTER, "accel_low_filter"},
         {Option::GYROSCOPE_LOW_PASS_FILTER, "gyro_low_filter"}};

From e991d59b45ab1b8c48cf790e2f9846a998793560 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 20 Nov 2018 19:40:45 +0800
Subject: [PATCH 61/96] Updaye Makefile

---
 Makefile | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/Makefile b/Makefile
index 2c83078..6e613f2 100644
--- a/Makefile
+++ b/Makefile
@@ -16,7 +16,7 @@ include CommonDefs.mk
 MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
 MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 
-.DEFAULT_GOAL := help
+.DEFAULT_GOAL := all
 
 help:
 	@echo "Usage:"
@@ -35,7 +35,7 @@ help:
 
 .PHONY: help
 
-all: test samples tools
+all: init samples tools ros
 
 .PHONY: all
 
@@ -64,7 +64,7 @@ submodules:
 
 # init
 
-init: submodules
+init:
 	@$(call echo,Make $@)
 	@$(SH) ./scripts/init.sh
 
@@ -72,7 +72,7 @@ init: submodules
 
 # build
 
-build: submodules
+build:
 	@$(call echo,Make $@)
 	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
 
@@ -80,7 +80,7 @@ build: submodules
 
 # test
 
-test: install
+test: submodules install
 	@$(call echo,Make $@)
 	@$(call echo,Make gtest,33)
 ifeq ($(HOST_OS),Win)

From 210ddba1ba4fb0e26f2b1766d59365e0ea51ad43 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 20 Nov 2018 19:49:42 +0800
Subject: [PATCH 62/96] Do samll change in uvc-v4l2.cc

---
 src/uvc/uvc-v4l2.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/uvc/uvc-v4l2.cc b/src/uvc/uvc-v4l2.cc
index cc21af6..9a96d27 100755
--- a/src/uvc/uvc-v4l2.cc
+++ b/src/uvc/uvc-v4l2.cc
@@ -410,7 +410,8 @@ struct device {
     if (no_data_count > NO_DATA_MAX_COUNT) {
       no_data_count = 0;
       living_count = 0;
-      LOG(WARNING) << __func__ << "v4l2 get stream time out,Try to reboot!";
+      LOG(WARNING) << __func__
+                   << " failed: v4l2 get stream time out,Try to reboot!";
       stop_capture();
       start_capture();
     }

From b346f7fec9589953daa0de4ec87a0c27b28a5512 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Sat, 24 Nov 2018 16:56:52 +0800
Subject: [PATCH 63/96] Fix the conflict again

---
 CMakeLists.txt                                | 36 -------------------
 Makefile                                      |  3 --
 include/mynteye/types.h                       | 12 -------
 samples/device/camera.cc                      |  8 -----
 samples/tutorials/control/auto_exposure.cc    |  5 ---
 samples/tutorials/control/framerate.cc        | 10 ------
 samples/tutorials/control/infrared.cc         |  5 ---
 samples/tutorials/control/manual_exposure.cc  |  5 ---
 samples/tutorials/data/get_depth.cc           |  5 ---
 samples/tutorials/data/get_device_info.cc     |  5 ---
 samples/tutorials/data/get_disparity.cc       |  6 ----
 samples/tutorials/data/get_from_callbacks.cc  | 10 ------
 samples/tutorials/data/get_img_params.cc      |  5 ---
 samples/tutorials/data/get_imu.cc             |  5 ---
 samples/tutorials/data/get_imu_params.cc      |  5 ---
 samples/tutorials/data/get_points.cc          |  5 ---
 samples/tutorials/data/get_stereo.cc          |  5 ---
 .../tutorials/data/get_stereo_rectified.cc    |  5 ---
 samples/tutorials/data/get_with_plugin.cc     |  5 ---
 .../intermediate/get_all_device_info.cc       |  6 ----
 .../intermediate/get_depth_and_points.cc      |  5 ---
 samples/tutorials/util/cv_painter.cc          | 10 ------
 samples/uvc/camera.cc                         |  3 --
 src/mynteye/api/api.cc                        | 30 ----------------
 src/mynteye/device/device.cc                  | 17 ---------
 src/mynteye/uvc/linux/uvc-v4l2.cc             |  4 ---
 .../src/mynt_eye_ros_wrapper/CMakeLists.txt   | 10 ------
 27 files changed, 230 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2056b4b..ad6c304 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -117,39 +117,11 @@ endif()
 
 ## libmynteye
 
-<<<<<<< HEAD
-if(NOT WITH_GLOG)
-=======
 if(NOT WITH_GLOG AND NOT OS_WIN)
->>>>>>> origin/develop
   set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
   unset(__MINIGLOG_FLAGS)
-<<<<<<< HEAD
-endif()
-
-set(MYNTEYE_PUBLIC_H
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.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
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/device/context.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/device/device.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/files.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/strings.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/times.h
-)
-if(WITH_API)
-  list(APPEND MYNTEYE_PUBLIC_H
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/api.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/plugin.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
-  )
-=======
->>>>>>> origin/develop
 endif()
 if(NOT WITH_GLOG)
   list(APPEND MYNTEYE_PUBLIC_H
@@ -201,11 +173,7 @@ if(WITH_API)
   )
 endif()
 if(NOT WITH_GLOG)
-<<<<<<< HEAD
-  list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
-=======
   list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
->>>>>>> origin/develop
 endif()
 
 set(MYNTEYE_LINKLIBS ${UVC_LIB})
@@ -222,11 +190,7 @@ endif()
 
 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
 target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
-<<<<<<< HEAD
-option(WITH_GLOG "Include glog support" OFF)
-=======
 target_link_threads(${MYNTEYE_NAME})
->>>>>>> origin/develop
 
 if(OS_WIN)
   target_compile_definitions(${MYNTEYE_NAME}
diff --git a/Makefile b/Makefile
index 640dd2d..9ce54af 100644
--- a/Makefile
+++ b/Makefile
@@ -73,10 +73,7 @@ cleandoc:
 
 submodules:
 	@git submodule update --init
-<<<<<<< HEAD
-=======
 
->>>>>>> origin/develop
 .PHONY: submodules
 
 # init
diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index b34a8a7..201a497 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -198,7 +198,6 @@ enum class Option : std::uint8_t {
   /** Erase chip */
   ERASE_CHIP,
   /**
-<<<<<<< HEAD
    * min exposure time, valid if auto-exposure
    *
    *   range: [0,1000], default: 0
@@ -208,17 +207,11 @@ enum class Option : std::uint8_t {
    * The range of accelerometer
    *
    *   values: {6,12,24,48}, default: 6
-=======
-   * The range of accelerometer
-   *
-   *   values: {4,8,16,32}, default: 8
->>>>>>> origin/develop
    */
   ACCELEROMETER_RANGE,
   /**
    * The range of gyroscope
    *
-<<<<<<< HEAD
    *   values: {250,500,1000,2000,4000}, default: 1000
    */
   GYROSCOPE_RANGE,
@@ -234,11 +227,6 @@ enum class Option : std::uint8_t {
    *   values: {23,64}, default: 64
    */
   GYROSCOPE_LOW_PASS_FILTER,
-=======
-   *   values: {500,1000,2000,4000}, default: 1000
-   */
-  GYROSCOPE_RANGE,
->>>>>>> origin/develop
   /** Last guard */
   LAST
 };
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index d16fda0..0737ced 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -15,17 +15,9 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/logger.h"
-<<<<<<< HEAD
-
-#include "mynteye/device.h"
-#include "mynteye/utils.h"
-
-#include "mynteye/times.h"
-=======
 #include "mynteye/device/device.h"
 #include "mynteye/device/utils.h"
 #include "mynteye/util/times.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/control/auto_exposure.cc b/samples/tutorials/control/auto_exposure.cc
index 50cef7e..0a18547 100644
--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@@ -13,13 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 
diff --git a/samples/tutorials/control/framerate.cc b/samples/tutorials/control/framerate.cc
index 1149f0a..3236bf0 100644
--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@@ -11,15 +11,6 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-<<<<<<< HEAD
-#include <opencv2/highgui/highgui.hpp>
-
-#include <atomic>
-
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-#include "mynteye/times.h"
-=======
 #include <atomic>
 
 #include <opencv2/highgui/highgui.hpp>
@@ -27,7 +18,6 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 #include "mynteye/util/times.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/control/infrared.cc b/samples/tutorials/control/infrared.cc
index 6910aee..a6310a7 100644
--- a/samples/tutorials/control/infrared.cc
+++ b/samples/tutorials/control/infrared.cc
@@ -13,13 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/control/manual_exposure.cc b/samples/tutorials/control/manual_exposure.cc
index 6c354e2..16ce32e 100644
--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@@ -13,13 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 
diff --git a/samples/tutorials/data/get_depth.cc b/samples/tutorials/data/get_depth.cc
index 9275cf2..e973967 100644
--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.cc
@@ -13,12 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_device_info.cc b/samples/tutorials/data/get_device_info.cc
index 62f7c53..5217c36 100644
--- a/samples/tutorials/data/get_device_info.cc
+++ b/samples/tutorials/data/get_device_info.cc
@@ -11,13 +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.
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_disparity.cc b/samples/tutorials/data/get_disparity.cc
index 1f77329..243d81e 100644
--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@@ -13,13 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_from_callbacks.cc b/samples/tutorials/data/get_from_callbacks.cc
index a422502..27c30a4 100644
--- a/samples/tutorials/data/get_from_callbacks.cc
+++ b/samples/tutorials/data/get_from_callbacks.cc
@@ -11,25 +11,15 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-<<<<<<< HEAD
-#include <opencv2/highgui/highgui.hpp>
-
-=======
->>>>>>> origin/develop
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <sstream>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include <opencv2/highgui/highgui.hpp>
 
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 
diff --git a/samples/tutorials/data/get_img_params.cc b/samples/tutorials/data/get_img_params.cc
index d2faddb..f84642e 100644
--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -11,13 +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.
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_imu.cc b/samples/tutorials/data/get_imu.cc
index 4c017e3..a449f6e 100644
--- a/samples/tutorials/data/get_imu.cc
+++ b/samples/tutorials/data/get_imu.cc
@@ -13,13 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 
diff --git a/samples/tutorials/data/get_imu_params.cc b/samples/tutorials/data/get_imu_params.cc
index db66183..7757611 100644
--- a/samples/tutorials/data/get_imu_params.cc
+++ b/samples/tutorials/data/get_imu_params.cc
@@ -11,13 +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.
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_points.cc b/samples/tutorials/data/get_points.cc
index 28d1f67..28294f5 100644
--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@@ -13,12 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 #include "util/pc_viewer.h"
 
diff --git a/samples/tutorials/data/get_stereo.cc b/samples/tutorials/data/get_stereo.cc
index 0545f9b..391c53e 100644
--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.cc
@@ -13,12 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_stereo_rectified.cc b/samples/tutorials/data/get_stereo_rectified.cc
index 3e7f441..10c0bf5 100644
--- a/samples/tutorials/data/get_stereo_rectified.cc
+++ b/samples/tutorials/data/get_stereo_rectified.cc
@@ -13,12 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/data/get_with_plugin.cc b/samples/tutorials/data/get_with_plugin.cc
index 8632d46..e8a0e05 100644
--- a/samples/tutorials/data/get_with_plugin.cc
+++ b/samples/tutorials/data/get_with_plugin.cc
@@ -13,12 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-<<<<<<< HEAD
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/intermediate/get_all_device_info.cc b/samples/tutorials/intermediate/get_all_device_info.cc
index 9e430af..1c335f7 100644
--- a/samples/tutorials/intermediate/get_all_device_info.cc
+++ b/samples/tutorials/intermediate/get_all_device_info.cc
@@ -11,15 +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.
-<<<<<<< HEAD
-#include "mynteye/context.h"
-#include "mynteye/device.h"
-#include "mynteye/logger.h"
-=======
 #include "mynteye/logger.h"
 #include "mynteye/device/context.h"
 #include "mynteye/device/device.h"
->>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
diff --git a/samples/tutorials/intermediate/get_depth_and_points.cc b/samples/tutorials/intermediate/get_depth_and_points.cc
index 9430888..5761c62 100644
--- a/samples/tutorials/intermediate/get_depth_and_points.cc
+++ b/samples/tutorials/intermediate/get_depth_and_points.cc
@@ -14,13 +14,8 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-<<<<<<< HEAD
-
-#include "mynteye/api.h"
-=======
 // #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
->>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 #include "util/pc_viewer.h"
diff --git a/samples/tutorials/util/cv_painter.cc b/samples/tutorials/util/cv_painter.cc
index 344ff5c..cc9fefe 100644
--- a/samples/tutorials/util/cv_painter.cc
+++ b/samples/tutorials/util/cv_painter.cc
@@ -13,25 +13,15 @@
 // limitations under the License.
 #include "util/cv_painter.h"
 
-<<<<<<< HEAD
-#include <opencv2/imgproc/imgproc.hpp>
-
-=======
->>>>>>> origin/develop
 #include <iomanip>
 #include <iostream>
 #include <memory>
 #include <utility>
 
-<<<<<<< HEAD
-#include "mynteye/logger.h"
-#include "mynteye/utils.h"
-=======
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/logger.h"
 #include "mynteye/device/utils.h"
->>>>>>> origin/develop
 
 #define FONT_FACE cv::FONT_HERSHEY_PLAIN
 #define FONT_SCALE 1
diff --git a/samples/uvc/camera.cc b/samples/uvc/camera.cc
index 2746c90..00d7b16 100644
--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -17,12 +17,9 @@
 #include <iostream>
 #include <mutex>
 
-<<<<<<< HEAD
-=======
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
->>>>>>> origin/develop
 #include "mynteye/logger.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
diff --git a/src/mynteye/api/api.cc b/src/mynteye/api/api.cc
index e326e65..b839500 100644
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@@ -88,15 +88,8 @@ bool dir_exists(const std::string &p) {
 #endif
 
 std::vector<std::string> get_plugin_paths() {
-<<<<<<< HEAD:src/api/api.cc
-  std::string info_path(MYNTEYE_SDK_INSTALL_DIR);
-  info_path.append(
-      MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP
-                     "build.info");
-=======
   std::string info_path = utils::get_sdk_install_dir();
   info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
->>>>>>> origin/develop:src/mynteye/api/api.cc
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
@@ -217,30 +210,7 @@ std::vector<std::string> get_plugin_paths() {
 
 API::API(std::shared_ptr<Device> device) : device_(device) {
   VLOG(2) << __func__;
-<<<<<<< HEAD:src/api/api.cc
   std::dynamic_pointer_cast<StandardDevice>(device_);
-=======
-  if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
-    bool in_l_ok, in_r_ok, ex_r2l_ok;
-    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
-    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT, &ex_r2l_ok);
-    if (!in_l_ok || !in_r_ok || !ex_r2l_ok) {
-#if defined(WITH_DEVICE_INFO_REQUIRED)
-      LOG(FATAL)
-#else
-      LOG(WARNING)
-#endif
-          << "Image params not found, but we need it to process the "
-             "images. Please `make tools` and use `img_params_writer` "
-             "to write the image params. If you update the SDK from "
-             "1.x, the `SN*.conf` is the file contains them. Besides, "
-             "you could also calibrate them by yourself. Read the guide "
-             "doc (https://github.com/slightech/MYNT-EYE-S-SDK-Guide) "
-             "to learn more.";
-    }
-  }
->>>>>>> origin/develop:src/mynteye/api/api.cc
   synthetic_.reset(new Synthetic(this));
 }
 
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index ea8937a..5c3c9dd 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -558,11 +558,6 @@ void Device::ReadAllInfos() {
 
   CHECK_NOTNULL(channels_);
   Channels::imu_params_t imu_params;
-<<<<<<< HEAD:src/device/device.cc
-  if (!channels_->GetFiles(device_info_.get(), &img_params_, &imu_params)) {
-    LOG(FATAL) << "Read device infos failed. Please upgrade your firmware to "
-                  "the latest version.";
-=======
   if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
 #if defined(WITH_DEVICE_INFO_REQUIRED)
     LOG(FATAL)
@@ -571,7 +566,6 @@ void Device::ReadAllInfos() {
 #endif
         << "Read device infos failed. Please upgrade your firmware to the "
            "latest version.";
->>>>>>> origin/develop:src/mynteye/device/device.cc
   }
   VLOG(2) << "Device info: {name: " << device_info_->name
           << ", serial_number: " << device_info_->serial_number
@@ -585,21 +579,10 @@ void Device::ReadAllInfos() {
           << ", nominal_baseline: " << device_info_->nominal_baseline << "}";
 
   device_info_->name = uvc::get_name(*device_);
-<<<<<<< HEAD:src/device/device.cc
   if (img_params_.ok) {
     SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params_.ex_right_to_left);
     VLOG(2) << "Extrinsics left to right: {"
             << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
-=======
-  if (img_params.ok) {
-    SetIntrinsics(Stream::LEFT, img_params.in_left);
-    SetIntrinsics(Stream::RIGHT, img_params.in_right);
-    SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
-    VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
-    VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
-    VLOG(2) << "Extrinsics right to left: {"
-            << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
->>>>>>> origin/develop:src/mynteye/device/device.cc
   } else {
     LOG(WARNING) << "Intrinsics & extrinsics not exist";
   }
diff --git a/src/mynteye/uvc/linux/uvc-v4l2.cc b/src/mynteye/uvc/linux/uvc-v4l2.cc
index 0fb1ba7..01aba0a 100755
--- a/src/mynteye/uvc/linux/uvc-v4l2.cc
+++ b/src/mynteye/uvc/linux/uvc-v4l2.cc
@@ -409,16 +409,12 @@ struct device {
     }
 
     if (no_data_count > NO_DATA_MAX_COUNT) {
-<<<<<<< HEAD:src/uvc/uvc-v4l2.cc
       no_data_count = 0;
       living_count = 0;
       LOG(WARNING) << __func__
                    << " failed: v4l2 get stream time out,Try to reboot!";
       stop_capture();
       start_capture();
-=======
-      throw_error("v4l2 get stream time out!");
->>>>>>> origin/develop:src/mynteye/uvc/linux/uvc-v4l2.cc
     }
   }
 
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
index 4f508b6..cc73eec 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@@ -79,10 +79,7 @@ catkin_package(
 #get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
 #LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake)
 
-<<<<<<< HEAD
-=======
 LIST(APPEND CMAKE_MODULE_PATH cmake)
->>>>>>> origin/develop
 
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
@@ -91,12 +88,6 @@ if(NOT mynteye_WITH_API)
   message(FATAL_ERROR "Must with API layer :(")
 endif()
 
-<<<<<<< HEAD
-include(${SDK_DIR}/cmake/DetectOpenCV.cmake)
-
-if(mynteye_WITH_GLOG)
-  include(${SDK_DIR}/cmake/DetectGLog.cmake)
-=======
 include(cmake/DetectOpenCV.cmake)
 
 if(mynteye_WITH_GLOG)
@@ -104,7 +95,6 @@ if(mynteye_WITH_GLOG)
   if(glog_FOUND)
     add_definitions(-DWITH_GLOG)
   endif()
->>>>>>> origin/develop
 endif()
 
 # targets

From 7a9f9139fdc230040f01954dcd7cdbe7edd3da20 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Tue, 27 Nov 2018 14:50:12 +0800
Subject: [PATCH 64/96] Successful first compilation after merge

---
 include/mynteye/api/api.h                     |  5 ++++
 include/mynteye/device/callbacks.h            | 15 ++++++++++
 include/mynteye/device/device.h               |  7 +++--
 src/mynteye/api/api.cc                        |  4 +++
 src/mynteye/api/synthetic.cc                  |  2 ++
 src/mynteye/device/channels.cc                |  6 ++--
 src/mynteye/device/channels.h                 |  6 +++-
 src/mynteye/device/device.cc                  |  6 ++--
 tools/dataset/CMakeLists.txt                  | 10 +++----
 tools/dataset/dataset.cc                      | 29 ++++++++++++-------
 tools/writer/device_writer.h                  |  4 +--
 .../src/wrapper_nodelet.cc                    | 13 +++++----
 12 files changed, 75 insertions(+), 32 deletions(-)

diff --git a/include/mynteye/api/api.h b/include/mynteye/api/api.h
index c86e9e8..3accde8 100644
--- a/include/mynteye/api/api.h
+++ b/include/mynteye/api/api.h
@@ -213,6 +213,11 @@ class MYNTEYE_API API {
    */
   bool RunOptionAction(const Option &option) const;
 
+  /**
+   * Init device resolution.
+   */
+  void InitResolution(const Resolution &res);
+
   /**
    * Set the callback of stream.
    */
diff --git a/include/mynteye/device/callbacks.h b/include/mynteye/device/callbacks.h
index f1775ce..0019433 100644
--- a/include/mynteye/device/callbacks.h
+++ b/include/mynteye/device/callbacks.h
@@ -19,6 +19,7 @@
 
 #include <algorithm>
 #include <functional>
+#include <map>
 #include <memory>
 #include <vector>
 
@@ -29,6 +30,20 @@ MYNTEYE_BEGIN_NAMESPACE
 
 namespace device {
 
+typedef struct ImgParams {
+  bool ok;
+  std::map<Resolution, Intrinsics> in_left_map;
+  std::map<Resolution, Intrinsics> in_right_map;
+  Extrinsics ex_right_to_left;
+} img_params_t;
+
+typedef struct ImuParams {
+  bool ok;
+  ImuIntrinsics in_accel;
+  ImuIntrinsics in_gyro;
+  Extrinsics ex_left_to_imu;
+} imu_params_t;
+
 /**
  * @ingroup datatypes
  * Frame with raw data.
diff --git a/include/mynteye/device/device.h b/include/mynteye/device/device.h
index 46c7b1a..4e9b6f3 100644
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -66,6 +66,9 @@ class MYNTEYE_API Device {
   using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
   using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;
 
+  using img_params_t = device::img_params_t;
+  using imu_params_t = device::imu_params_t;
+
   Device(const Model &model, std::shared_ptr<uvc::device> device);
   virtual ~Device();
 
@@ -263,7 +266,7 @@ class MYNTEYE_API Device {
   /**
    * Get the device img params
    */
-  Channels::img_params_t GetImgParams();
+  img_params_t GetImgParams();
 
  protected:
   std::shared_ptr<uvc::device> device() const {
@@ -310,7 +313,7 @@ class MYNTEYE_API Device {
   std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
   std::map<Stream, Extrinsics> motion_from_extrinsics_;
 
-  Channels::img_params_t img_params_;
+  img_params_t img_params_;
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
diff --git a/src/mynteye/api/api.cc b/src/mynteye/api/api.cc
index b839500..a74df26 100644
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@@ -287,6 +287,10 @@ bool API::Supports(const AddOns &addon) const {
   return device_->Supports(addon);
 }
 
+void API::InitResolution(const Resolution &res) {
+  return device_->InitResolution(res);
+}
+
 void API::SetStreamRequest(const Format &format, const FrameRate &rate) {
   device_->SetStreamRequest(format, rate);
 }
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index ebac2ee..35ab9a5 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -17,6 +17,8 @@
 #include <functional>
 #include <stdexcept>
 
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include "mynteye/logger.h"
 #include "mynteye/api/object.h"
 #include "mynteye/api/plugin.h"
diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index d6188e9..48a0998 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -565,7 +565,7 @@ std::size_t from_data(
 
 // TODO(Kalman): Is there a more elegant way?
 std::size_t from_data(
-    Channels::img_params_t *img_params, const std::uint8_t *data,
+    device::img_params_t *img_params, const std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 0;
 
@@ -600,7 +600,7 @@ std::size_t from_data(
 }
 
 std::size_t from_data(
-    Channels::imu_params_t *imu_params, const std::uint8_t *data,
+    device::imu_params_t *imu_params, const std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 0;
   i += from_data(&imu_params->in_accel, data + i, spec_version);
@@ -864,7 +864,7 @@ std::size_t to_data(
 }
 
 std::size_t to_data(
-    const Channels::img_params_t *img_params, std::uint8_t *data,
+    const device::img_params_t *img_params, std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 3;  // skip id, size
 
diff --git a/src/mynteye/device/channels.h b/src/mynteye/device/channels.h
index 881fca9..86dccdb 100644
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -21,6 +21,7 @@
 
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
+#include "mynteye/device/device.h"
 #include "mynteye/device/types.h"
 #include "mynteye/uvc/uvc.h"
 
@@ -67,6 +68,9 @@ class MYNTEYE_API Channels {
 
   using device_info_t = DeviceInfo;
 
+  using imu_params_t = device::imu_params_t;
+  using img_params_t = device::img_params_t;
+/*
   typedef struct ImgParams {
     bool ok;
     std::map<Resolution, Intrinsics> in_left_map;
@@ -80,7 +84,7 @@ class MYNTEYE_API Channels {
     ImuIntrinsics in_gyro;
     Extrinsics ex_left_to_imu;
   } imu_params_t;
-
+*/
   explicit Channels(std::shared_ptr<uvc::device> device);
   ~Channels();
 
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index 5c3c9dd..7041168 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -557,8 +557,8 @@ void Device::ReadAllInfos() {
   device_info_ = std::make_shared<DeviceInfo>();
 
   CHECK_NOTNULL(channels_);
-  Channels::imu_params_t imu_params;
-  if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
+  Device::imu_params_t imu_params;
+  if (!channels_->GetFiles(device_info_.get(), &img_params_, &imu_params)) {
 #if defined(WITH_DEVICE_INFO_REQUIRED)
     LOG(FATAL)
 #else
@@ -629,7 +629,7 @@ void Device::CallbackMotionData(const device::MotionData &data) {
   }
 }
 
-Channels::img_params_t Device::GetImgParams() {
+Device::img_params_t Device::GetImgParams() {
   return img_params_;
 }
 
diff --git a/tools/dataset/CMakeLists.txt b/tools/dataset/CMakeLists.txt
index b6bb217..54399da 100644
--- a/tools/dataset/CMakeLists.txt
+++ b/tools/dataset/CMakeLists.txt
@@ -26,11 +26,11 @@ include_directories(
 
 ## record
 
-make_executable(record
-  SRCS record.cc dataset.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)
+# make_executable(record
+#  SRCS record.cc dataset.cc
+#  LINK_LIBS mynteye ${OpenCV_LIBS}
+#  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+#)
 
 make_executable(record2
   SRCS record2.cc dataset.cc
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 5b63475..407b6b9 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -13,11 +13,8 @@
 // limitations under the License.
 #include "dataset/dataset.h"
 
-#ifdef WITH_OPENCV2
 #include <opencv2/highgui/highgui.hpp>
-#else
-#include <opencv2/imgcodecs/imgcodecs.hpp>
-#endif
+#include <opencv2/imgproc/imgproc.hpp>
 
 #include <iomanip>
 #include <limits>
@@ -135,14 +132,24 @@ void Dataset::SaveStreamData(
 
 void Dataset::SaveMotionData(const api::MotionData &data) {
   auto &&writer = GetMotionWriter();
+  // auto seq = data.imu->serial_number;
   auto seq = motion_count_;
-  writer->ofs << seq << ", " << data.imu->frame_id << ", "
-              << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
-              << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
-              << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
-              << data.imu->gyro[2] << ", " << data.imu->temperature
-              << std::endl;
-  ++motion_count_;
+  if (data.imu->flag == 1 || data.imu->flag == 2) {
+    writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
+                << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
+                << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
+                << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
+                << data.imu->gyro[2] << ", " << data.imu->temperature
+                << std::endl;
+    ++motion_count_;
+  }
+  /*
+  if(motion_count_ != seq) {
+    LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
+  << " seq: " << seq;
+    motion_count_ = seq;
+  }
+  */
 }
 
 Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
diff --git a/tools/writer/device_writer.h b/tools/writer/device_writer.h
index f15130f..5e443e0 100644
--- a/tools/writer/device_writer.h
+++ b/tools/writer/device_writer.h
@@ -31,8 +31,8 @@ namespace tools {
 class DeviceWriter {
  public:
   using dev_info_t = DeviceInfo;
-  using img_params_t = Channels::img_params_t;
-  using imu_params_t = Channels::imu_params_t;
+  using img_params_t = device::img_params_t;
+  using imu_params_t = device::imu_params_t;
 
   explicit DeviceWriter(std::shared_ptr<Device> device);
   ~DeviceWriter();
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 81bcd72..aac3965 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
@@ -72,11 +72,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
       if (imu_time_beg_ != -1) {
         if (publish_imu_by_sync_) {
-          LOG(INFO) << "imu_sync_count: " << imu_sync_count_
-                    << ", hz: " << (imu_sync_count_ / time_elapsed);
+          LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
+                    << (imu_sync_count_ /
+                    compute_time(time_end, imu_time_beg_));
         } else {
-          LOG(INFO) << "Imu count: " << imu_count_
-                    << ", hz: " << (imu_count_ / time_elapsed);
+          LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
+                    << (imu_count_ /
+                    compute_time(time_end, imu_time_beg_));
+        }
       }
 
       // ROS messages could not be reliably printed here, using glog instead :(
@@ -208,7 +211,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
 
     camera_encodings_ = {{Stream::LEFT, enc::BGR8},
-                         {Stream::RIGHT, enc::BGR8}
+                         {Stream::RIGHT, enc::BGR8},
                          {Stream::LEFT_RECTIFIED, enc::BGR8},
                          {Stream::RIGHT_RECTIFIED, enc::BGR8},
                          {Stream::DISPARITY, enc::MONO8},  // float

From c7f1cb718ea1b0ad3c082f3fb12931d40915b659 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Tue, 27 Nov 2018 15:01:58 +0800
Subject: [PATCH 65/96] Fix ros bug

---
 .../ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch    | 8 --------
 .../ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc   | 2 +-
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index ff53e61..1b46e8d 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -84,14 +84,6 @@
   <arg name="gyro_low_filter" default="-1" />
   <!-- <arg name="gyro_low_filter" default="64" /> -->
 
-  <!-- accel_range range: {4,8,16,32} -->
-  <arg name="accel_range" default="-1" />
-  <!-- <arg name="accel_range" default="8" /> -->
-
-  <!-- gyro_range range: {500,1000,2000,4000} -->
-  <arg name="gyro_range" default="-1" />
-  <!-- <arg name="gyro_range" default="1000" /> -->
-
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
 
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 aac3965..9b2e908 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
@@ -409,7 +409,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
             ++right_count_;
             publishCamera(Stream::RIGHT, data, right_count_, stamp);
-            publishMono(Stream::LEFT, data, left_count_, stamp);
+            publishMono(Stream::RIGHT, data, right_count_, stamp);
             NODELET_DEBUG_STREAM(
                 Stream::RIGHT
                 << ", count: " << right_count_ << ", frame_id: "

From ce76b16c078b4b32704dc005d2cb6469aeebd96c Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Tue, 27 Nov 2018 15:04:16 +0800
Subject: [PATCH 66/96] Fix imu_range bug

---
 samples/tutorials/control/imu_range.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/samples/tutorials/control/imu_range.cc b/samples/tutorials/control/imu_range.cc
index 0b0ba32..1830248 100644
--- a/samples/tutorials/control/imu_range.cc
+++ b/samples/tutorials/control/imu_range.cc
@@ -26,9 +26,9 @@ int main(int argc, char *argv[]) {
   if (!api)
     return 1;
 
-  // ACCELEROMETER_RANGE values: 4, 8, 16, 32
-  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
-  // GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
+  // ACCELEROMETER_RANGE values: 6, 12, 24, 32
+  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
+  // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
   api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
 
   LOG(INFO) << "Set ACCELEROMETER_RANGE to "

From 4c291588ab1faa119968414e8be5c01e5a526cfd Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Tue, 27 Nov 2018 16:00:52 +0800
Subject: [PATCH 67/96] Fix record bug

---
 tools/dataset/record2.cc | 60 +++++++++++++++++++++++-----------------
 1 file changed, 34 insertions(+), 26 deletions(-)

diff --git a/tools/dataset/record2.cc b/tools/dataset/record2.cc
index 48b8bfd..4f8c647 100644
--- a/tools/dataset/record2.cc
+++ b/tools/dataset/record2.cc
@@ -29,23 +29,6 @@ int main(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device)
     return 1;
-  /*
-  {  // auto-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
-    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
-    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
-    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
-  }
-  {  // manual-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
-    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
-    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
-    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
-  }
-  device->SetOptionValue(Option::IR_CONTROL, 80);
-  device->SetOptionValue(Option::FRAME_RATE, 25);
-  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  */
   device->InitResolution(Resolution::RES_1280x400);
   device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   device->LogOptionInfos();
@@ -79,17 +62,42 @@ int main(int argc, char *argv[]) {
 
     auto &&left_frame = left_datas.back().frame;
     auto &&right_frame = right_datas.back().frame;
-    cv::Mat left_img(
-        left_frame->height(), left_frame->width(), CV_8UC1, left_frame->data());
-    cv::Mat right_img(
-        right_frame->height(), right_frame->width(), CV_8UC1,
-        right_frame->data());
 
     cv::Mat img;
-    cv::hconcat(left_img, right_img, img);
-    cv::imshow("frame", img);
 
-    {  // save
+    if (left_frame->format() == Format::GREY) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC1,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC1,
+          right_frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_frame->format() == Format::YUYV) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC2,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC2,
+          right_frame->data());
+      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_frame->format() == Format::BGR888) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC3,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC3,
+          right_frame->data());
+      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
+      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
+      cv::hconcat(left_img, right_img, img);
+    } else {
+      return -1;
+    }
+    cv::imshow("frame", img);
+    if (img_count > 10 && imu_count > 50) {  // save
       for (auto &&left : left_datas) {
         dataset.SaveStreamData(Stream::LEFT, left);
       }
@@ -125,4 +133,4 @@ int main(int argc, char *argv[]) {
   LOG(INFO) << "Imu count: " << imu_count
             << ", hz: " << (1000.f * imu_count / elapsed_ms);
   return 0;
-}
+}
\ No newline at end of file

From b625dca3df8bbaf3ac7a1e802d0cb87feb9ec0bf Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 27 Nov 2018 18:00:22 +0800
Subject: [PATCH 68/96] Do samll change

---
 include/mynteye/types.h | 6 +++---
 samples/api/camera.cc   | 3 ---
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 201a497..5d3dc38 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -165,19 +165,19 @@ enum class Option : std::uint8_t {
   /**
    * Max gain, valid if auto-exposure
    *
-   *   range: [0,48], default: 48
+   *   range: [0,255], default: 8
    */
   MAX_GAIN,
   /**
    * Max exposure time, valid if auto-exposure
    *
-   *   range: [0,240], default: 240
+   *   range: [0,1000], default: 333
    */
   MAX_EXPOSURE_TIME,
   /**
    * Desired brightness, valid if auto-exposure
    *
-   *   range: [0,255], default: 192
+   *   range: [1,255], default: 122
    */
   DESIRED_BRIGHTNESS,
   /**
diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 3fd182b..8a18b8f 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -24,9 +24,6 @@ int main(int argc, char *argv[]) {
   if (!api)
     return 1;
   api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
-  // api->SetOptionValue(Option::FRAME_RATE, 25);
-  // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  api->SetOptionValue(Option::IR_CONTROL, 80);
   api->LogOptionInfos();
 
   std::size_t left_count = 0;

From 35e069a858bcb36ddbb0bf101b4d6412d4def622 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 28 Nov 2018 10:55:27 +0800
Subject: [PATCH 69/96] Fix record rgb888 bug

---
 tools/dataset/dataset.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 407b6b9..9a3a382 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -80,7 +80,7 @@ void Dataset::SaveStreamData(
       cv::Mat img(
           data.frame->height(), data.frame->width(), CV_8UC3,
           data.frame->data());
-      cv::cvtColor(img, img, CV_BGR2RGB);
+      // cv::cvtColor(img, img, CV_BGR2RGB);
       cv::imwrite(ss.str(), img);
     } else {
       cv::Mat img(

From 2a1232647a6f4d8f9c8ff19e48136bc635aafe28 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Thu, 29 Nov 2018 11:02:31 +0800
Subject: [PATCH 70/96] Fix mono topic bug

---
 .../ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc     | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

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 7614615..8245c22 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
@@ -371,7 +371,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
   void publishTopics() {
-    if (camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 &&
+    if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
+        mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
         !is_published_[Stream::LEFT]) {
       api_->SetStreamCallback(
           Stream::LEFT, [this](const api::StreamData &data) {
@@ -401,7 +402,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       is_published_[Stream::LEFT] = true;
     }
 
-    if (camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 &&
+    if ((camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 ||
+        mono_publishers_[Stream::RIGHT].getNumSubscribers() > 0) &&
         !is_published_[Stream::RIGHT]) {
       api_->SetStreamCallback(
           Stream::RIGHT, [this](const api::StreamData &data) {

From 04f32f21ba5046c1e8a329480d4a5cba9869fec3 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Wed, 5 Dec 2018 20:43:50 +0800
Subject: [PATCH 71/96] Update mynteye.launch

---
 include/mynteye/types.h                       | 33 ++++---------------
 .../launch/mynteye.launch                     | 26 +++++++++++++++
 .../src/wrapper_nodelet.cc                    | 22 ++++++++-----
 3 files changed, 47 insertions(+), 34 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 5d3dc38..6b1c192 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -280,15 +280,15 @@ enum class Resolution : std::uint8_t {
  */
 enum class FrameRate : std::uint8_t {
   /** 10 fps */
-  RATE_10_FPS,
+  RATE_10_FPS = 10,
   /** 20 fps */
-  RATE_20_FPS,
+  RATE_20_FPS = 20,
   /** 20 fps */
-  RATE_25_FPS,
+  RATE_25_FPS = 25,
   /** 30 fps */
-  RATE_30_FPS,
+  RATE_30_FPS = 30,
   /** 60 fps */
-  RATE_60_FPS,
+  RATE_60_FPS = 60,
   /** Last guard */
   LAST
 };
@@ -372,6 +372,8 @@ struct MYNTEYE_API StreamRequest {
 
   StreamRequest(Resolution res, Format format, FrameRate rate)
       : format(format) {
+    fps = static_cast<uint16_t>(rate);
+
     switch (res) {
       case Resolution::RES_752x480:
         width = 480, height = 752;
@@ -386,27 +388,6 @@ struct MYNTEYE_API StreamRequest {
         width = 480, height = 752;
         break;
     }
-
-    switch (rate) {
-      case FrameRate::RATE_10_FPS:
-        fps = 10;
-        break;
-      case FrameRate::RATE_20_FPS:
-        fps = 20;
-        break;
-      case FrameRate::RATE_25_FPS:
-        fps = 25;
-        break;
-      case FrameRate::RATE_30_FPS:
-        fps = 30;
-        break;
-      case FrameRate::RATE_60_FPS:
-        fps = 60;
-        break;
-      default:
-        fps = 25;
-        break;
-    }
   }
 
   bool operator==(const StreamRequest &other) const {
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index 1b46e8d..1b892b8 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -35,6 +35,27 @@
 
   <!-- stream toggles -->
 
+  <!-- Resolution -->
+  <arg name="res_752x480"    default="0" />
+  <arg name="res_1280x400"   default="1" />
+  <arg name="res_2560x800"   default="2" />
+
+  <!-- FrameRate -->
+  <arg name="rate_10_fps"   default="10" />
+  <arg name="rate_20_fps"   default="20" />
+  <arg name="rate_25_fps"   default="25" />
+  <arg name="rate_30_fps"   default="30" />
+  <arg name="rate_60_fps"   default="60" />
+
+  <!-- Format -->
+  <arg name="grey"    default="1497715271" />
+  <arg name="yuyv"   default="1497715271" />
+  <arg name="bgr888"   default="861030210" />
+
+  <arg name="resolution" default="$(arg res_1280x400)" />
+  <arg name="framerate" default="$(arg rate_30_fps)" />
+  <arg name="format" default="$(arg bgr888)" />
+
   <arg name="enable_left_rect" default="false" />
   <arg name="enable_right_rect" default="false" />
   <arg name="enable_disparity" default="false" />
@@ -130,6 +151,11 @@
       <param name="enable_points" value="$(arg enable_points)" />
       <param name="enable_depth" value="$(arg enable_depth)" />
 
+      <!-- init params -->
+      <param name="resolution" value="$(arg resolution)" />
+      <param name="framerate" value="$(arg framerate)" />
+      <param name="format" value="$(arg format)" />
+
       <!-- device options -->
 
       <param name="brightness" value="$(arg brightness)" />
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 8245c22..f5dc5f5 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
@@ -103,11 +103,18 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
   void onInit() override {
-    initDevice();
-    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
-
     nh_ = getMTNodeHandle();
     private_nh_ = getMTPrivateNodeHandle();
+    int resolution = 0;
+    int format = 0;
+    int framerate = 20;
+    private_nh_.getParam("resolution", resolution);
+    private_nh_.getParam("framerate", framerate);
+    private_nh_.getParam("format", format);
+    frame_rate_ = framerate;
+
+    initDevice(resolution, format, framerate);
+    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
 
     // node params
 
@@ -186,7 +193,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
       NODELET_INFO_STREAM(it->first << ": " << api_->GetOptionValue(it->first));
     }
-    frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
 
     // publishers
 
@@ -717,7 +723,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
  private:
-  void initDevice() {
+  void initDevice(int resolution, int format, int framerate) {
     NODELET_INFO_STREAM("Detecting MYNT EYE devices");
 
     Context context;
@@ -752,8 +758,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
     }
 
-    api_ = API::Create(device, Resolution::RES_1280x400);
-    api_->SetStreamRequest(Format::BGR888, FrameRate::RATE_20_FPS);
+    api_ = API::Create(device, static_cast<Resolution>(resolution));
+    api_->SetStreamRequest(static_cast<Format>(format),
+                            static_cast<FrameRate>(framerate));
 
     computeRectTransforms();
   }
@@ -765,7 +772,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     auto &&ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);
 
     cv::Size size{in_left.width, in_left.height};
-
     cv::Mat M1 =
         (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
          in_left.cy, 0, 0, 1);

From f59c918e81ffca42cfd6d4d1095cd7e5c7dd28b7 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech,com>
Date: Fri, 14 Dec 2018 16:10:22 +0800
Subject: [PATCH 72/96] Support windows

---
 src/mynteye/uvc/win/uvc-wmf.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/mynteye/uvc/win/uvc-wmf.cc b/src/mynteye/uvc/win/uvc-wmf.cc
index a425ead..d6cf9fe 100644
--- a/src/mynteye/uvc/win/uvc-wmf.cc
+++ b/src/mynteye/uvc/win/uvc-wmf.cc
@@ -64,7 +64,8 @@ namespace uvc {
 
 const std::map<uint32_t, uint32_t> fourcc_map = {
   { 0x56595559, 0x32595559 },  // 'VYUY' => '2YUY'
-  { 0x59555956, 0x59555932 }   // 'YUYV' => 'YUY2'
+  { 0x59555956, 0x59555932 },  // 'YUYV' => 'YUY2'
+  { 0x33524742, 0x14 }
 };
 
 struct throw_error {
@@ -756,6 +757,7 @@ void set_device_mode(device &device, int width, int height, int fourcc, int fps,
     check("IMFMediaType::GetGUID", media_type->GetGUID(MF_MT_SUBTYPE, &subtype));
     if (subtype.Data1 != fourcc) continue;
 
+    check("MFSetAttributeRatio", MFSetAttributeRatio(media_type, MF_MT_FRAME_RATE, fps, 1));
     check("MFGetAttributeRatio", MFGetAttributeRatio(media_type, MF_MT_FRAME_RATE, &uvc_fps_num, &uvc_fps_denom));
     if (uvc_fps_denom == 0) continue;
     //int uvc_fps = uvc_fps_num / uvc_fps_denom;

From 61b0d852921eb3bd2b2787dd73e40e03f8b7f853 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Tue, 18 Dec 2018 10:44:26 +0800
Subject: [PATCH 73/96] Update for tutoyials

---
 samples/tutorials/CMakeLists.txt              |  1 -
 samples/tutorials/control/auto_exposure.cc    | 19 +++---
 samples/tutorials/control/framerate.cc        | 26 +-------
 samples/tutorials/control/infrared.cc         | 61 -------------------
 samples/tutorials/control/manual_exposure.cc  |  9 +--
 src/mynteye/device/utils.cc                   |  4 +-
 .../src/wrapper_nodelet.cc                    |  7 ++-
 7 files changed, 23 insertions(+), 104 deletions(-)
 delete mode 100644 samples/tutorials/control/infrared.cc

diff --git a/samples/tutorials/CMakeLists.txt b/samples/tutorials/CMakeLists.txt
index 8640f9a..0f1b804 100644
--- a/samples/tutorials/CMakeLists.txt
+++ b/samples/tutorials/CMakeLists.txt
@@ -124,7 +124,6 @@ make_executable2(ctrl_manual_exposure
   SRCS control/manual_exposure.cc util/cv_painter.cc
   WITH_OPENCV
 )
-make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 
 # intermediate level
 
diff --git a/samples/tutorials/control/auto_exposure.cc b/samples/tutorials/control/auto_exposure.cc
index 0a18547..bc233dd 100644
--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@@ -24,16 +24,19 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
 
   // auto-exposure: 0
   api->SetOptionValue(Option::EXPOSURE_MODE, 0);
 
-  // max_gain: range [0,48], default 48
-  api->SetOptionValue(Option::MAX_GAIN, 48);
-  // max_exposure_time: range [0,240], default 240
-  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
-  // desired_brightness: range [0,255], default 192
-  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
+  // max_gain: range [0,255], default 8
+  api->SetOptionValue(Option::MAX_GAIN, 8);
+  // max_exposure_time: range [0,1000], default 333
+  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333);
+  // desired_brightness: range [1,255], default 122
+  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122);
+  // min_exposure_time: range [0,1000], default 0
+  api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0);
 
   LOG(INFO) << "Enable auto-exposure";
   LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
@@ -41,10 +44,12 @@ int main(int argc, char *argv[]) {
             << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
   LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
             << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
+  LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
+            << api->GetOptionValue(Option::MIN_EXPOSURE_TIME);
 
   api->Start(Source::VIDEO_STREAMING);
 
-  CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));
+  CVPainter painter(30);
 
   cv::namedWindow("frame");
 
diff --git a/samples/tutorials/control/framerate.cc b/samples/tutorials/control/framerate.cc
index 3236bf0..9867952 100644
--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@@ -22,22 +22,11 @@
 MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
-  auto &&api = API::Create(argc, argv);
+  auto &&api = API::Create(Resolution::RES_1280x400);
+  // auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-
-  // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
-  // succeed.
-
-  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
-  api->SetOptionValue(Option::FRAME_RATE, 25);
-  // IMU_FREQUENCY values: 100, 200, 250, 333, 500
-  api->SetOptionValue(Option::IMU_FREQUENCY, 500);
-
-  LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE);
-  LOG(INFO) << "Set IMU_FREQUENCY to "
-            << api->GetOptionValue(Option::IMU_FREQUENCY);
-
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   // Count img
   std::atomic_uint img_count(0);
   api->SetStreamCallback(
@@ -46,13 +35,6 @@ int main(int argc, char *argv[]) {
         ++img_count;
       });
 
-  // Count imu
-  std::atomic_uint imu_count(0);
-  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
-    CHECK_NOTNULL(data.imu);
-    ++imu_count;
-  });
-
   api->Start(Source::ALL);
 
   cv::namedWindow("frame");
@@ -85,7 +67,5 @@ int main(int argc, char *argv[]) {
             << ", cost: " << elapsed_ms << "ms";
   LOG(INFO) << "Img count: " << img_count
             << ", fps: " << (1000.f * img_count / elapsed_ms);
-  LOG(INFO) << "Imu count: " << imu_count
-            << ", hz: " << (1000.f * imu_count / elapsed_ms);
   return 0;
 }
diff --git a/samples/tutorials/control/infrared.cc b/samples/tutorials/control/infrared.cc
deleted file mode 100644
index a6310a7..0000000
--- a/samples/tutorials/control/infrared.cc
+++ /dev/null
@@ -1,61 +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 <opencv2/highgui/highgui.hpp>
-
-#include "mynteye/logger.h"
-#include "mynteye/api/api.h"
-
-MYNTEYE_USE_NAMESPACE
-
-int main(int argc, char *argv[]) {
-  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-
-  // Detect infrared add-ons
-  LOG(INFO) << "Support infrared: " << std::boolalpha
-            << api->Supports(AddOns::INFRARED);
-  LOG(INFO) << "Support infrared2: " << std::boolalpha
-            << api->Supports(AddOns::INFRARED2);
-
-  // Get infrared intensity range
-  auto &&info = api->GetOptionInfo(Option::IR_CONTROL);
-  LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}";
-
-  // Set infrared intensity value
-  api->SetOptionValue(Option::IR_CONTROL, 80);
-
-  api->Start(Source::VIDEO_STREAMING);
-
-  cv::namedWindow("frame");
-
-  while (true) {
-    api->WaitForStreams();
-
-    auto &&left_data = api->GetStreamData(Stream::LEFT);
-    auto &&right_data = api->GetStreamData(Stream::RIGHT);
-
-    cv::Mat img;
-    cv::hconcat(left_data.frame, right_data.frame, img);
-    cv::imshow("frame", img);
-
-    char key = static_cast<char>(cv::waitKey(1));
-    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
-      break;
-    }
-  }
-
-  api->Stop(Source::VIDEO_STREAMING);
-  return 0;
-}
diff --git a/samples/tutorials/control/manual_exposure.cc b/samples/tutorials/control/manual_exposure.cc
index 16ce32e..f513a4a 100644
--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@@ -24,25 +24,20 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
 
   // manual-exposure: 1
   api->SetOptionValue(Option::EXPOSURE_MODE, 1);
 
-  // gain: range [0,48], default 24
-  api->SetOptionValue(Option::GAIN, 24);
   // brightness/exposure_time: range [0,240], default 120
   api->SetOptionValue(Option::BRIGHTNESS, 120);
-  // contrast/black_level_calibration: range [0,255], default 127
-  api->SetOptionValue(Option::CONTRAST, 127);
 
   LOG(INFO) << "Enable manual-exposure";
-  LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
   LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS);
-  LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);
 
   api->Start(Source::VIDEO_STREAMING);
 
-  CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));
+  CVPainter painter(30);
 
   cv::namedWindow("frame");
 
diff --git a/src/mynteye/device/utils.cc b/src/mynteye/device/utils.cc
index 529ccca..534249a 100644
--- a/src/mynteye/device/utils.cc
+++ b/src/mynteye/device/utils.cc
@@ -36,7 +36,7 @@ std::shared_ptr<Device> select() {
     LOG(ERROR) << "No MYNT EYE devices :(";
     return nullptr;
   }
-/*
+
   LOG(INFO) << "MYNT EYE devices:";
   for (size_t i = 0; i < n; i++) {
     auto &&device = devices[i];
@@ -44,7 +44,7 @@ std::shared_ptr<Device> select() {
               << ", name: " << device->GetInfo(Info::DEVICE_NAME)
               << ", sn: " << device->GetInfo(Info::SERIAL_NUMBER);
   }
-*/
+
   std::shared_ptr<Device> device = nullptr;
   if (n <= 1) {
     device = devices[0];
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 f5dc5f5..7142a2e 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
@@ -348,9 +348,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       api_->EnableStreamData(Stream::POINTS);
       api_->SetStreamCallback(
           Stream::POINTS, [this](const api::StreamData &data) {
+            ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
             static std::size_t count = 0;
             ++count;
-            publishPoints(data, count, ros::Time::now());
+            publishPoints(data, count, stamp);
           });
       is_published_[Stream::POINTS] = true;
     }
@@ -367,10 +368,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       api_->EnableStreamData(stream);
       api_->SetStreamCallback(
           stream, [this, stream](const api::StreamData &data) {
-            // data.img is null, not hard timestamp
+            ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
             static std::size_t count = 0;
             ++count;
-            publishCamera(stream, data, count, ros::Time::now());
+            publishCamera(stream, data, count, stamp);
           });
       is_published_[stream] = true;
     }

From ac460c5bb54b6bc4e7df2b03908744972c468ff6 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Wed, 19 Dec 2018 16:02:19 +0800
Subject: [PATCH 74/96] refactor(src): remove redundant files

---
 src/public/miniglog.cc     |  41 --------
 src/public/miniglog.readme |   3 -
 src/uvc/uvc-libuvc.cc      | 199 -------------------------------------
 3 files changed, 243 deletions(-)
 delete mode 100644 src/public/miniglog.cc
 delete mode 100644 src/public/miniglog.readme
 delete mode 100644 src/uvc/uvc-libuvc.cc

diff --git a/src/public/miniglog.cc b/src/public/miniglog.cc
deleted file mode 100644
index 0bda4be..0000000
--- a/src/public/miniglog.cc
+++ /dev/null
@@ -1,41 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// 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;
-
-int log_severity_global(INFO);
-
-}  // namespace google
diff --git a/src/public/miniglog.readme b/src/public/miniglog.readme
deleted file mode 100644
index e10b189..0000000
--- a/src/public/miniglog.readme
+++ /dev/null
@@ -1,3 +0,0 @@
-miniglog:
-  * https://github.com/arpg/miniglog
-  * https://github.com/tzutalin/miniglog
diff --git a/src/uvc/uvc-libuvc.cc b/src/uvc/uvc-libuvc.cc
deleted file mode 100644
index 5ec0896..0000000
--- a/src/uvc/uvc-libuvc.cc
+++ /dev/null
@@ -1,199 +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 "uvc/uvc.h"  // NOLINT
-
-#include <libuvc/libuvc.h>
-
-#include "mynteye/logger.h"
-// #define ENABLE_DEBUG_SPAM
-
-MYNTEYE_BEGIN_NAMESPACE
-
-namespace uvc {
-
-static void check(const char *call, uvc_error_t status) {
-  LOG_IF(FATAL, status < 0)
-      << call << "(...) returned " << uvc_strerror(status);
-}
-#define CALL_UVC(name, ...) check(#name, name(__VA_ARGS__))
-
-struct context {
-  uvc_context_t *ctx;
-
-  context() : ctx(nullptr) {
-    VLOG(2) << __func__;
-    CALL_UVC(uvc_init, &ctx, nullptr);
-  }
-
-  ~context() {
-    VLOG(2) << __func__;
-    if (ctx)
-      uvc_exit(ctx);
-  }
-};
-
-struct device {
-  const std::shared_ptr<context> parent;
-
-  uvc_device_t *uvcdevice = nullptr;
-  uvc_device_handle_t *handle = nullptr;
-
-  int vid, pid;
-
-  device(std::shared_ptr<context> parent, uvc_device_t *uvcdevice)
-      : parent(parent), uvcdevice(uvcdevice) {
-    VLOG(2) << __func__;
-    open();
-
-    uvc_device_descriptor_t *desc;
-    CALL_UVC(uvc_get_device_descriptor, uvcdevice, &desc);
-    vid = desc->idVendor;
-    pid = desc->idProduct;
-    uvc_free_device_descriptor(desc);
-  }
-
-  ~device() {
-    VLOG(2) << __func__;
-    if (handle)
-      uvc_close(handle);
-    if (uvcdevice)
-      uvc_unref_device(uvcdevice);
-  }
-
-  void open() {
-    if (!handle)
-      CALL_UVC(uvc_open, uvcdevice, &handle);
-  }
-};
-
-std::shared_ptr<context> create_context() {
-  return std::make_shared<context>();
-}
-
-std::vector<std::shared_ptr<device>> query_devices(
-    std::shared_ptr<context> context) {
-  std::vector<std::shared_ptr<device>> devices;
-
-  uvc_device_t **list;
-  CALL_UVC(uvc_get_device_list, context->ctx, &list);
-  for (auto it = list; *it; ++it) {
-    try {
-      auto dev = std::make_shared<device>(context, *it);
-      devices.push_back(dev);
-    } catch (std::runtime_error &e) {
-      LOG(WARNING) << "usb:" << static_cast<int>(uvc_get_bus_number(*it)) << ':'
-                   << static_cast<int>(uvc_get_device_address(*it)) << ": "
-                   << e.what();
-    }
-  }
-  uvc_free_device_list(list, 1);
-
-  return devices;
-}
-
-int get_vendor_id(const device &device) {
-  return device.vid;
-}
-
-int get_product_id(const device &device) {
-  return device.pid;
-}
-
-std::string get_name(const device &device) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  return "";
-}
-
-std::string get_video_name(const device &device) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  return "";
-}
-
-bool pu_control_range(
-    const device &device, Option option, int32_t *min, int32_t *max,
-    int32_t *def) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(option)
-  UNUSED(min)
-  UNUSED(max)
-  UNUSED(def)
-  return false;
-}
-
-bool pu_control_query(
-    const device &device, Option option, pu_query query, int32_t *value) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(option)
-  UNUSED(query)
-  UNUSED(value)
-  return false;
-}
-
-bool xu_control_range(
-    const device &device, const xu &xu, uint8_t selector, uint8_t id, int32_t *min,
-    int32_t *max, int32_t *def) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(xu)
-  UNUSED(selector)
-  UNUSED(id)
-  UNUSED(min)
-  UNUSED(max)
-  UNUSED(def)
-  return false;
-}
-
-bool xu_control_query(
-    const device &device, const xu &xu, uint8_t selector, xu_query query,
-    uint16_t size, uint8_t *data) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(xu)
-  UNUSED(selector)
-  UNUSED(query)
-  UNUSED(size)
-  UNUSED(data)
-  return false;
-}
-
-void set_device_mode(
-    device &device, int width, int height, int fourcc, int fps,  // NOLINT
-    video_channel_callback callback) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(width)
-  UNUSED(height)
-  UNUSED(fourcc)
-  UNUSED(fps)
-  UNUSED(callback)
-}
-
-void start_streaming(device &device, int num_transfer_bufs) {  // NOLINT
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(num_transfer_bufs)
-}
-
-void stop_streaming(device &device) {  // NOLINT
-  // TODO(JohnZhao)
-  UNUSED(device)
-}
-
-}  // namespace uvc
-
-MYNTEYE_END_NAMESPACE

From 403ecff01ea9b13684f1f7b43972867ea4daed35 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Wed, 19 Dec 2018 17:04:16 +0800
Subject: [PATCH 75/96] Convert format by mainipulating pixels

---
 samples/device/camera.cc      |  2 --
 samples/uvc/camera.cc         |  1 -
 src/mynteye/api/synthetic.cc  |  1 -
 src/mynteye/device/streams.cc | 36 +++++++++++++++++++++++++++++++----
 tools/dataset/dataset.cc      |  1 -
 tools/dataset/record.cc       |  2 --
 tools/dataset/record2.cc      |  2 --
 7 files changed, 32 insertions(+), 13 deletions(-)

diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 0737ced..62f26af 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -121,8 +121,6 @@ int main(int argc, char *argv[]) {
       cv::Mat right_img(
           right_data.frame->height(), right_data.frame->width(), CV_8UC3,
           right_data.frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;
diff --git a/samples/uvc/camera.cc b/samples/uvc/camera.cc
index 00d7b16..c87b27f 100644
--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -144,7 +144,6 @@ int main(int argc, char *argv[]) {
 
     // only lastest frame is valid
     cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
-    cv::cvtColor(img, img, CV_BGR2RGB);
     cv::imshow("frame", img);
 
     frame = nullptr;
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index 35ab9a5..296e5af 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -47,7 +47,6 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
     return img;
   } else if (frame->format() == Format::BGR888) {
     cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
-    cv::cvtColor(img, img, CV_BGR2RGB);
     return img;
   } else {
     return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
diff --git a/src/mynteye/device/streams.cc b/src/mynteye/device/streams.cc
index 5e4ea4b..15e2bc3 100644
--- a/src/mynteye/device/streams.cc
+++ b/src/mynteye/device/streams.cc
@@ -78,8 +78,8 @@ bool unpack_left_img_pixels(
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV || request.format == Format::BGR888) {
-    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+  if (request.format == Format::YUYV) {
+    std::size_t n = 2;
     std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
     for (std::size_t i = 0; i < h; i++) {
@@ -87,6 +87,20 @@ bool unpack_left_img_pixels(
         frame->data()[i * w + j] = *(data_new + 2 * i * w + j);
       }
     }
+  } else if (request.format == Format::BGR888) {
+    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);
+      }
+    }
   } else if (request.format == Format::GREY) {
     std::size_t n = frame->width() * frame->height();
     for (std::size_t i = 0; i < n; i++) {
@@ -105,8 +119,8 @@ bool unpack_right_img_pixels(
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV || request.format == Format::BGR888) {
-    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+  if (request.format == Format::YUYV) {
+    std::size_t n = 2;
     std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
     for (std::size_t i = 0; i < h; i++) {
@@ -114,6 +128,20 @@ bool unpack_right_img_pixels(
         frame->data()[i * w + j] = *(data_new + (2 * i + 1) * w + j);
       }
     }
+  } else if (request.format == Format::BGR888) {
+    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);
+      }
+    }
   } else if (request.format == Format::GREY) {
     std::size_t n = frame->width() * frame->height();
     for (std::size_t i = 0; i < n; i++) {
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 9a3a382..7d2065d 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -80,7 +80,6 @@ void Dataset::SaveStreamData(
       cv::Mat img(
           data.frame->height(), data.frame->width(), CV_8UC3,
           data.frame->data());
-      // cv::cvtColor(img, img, CV_BGR2RGB);
       cv::imwrite(ss.str(), img);
     } else {
       cv::Mat img(
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index c797c18..4c4f13d 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -87,8 +87,6 @@ int main(int argc, char *argv[]) {
       cv::Mat right_img(
           right_frame->height(), right_frame->width(), CV_8UC3,
           right_frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;
diff --git a/tools/dataset/record2.cc b/tools/dataset/record2.cc
index 4f8c647..52b1738 100644
--- a/tools/dataset/record2.cc
+++ b/tools/dataset/record2.cc
@@ -90,8 +90,6 @@ int main(int argc, char *argv[]) {
       cv::Mat right_img(
           right_frame->height(), right_frame->width(), CV_8UC3,
           right_frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;

From 827b3133785cdf901f2a20d52ce38d0a25a10ce9 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Thu, 20 Dec 2018 09:13:57 +0800
Subject: [PATCH 76/96] chore(config): add commit constraint

---
 .commitlintrc.js      |   11 +
 .gitignore            |    2 +
 package-lock.json     | 1648 +++++++++++++++++++++++++++++++++++++++++
 package.json          |   37 +
 scripts/init.sh       |    1 +
 scripts/init_tools.sh |   32 +
 6 files changed, 1731 insertions(+)
 create mode 100644 .commitlintrc.js
 create mode 100644 package-lock.json
 create mode 100644 package.json

diff --git a/.commitlintrc.js b/.commitlintrc.js
new file mode 100644
index 0000000..bfc94c3
--- /dev/null
+++ b/.commitlintrc.js
@@ -0,0 +1,11 @@
+module.exports = {
+  extends: ['@commitlint/config-conventional'],
+  rules: {
+  'type-enum': [2, 'always', [
+    "feat", "fix", "docs", "style", "refactor", "perf", "test", "build", "ci", "chore", "revert"
+  ]],
+  'scope-empty': [2, 'never'],
+  'subject-full-stop': [0, 'never'],
+  'subject-case': [0, 'never']
+  }
+};
diff --git a/.gitignore b/.gitignore
index 396e1d4..f842d23 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,6 +21,8 @@ _output/
 /*.nsi
 /*.exe
 
+/node_modules/
+
 # ros
 
 /wrappers/ros/build
diff --git a/package-lock.json b/package-lock.json
new file mode 100644
index 0000000..c6bde91
--- /dev/null
+++ b/package-lock.json
@@ -0,0 +1,1648 @@
+{
+  "name": "mynt-eye-s-sdk",
+  "version": "1.0.0",
+  "lockfileVersion": 1,
+  "requires": true,
+  "dependencies": {
+    "@commitlint/cli": {
+      "version": "7.2.1",
+      "resolved": "https://registry.npmjs.org/@commitlint/cli/-/cli-7.2.1.tgz",
+      "integrity": "sha512-PUHWGoQOx8m6ZSpZPSHb+YISFAvW7jiWvCJOQiViKHZC8CLKu4bjyc/AwP8gBte0RsTGAu1ekiitp5Q0NcLGcA==",
+      "dev": true,
+      "requires": {
+        "@commitlint/format": "^7.2.1",
+        "@commitlint/lint": "^7.2.1",
+        "@commitlint/load": "^7.2.1",
+        "@commitlint/read": "^7.1.2",
+        "babel-polyfill": "6.26.0",
+        "chalk": "2.3.1",
+        "get-stdin": "5.0.1",
+        "lodash.merge": "4.6.1",
+        "lodash.pick": "4.4.0",
+        "meow": "5.0.0",
+        "resolve-from": "^4.0.0",
+        "resolve-global": "^0.1.0"
+      }
+    },
+    "@commitlint/config-conventional": {
+      "version": "7.1.2",
+      "resolved": "https://registry.npmjs.org/@commitlint/config-conventional/-/config-conventional-7.1.2.tgz",
+      "integrity": "sha512-DmA4ixkpv03qA1TVs1Bl25QsVym2bPL6pKapesALWIVggG3OpwqGZ55vN75Tx8xZoG7LFKrVyrt7kwhA7X8njQ==",
+      "dev": true
+    },
+    "@commitlint/ensure": {
+      "version": "7.2.0",
+      "resolved": "https://registry.npmjs.org/@commitlint/ensure/-/ensure-7.2.0.tgz",
+      "integrity": "sha512-j2AJE4eDeLP6O/Z1CdPwEXAzcrRRoeeHLuvW8bldQ4J2nHiX9hzmSe87H87Ob8Avm+zIegsqVPGaBAtRmbODYw==",
+      "dev": true,
+      "requires": {
+        "lodash.camelcase": "4.3.0",
+        "lodash.kebabcase": "4.1.1",
+        "lodash.snakecase": "4.1.1",
+        "lodash.startcase": "4.4.0",
+        "lodash.upperfirst": "4.3.1"
+      }
+    },
+    "@commitlint/execute-rule": {
+      "version": "7.1.2",
+      "resolved": "https://registry.npmjs.org/@commitlint/execute-rule/-/execute-rule-7.1.2.tgz",
+      "integrity": "sha512-EP/SqX2U2L4AQHglZ2vGM1pvHJOh3sbYtHn1QhtllqEpsdmhuNpVPSGHP/r9OD2h4i90vtnWgZQoskt2MkbknA==",
+      "dev": true,
+      "requires": {
+        "babel-runtime": "6.26.0"
+      }
+    },
+    "@commitlint/format": {
+      "version": "7.2.1",
+      "resolved": "https://registry.npmjs.org/@commitlint/format/-/format-7.2.1.tgz",
+      "integrity": "sha512-1YcL+ZWB8V52oDFQBhSBJjiJOZDt4Vl06O5TkG70BMpre3EQru5KYIN16eEPqfihNw0bj8gSIWcf87Gvh3OrOw==",
+      "dev": true,
+      "requires": {
+        "babel-runtime": "^6.23.0",
+        "chalk": "^2.0.1"
+      }
+    },
+    "@commitlint/is-ignored": {
+      "version": "7.2.1",
+      "resolved": "https://registry.npmjs.org/@commitlint/is-ignored/-/is-ignored-7.2.1.tgz",
+      "integrity": "sha512-3DsEEKRnj8Bv9qImsxWcGf9BwerDnk5Vs+oK6ELzIwkndHaAZLHyATjmaz/rsc+U+DWiVjgKrrw3xvd/UsoazA==",
+      "dev": true,
+      "requires": {
+        "semver": "5.6.0"
+      }
+    },
+    "@commitlint/lint": {
+      "version": "7.2.1",
+      "resolved": "https://registry.npmjs.org/@commitlint/lint/-/lint-7.2.1.tgz",
+      "integrity": "sha512-rM7nUyNUJyuKw1MTwJG/wk4twB5YCAG2wzJMn5NqVpGD/qmLOzlZoBl0+CYmuOsbIRAA2rlEV6KZHBk9tTfAdQ==",
+      "dev": true,
+      "requires": {
+        "@commitlint/is-ignored": "^7.2.1",
+        "@commitlint/parse": "^7.1.2",
+        "@commitlint/rules": "^7.2.0",
+        "babel-runtime": "^6.23.0",
+        "lodash.topairs": "4.3.0"
+      }
+    },
+    "@commitlint/load": {
+      "version": "7.2.1",
+      "resolved": "https://registry.npmjs.org/@commitlint/load/-/load-7.2.1.tgz",
+      "integrity": "sha512-FnfmfhPGJqGwILVRznduBejOicNey6p/byfcyxtcBkN2+X96gDuNtqcnGcngCrzPIAgaIrQQcTQDA1/KMtW21A==",
+      "dev": true,
+      "requires": {
+        "@commitlint/execute-rule": "^7.1.2",
+        "@commitlint/resolve-extends": "^7.1.2",
+        "babel-runtime": "^6.23.0",
+        "cosmiconfig": "^4.0.0",
+        "lodash.merge": "4.6.1",
+        "lodash.mergewith": "4.6.1",
+        "lodash.pick": "4.4.0",
+        "lodash.topairs": "4.3.0",
+        "resolve-from": "4.0.0"
+      }
+    },
+    "@commitlint/message": {
+      "version": "7.1.2",
+      "resolved": "https://registry.npmjs.org/@commitlint/message/-/message-7.1.2.tgz",
+      "integrity": "sha512-6FQeK5LAs1Bde6W/jULg+I/XZhj3gbqCWlS2Q11A2JbaTRpRJZzm7WdD9nK3I0+De41EOqW2t4mBnrpio3o1Zg==",
+      "dev": true
+    },
+    "@commitlint/parse": {
+      "version": "7.1.2",
+      "resolved": "https://registry.npmjs.org/@commitlint/parse/-/parse-7.1.2.tgz",
+      "integrity": "sha512-wrdLwJZL3cs89MfgPtnbbKByijUo3Wrug55aTke5k/F0XNxGaDaNJyH4QXgidgXk57r2t4NJVAKwjnY4wjfNwg==",
+      "dev": true,
+      "requires": {
+        "conventional-changelog-angular": "^1.3.3",
+        "conventional-commits-parser": "^2.1.0"
+      }
+    },
+    "@commitlint/read": {
+      "version": "7.1.2",
+      "resolved": "https://registry.npmjs.org/@commitlint/read/-/read-7.1.2.tgz",
+      "integrity": "sha512-sarYQgfTay2Eu7onHz53EYyRw7pI5QmLE7tP5Ri9op6eu4LadjSoA/4dfc+VE7avsq21J2ewSbz+9f0uvhDxgg==",
+      "dev": true,
+      "requires": {
+        "@commitlint/top-level": "^7.1.2",
+        "@marionebl/sander": "^0.6.0",
+        "babel-runtime": "^6.23.0",
+        "git-raw-commits": "^1.3.0"
+      }
+    },
+    "@commitlint/resolve-extends": {
+      "version": "7.1.2",
+      "resolved": "https://registry.npmjs.org/@commitlint/resolve-extends/-/resolve-extends-7.1.2.tgz",
+      "integrity": "sha512-zwbifMB9DeHP4sYQdrkx+XJh5Q1lyP/OdlErUCC34NV4Lkxw/XxXF4St3e+y1X28/SgrEc2XSOS6n/vQQfUlLA==",
+      "dev": true,
+      "requires": {
+        "babel-runtime": "6.26.0",
+        "lodash.merge": "4.6.1",
+        "lodash.omit": "4.5.0",
+        "require-uncached": "^1.0.3",
+        "resolve-from": "^4.0.0",
+        "resolve-global": "^0.1.0"
+      }
+    },
+    "@commitlint/rules": {
+      "version": "7.2.0",
+      "resolved": "https://registry.npmjs.org/@commitlint/rules/-/rules-7.2.0.tgz",
+      "integrity": "sha512-c15Q9H5iYE9fnncLnFnMuvPLYA/i0pve5moV0uxJJGr4GgJoBKyldd4CCDhoE80C1k8ABuqr2o2qsopzVEp3Ww==",
+      "dev": true,
+      "requires": {
+        "@commitlint/ensure": "^7.2.0",
+        "@commitlint/message": "^7.1.2",
+        "@commitlint/to-lines": "^7.1.2",
+        "babel-runtime": "^6.23.0"
+      }
+    },
+    "@commitlint/to-lines": {
+      "version": "7.1.2",
+      "resolved": "https://registry.npmjs.org/@commitlint/to-lines/-/to-lines-7.1.2.tgz",
+      "integrity": "sha512-Nz3qZwrIEYiN9v/ThJqXAwu4X5+hvT9H8yRPHfjc538R8WhwEfhvym7/4YznDHSvWrQgwqtNPdrb6b2OSBsHmg==",
+      "dev": true
+    },
+    "@commitlint/top-level": {
+      "version": "7.1.2",
+      "resolved": "https://registry.npmjs.org/@commitlint/top-level/-/top-level-7.1.2.tgz",
+      "integrity": "sha512-YKugOAKy3hgM/ITezPp7Ns51U3xoJfuOsVnMGW4oDcHLhuQ/Qd58ROv/Hgedtk8HugKX3DdZ8XoEnRG70RDGqQ==",
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+      "requires": {
+        "find-up": "^2.1.0"
+      }
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+    "@marionebl/sander": {
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+      "integrity": "sha1-GViWWHTyS8Ub5Ih1/rUNZC/EH3s=",
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+      "requires": {
+        "graceful-fs": "^4.1.3",
+        "mkdirp": "^0.5.1",
+        "rimraf": "^2.5.2"
+      }
+    },
+    "JSONStream": {
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+      "dev": true,
+      "requires": {
+        "jsonparse": "^1.2.0",
+        "through": ">=2.2.7 <3"
+      }
+    },
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+      "requires": {
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+      }
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+      "integrity": "sha1-3wEKoSh+Fku9pvlyOwqWoexBh6E=",
+      "dev": true
+    },
+    "array-ify": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/array-ify/-/array-ify-1.0.0.tgz",
+      "integrity": "sha1-nlKHYrSpBmrRY6aWKjZEGOlibs4=",
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diff --git a/package.json b/package.json
new file mode 100644
index 0000000..3a49bdf
--- /dev/null
+++ b/package.json
@@ -0,0 +1,37 @@
+{
+  "name": "mynt-eye-s-sdk",
+  "version": "1.0.0",
+  "description": "MYNT EYE S SDK",
+  "main": "index.js",
+  "directories": {
+    "doc": "doc",
+    "test": "test"
+  },
+  "dependencies": {},
+  "devDependencies": {
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+    "@commitlint/config-conventional": "^7.1.2",
+    "cz-conventional-changelog": "^2.1.0",
+    "husky": "^1.3.0"
+  },
+  "scripts": {
+    "test": "echo \"Error: no test specified\" && exit 1"
+  },
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/slightech/MYNT-EYE-S-SDK.git"
+  },
+  "keywords": [],
+  "author": "",
+  "license": "Apache-2.0",
+  "config": {
+    "commitizen": {
+      "path": "./node_modules/cz-conventional-changelog"
+    }
+  },
+  "husky": {
+    "hooks": {
+      "commit-msg": "commitlint -E HUSKY_GIT_PARAMS"
+    }
+  }
+}
diff --git a/scripts/init.sh b/scripts/init.sh
index c75a70f..d724aae 100755
--- a/scripts/init.sh
+++ b/scripts/init.sh
@@ -15,6 +15,7 @@
 
 # _VERBOSE_=1
 # _INIT_LINTER_=1
+# _INIT_COMMITIZEN_=1
 # _FORCE_INSRALL_=1
 _INSTALL_OPTIONS_=$@
 
diff --git a/scripts/init_tools.sh b/scripts/init_tools.sh
index 0078271..39405c2 100644
--- a/scripts/init_tools.sh
+++ b/scripts/init_tools.sh
@@ -15,6 +15,7 @@
 
 _INIT_BUILD_=1
 # _INIT_LINTER_=1
+# _INIT_COMMITIZEN_=1
 # _FORCE_INSRALL_=1
 # _INSTALL_OPTIONS_=-y
 
@@ -146,6 +147,7 @@ else  # unexpected
   exit 1
 fi
 
+
 ## init linter - optional
 
 if [ -n "${_INIT_LINTER_}" ]; then
@@ -217,3 +219,33 @@ else
 fi
 
 fi  # _INIT_LINTER_
+
+
+## init commitizen - optional
+
+if [ -n "${_INIT_COMMITIZEN_}" ]; then
+
+if _detect_cmd npm; then
+  _echo_d "npm install commitizen -g"
+  npm install commitizen -g
+  if _detect_cmd node; then
+    commitizen init cz-conventional-changelog --save-dev --save-exact
+
+    npm install --save-dev @commitlint/{config-conventional,cli}
+    npm install husky --save-dev
+  else
+    _echo_en "Skipped commitizen init, as node not found"
+  fi
+else
+  _echo_en "Skipped npm install packages, as npm not found"
+  _echo
+  _echo_e "Download Node.js from https://nodejs.org/, then add to \`~/.bashrc\`."
+  _echo
+  _echo_e "  export PATH=\"/home/john/node-v10.14.2-linux-x64/bin:\$PATH\""
+  _echo
+  _echo_e "p.s. not \"apt-get install npm\", it's too old."
+fi
+
+# npm install
+
+fi  # _INIT_COMMITIZEN_

From e2d890eaede8f3216117386f8942d8996e1d2e28 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Thu, 20 Dec 2018 09:27:46 +0800
Subject: [PATCH 77/96] chore(init_tools.sh): adjust init commitizen

---
 scripts/init_tools.sh | 21 +++++++++------------
 1 file changed, 9 insertions(+), 12 deletions(-)

diff --git a/scripts/init_tools.sh b/scripts/init_tools.sh
index 39405c2..ab073a8 100644
--- a/scripts/init_tools.sh
+++ b/scripts/init_tools.sh
@@ -226,16 +226,15 @@ fi  # _INIT_LINTER_
 if [ -n "${_INIT_COMMITIZEN_}" ]; then
 
 if _detect_cmd npm; then
-  _echo_d "npm install commitizen -g"
-  npm install commitizen -g
-  if _detect_cmd node; then
-    commitizen init cz-conventional-changelog --save-dev --save-exact
-
-    npm install --save-dev @commitlint/{config-conventional,cli}
-    npm install husky --save-dev
-  else
-    _echo_en "Skipped commitizen init, as node not found"
-  fi
+  _echo_d "npm install commitizen -g; npm install"
+  npm install commitizen -g; npm install
+  # if _detect_cmd node; then
+  #   commitizen init cz-conventional-changelog --save-dev --save-exact
+  #   npm install --save-dev @commitlint/{config-conventional,cli}
+  #   npm install husky --save-dev
+  # else
+  #   _echo_en "Skipped commitizen init, as node not found"
+  # fi
 else
   _echo_en "Skipped npm install packages, as npm not found"
   _echo
@@ -246,6 +245,4 @@ else
   _echo_e "p.s. not \"apt-get install npm\", it's too old."
 fi
 
-# npm install
-
 fi  # _INIT_COMMITIZEN_

From 098b3072602badfc75cc4e3b0ed1258fea41272a Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Thu, 20 Dec 2018 09:36:44 +0800
Subject: [PATCH 78/96] chore(package-lock.json): remove package-lock.json

---
 .gitignore        |    1 +
 package-lock.json | 1648 ---------------------------------------------
 2 files changed, 1 insertion(+), 1648 deletions(-)
 delete mode 100644 package-lock.json

diff --git a/.gitignore b/.gitignore
index f842d23..84a2baa 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,6 +22,7 @@ _output/
 /*.exe
 
 /node_modules/
+/package-lock.json
 
 # ros
 
diff --git a/package-lock.json b/package-lock.json
deleted file mode 100644
index c6bde91..0000000
--- a/package-lock.json
+++ /dev/null
@@ -1,1648 +0,0 @@
-{
-  "name": "mynt-eye-s-sdk",
-  "version": "1.0.0",
-  "lockfileVersion": 1,
-  "requires": true,
-  "dependencies": {
-    "@commitlint/cli": {
-      "version": "7.2.1",
-      "resolved": "https://registry.npmjs.org/@commitlint/cli/-/cli-7.2.1.tgz",
-      "integrity": "sha512-PUHWGoQOx8m6ZSpZPSHb+YISFAvW7jiWvCJOQiViKHZC8CLKu4bjyc/AwP8gBte0RsTGAu1ekiitp5Q0NcLGcA==",
-      "dev": true,
-      "requires": {
-        "@commitlint/format": "^7.2.1",
-        "@commitlint/lint": "^7.2.1",
-        "@commitlint/load": "^7.2.1",
-        "@commitlint/read": "^7.1.2",
-        "babel-polyfill": "6.26.0",
-        "chalk": "2.3.1",
-        "get-stdin": "5.0.1",
-        "lodash.merge": "4.6.1",
-        "lodash.pick": "4.4.0",
-        "meow": "5.0.0",
-        "resolve-from": "^4.0.0",
-        "resolve-global": "^0.1.0"
-      }
-    },
-    "@commitlint/config-conventional": {
-      "version": "7.1.2",
-      "resolved": "https://registry.npmjs.org/@commitlint/config-conventional/-/config-conventional-7.1.2.tgz",
-      "integrity": "sha512-DmA4ixkpv03qA1TVs1Bl25QsVym2bPL6pKapesALWIVggG3OpwqGZ55vN75Tx8xZoG7LFKrVyrt7kwhA7X8njQ==",
-      "dev": true
-    },
-    "@commitlint/ensure": {
-      "version": "7.2.0",
-      "resolved": "https://registry.npmjs.org/@commitlint/ensure/-/ensure-7.2.0.tgz",
-      "integrity": "sha512-j2AJE4eDeLP6O/Z1CdPwEXAzcrRRoeeHLuvW8bldQ4J2nHiX9hzmSe87H87Ob8Avm+zIegsqVPGaBAtRmbODYw==",
-      "dev": true,
-      "requires": {
-        "lodash.camelcase": "4.3.0",
-        "lodash.kebabcase": "4.1.1",
-        "lodash.snakecase": "4.1.1",
-        "lodash.startcase": "4.4.0",
-        "lodash.upperfirst": "4.3.1"
-      }
-    },
-    "@commitlint/execute-rule": {
-      "version": "7.1.2",
-      "resolved": "https://registry.npmjs.org/@commitlint/execute-rule/-/execute-rule-7.1.2.tgz",
-      "integrity": "sha512-EP/SqX2U2L4AQHglZ2vGM1pvHJOh3sbYtHn1QhtllqEpsdmhuNpVPSGHP/r9OD2h4i90vtnWgZQoskt2MkbknA==",
-      "dev": true,
-      "requires": {
-        "babel-runtime": "6.26.0"
-      }
-    },
-    "@commitlint/format": {
-      "version": "7.2.1",
-      "resolved": "https://registry.npmjs.org/@commitlint/format/-/format-7.2.1.tgz",
-      "integrity": "sha512-1YcL+ZWB8V52oDFQBhSBJjiJOZDt4Vl06O5TkG70BMpre3EQru5KYIN16eEPqfihNw0bj8gSIWcf87Gvh3OrOw==",
-      "dev": true,
-      "requires": {
-        "babel-runtime": "^6.23.0",
-        "chalk": "^2.0.1"
-      }
-    },
-    "@commitlint/is-ignored": {
-      "version": "7.2.1",
-      "resolved": "https://registry.npmjs.org/@commitlint/is-ignored/-/is-ignored-7.2.1.tgz",
-      "integrity": "sha512-3DsEEKRnj8Bv9qImsxWcGf9BwerDnk5Vs+oK6ELzIwkndHaAZLHyATjmaz/rsc+U+DWiVjgKrrw3xvd/UsoazA==",
-      "dev": true,
-      "requires": {
-        "semver": "5.6.0"
-      }
-    },
-    "@commitlint/lint": {
-      "version": "7.2.1",
-      "resolved": "https://registry.npmjs.org/@commitlint/lint/-/lint-7.2.1.tgz",
-      "integrity": "sha512-rM7nUyNUJyuKw1MTwJG/wk4twB5YCAG2wzJMn5NqVpGD/qmLOzlZoBl0+CYmuOsbIRAA2rlEV6KZHBk9tTfAdQ==",
-      "dev": true,
-      "requires": {
-        "@commitlint/is-ignored": "^7.2.1",
-        "@commitlint/parse": "^7.1.2",
-        "@commitlint/rules": "^7.2.0",
-        "babel-runtime": "^6.23.0",
-        "lodash.topairs": "4.3.0"
-      }
-    },
-    "@commitlint/load": {
-      "version": "7.2.1",
-      "resolved": "https://registry.npmjs.org/@commitlint/load/-/load-7.2.1.tgz",
-      "integrity": "sha512-FnfmfhPGJqGwILVRznduBejOicNey6p/byfcyxtcBkN2+X96gDuNtqcnGcngCrzPIAgaIrQQcTQDA1/KMtW21A==",
-      "dev": true,
-      "requires": {
-        "@commitlint/execute-rule": "^7.1.2",
-        "@commitlint/resolve-extends": "^7.1.2",
-        "babel-runtime": "^6.23.0",
-        "cosmiconfig": "^4.0.0",
-        "lodash.merge": "4.6.1",
-        "lodash.mergewith": "4.6.1",
-        "lodash.pick": "4.4.0",
-        "lodash.topairs": "4.3.0",
-        "resolve-from": "4.0.0"
-      }
-    },
-    "@commitlint/message": {
-      "version": "7.1.2",
-      "resolved": "https://registry.npmjs.org/@commitlint/message/-/message-7.1.2.tgz",
-      "integrity": "sha512-6FQeK5LAs1Bde6W/jULg+I/XZhj3gbqCWlS2Q11A2JbaTRpRJZzm7WdD9nK3I0+De41EOqW2t4mBnrpio3o1Zg==",
-      "dev": true
-    },
-    "@commitlint/parse": {
-      "version": "7.1.2",
-      "resolved": "https://registry.npmjs.org/@commitlint/parse/-/parse-7.1.2.tgz",
-      "integrity": "sha512-wrdLwJZL3cs89MfgPtnbbKByijUo3Wrug55aTke5k/F0XNxGaDaNJyH4QXgidgXk57r2t4NJVAKwjnY4wjfNwg==",
-      "dev": true,
-      "requires": {
-        "conventional-changelog-angular": "^1.3.3",
-        "conventional-commits-parser": "^2.1.0"
-      }
-    },
-    "@commitlint/read": {
-      "version": "7.1.2",
-      "resolved": "https://registry.npmjs.org/@commitlint/read/-/read-7.1.2.tgz",
-      "integrity": "sha512-sarYQgfTay2Eu7onHz53EYyRw7pI5QmLE7tP5Ri9op6eu4LadjSoA/4dfc+VE7avsq21J2ewSbz+9f0uvhDxgg==",
-      "dev": true,
-      "requires": {
-        "@commitlint/top-level": "^7.1.2",
-        "@marionebl/sander": "^0.6.0",
-        "babel-runtime": "^6.23.0",
-        "git-raw-commits": "^1.3.0"
-      }
-    },
-    "@commitlint/resolve-extends": {
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-      "integrity": "sha512-zwbifMB9DeHP4sYQdrkx+XJh5Q1lyP/OdlErUCC34NV4Lkxw/XxXF4St3e+y1X28/SgrEc2XSOS6n/vQQfUlLA==",
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-      }
-    },
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-      "requires": {
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From d2a32e0ec152d199515f8dad24789c2d8630df00 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Thu, 20 Dec 2018 17:10:18 +0800
Subject: [PATCH 79/96] refactor(*): change stream request and params
 interfaces

---
 include/mynteye/api/api.h                     |  54 ++++----
 include/mynteye/device/callbacks.h            |   4 +-
 include/mynteye/device/device.h               |  58 ++++----
 include/mynteye/device/utils.h                |  15 ++-
 include/mynteye/types.h                       | 109 ++++++---------
 samples/api/camera.cc                         |  10 +-
 samples/api/get_depth_with_region.cc          |   8 +-
 samples/device/camera.cc                      |  14 +-
 samples/tutorials/control/auto_exposure.cc    |   9 +-
 samples/tutorials/control/framerate.cc        |  13 +-
 samples/tutorials/control/imu_range.cc        |   8 +-
 samples/tutorials/control/manual_exposure.cc  |   9 +-
 samples/tutorials/data/get_depth.cc           |   8 +-
 samples/tutorials/data/get_device_info.cc     |   3 +-
 samples/tutorials/data/get_disparity.cc       |   8 +-
 samples/tutorials/data/get_from_callbacks.cc  |   8 +-
 samples/tutorials/data/get_img_params.cc      |  10 +-
 samples/tutorials/data/get_imu.cc             |   8 +-
 samples/tutorials/data/get_imu_params.cc      |   3 +-
 samples/tutorials/data/get_points.cc          |   8 +-
 samples/tutorials/data/get_stereo.cc          |   8 +-
 .../tutorials/data/get_stereo_rectified.cc    |   8 +-
 samples/tutorials/data/get_with_plugin.cc     |   8 +-
 .../intermediate/get_depth_and_points.cc      |   8 +-
 src/mynteye/api/api.cc                        |  70 ++++------
 src/mynteye/api/synthetic.cc                  |   2 +-
 src/mynteye/device/channels.cc                |  84 ++++++------
 src/mynteye/device/channels.h                 |  16 +--
 src/mynteye/device/config.cc                  |  82 ++++++++----
 src/mynteye/device/config.h                   |   7 +-
 src/mynteye/device/device.cc                  | 126 +++++++++++-------
 src/mynteye/device/device_s.cc                |   6 +-
 src/mynteye/device/device_s.h                 |   1 +
 src/mynteye/device/utils.cc                   |  42 +++++-
 src/mynteye/types.cc                          |   9 +-
 tools/dataset/record.cc                       |  11 +-
 tools/dataset/record2.cc                      |  11 +-
 37 files changed, 491 insertions(+), 375 deletions(-)

diff --git a/include/mynteye/api/api.h b/include/mynteye/api/api.h
index 09cf15b..77f6bcf 100644
--- a/include/mynteye/api/api.h
+++ b/include/mynteye/api/api.h
@@ -28,6 +28,8 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+struct DeviceInfo;
+
 class Device;
 class Synthetic;
 
@@ -93,25 +95,6 @@ class MYNTEYE_API API {
   explicit API(std::shared_ptr<Device> device);
   virtual ~API();
 
-  /**
-   * Create the API instance.
-   * @return the API instance.
-   * @note This will call device::select() to select a device.
-   */
-  static std::shared_ptr<API> Create(Resolution res);
-  /**
-   * Create the API instance.
-   * @param device the selected device.
-   * @return the API instance.
-   */
-  static std::shared_ptr<API> Create(
-      std::shared_ptr<Device> device, Resolution res);
-  /**
-   * Create the API instance.
-   * @param device the selected device.
-   * @return the API instance.
-   */
-  static std::shared_ptr<API> Create(std::shared_ptr<Device> device);
   /**
    * Create the API instance.
    * @param argc the arg count.
@@ -130,7 +113,7 @@ class MYNTEYE_API API {
    * @note This will init glog with args.
    */
   static std::shared_ptr<API> Create(
-      int argc, char *argv[], std::shared_ptr<Device> device);
+      int argc, char *argv[], const std::shared_ptr<Device> &device);
 
   /**
    * Get the model.
@@ -155,9 +138,10 @@ class MYNTEYE_API API {
   bool Supports(const AddOns &addon) const;
 
   /**
-   * set the stream request.
+   * Log all stream requests and prompt user to select one.
    */
-  void SetStreamRequest(const Format &format, const FrameRate &rate);
+  StreamRequest SelectStreamRequest(bool *ok) const;
+
   /**
    * Get all stream requests of the capability.
    */
@@ -168,7 +152,28 @@ class MYNTEYE_API API {
    */
   void ConfigStreamRequest(
       const Capabilities &capability, const StreamRequest &request);
+  /**
+   * Get the config stream requests of the capability.
+   */
+  const StreamRequest &GetStreamRequest(const Capabilities &capability) const;
 
+  /**
+   * Get all stream requests of the key stream capability.
+   */
+  const std::vector<StreamRequest> &GetStreamRequests() const;
+  /**
+   * Config the stream request to the key stream capability.
+   */
+  void ConfigStreamRequest(const StreamRequest &request);
+  /**
+   * Get the config stream requests of the key stream capability.
+   */
+  const StreamRequest &GetStreamRequest() const;
+
+  /**
+   * Get the device info.
+   */
+  std::shared_ptr<DeviceInfo> GetInfo() const;
   /**
    * Get the device info.
    */
@@ -214,11 +219,6 @@ class MYNTEYE_API API {
    */
   bool RunOptionAction(const Option &option) const;
 
-  /**
-   * Init device resolution.
-   */
-  void InitResolution(const Resolution &res);
-
   /**
    * Set the callback of stream.
    */
diff --git a/include/mynteye/device/callbacks.h b/include/mynteye/device/callbacks.h
index 0019433..19730f6 100644
--- a/include/mynteye/device/callbacks.h
+++ b/include/mynteye/device/callbacks.h
@@ -32,8 +32,8 @@ namespace device {
 
 typedef struct ImgParams {
   bool ok;
-  std::map<Resolution, Intrinsics> in_left_map;
-  std::map<Resolution, Intrinsics> in_right_map;
+  Intrinsics in_left;
+  Intrinsics in_right;
   Extrinsics ex_right_to_left;
 } img_params_t;
 
diff --git a/include/mynteye/device/device.h b/include/mynteye/device/device.h
index 4e9b6f3..3a416d4 100644
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -104,14 +104,7 @@ class MYNTEYE_API Device {
    * Supports the addon or not.
    */
   bool Supports(const AddOns &addon) const;
-  /**
-   * Init device resolution.
-   */
-  void InitResolution(const Resolution &res);
-  /**
-   * set the stream request.
-   */
-  void SetStreamRequest(const Format &format, const FrameRate &rate);
+
   /**
    * Get all stream requests of the capability.
    */
@@ -122,6 +115,23 @@ class MYNTEYE_API Device {
    */
   void ConfigStreamRequest(
       const Capabilities &capability, const StreamRequest &request);
+  /**
+   * Get the config stream requests of the capability.
+   */
+  const StreamRequest &GetStreamRequest(const Capabilities &capability) const;
+
+  /**
+   * Get all stream requests of the key stream capability.
+   */
+  const std::vector<StreamRequest> &GetStreamRequests() const;
+  /**
+   * Config the stream request to the key stream capability.
+   */
+  void ConfigStreamRequest(const StreamRequest &request);
+  /**
+   * Get the config stream requests of the key stream capability.
+   */
+  const StreamRequest &GetStreamRequest() const;
 
   /**
    * Get the device info.
@@ -241,15 +251,15 @@ class MYNTEYE_API Device {
    */
   void WaitForStreams();
 
+  /**
+   * Get the latest data of stream.
+   */
+  device::StreamData GetStreamData(const Stream &stream);
   /**
    * Get the datas of stream.
    * @note default cache 4 datas at most.
    */
   std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
-  /**
-   * Get the latest data of stream.
-   */
-  device::StreamData GetLatestStreamData(const Stream &stream);
 
   /**
    * Enable cache motion datas.
@@ -263,10 +273,6 @@ class MYNTEYE_API Device {
    * Get the motion datas.
    */
   std::vector<device::MotionData> GetMotionDatas();
-  /**
-   * Get the device img params
-   */
-  img_params_t GetImgParams();
 
  protected:
   std::shared_ptr<uvc::device> device() const {
@@ -285,8 +291,6 @@ class MYNTEYE_API Device {
     return motions_;
   }
 
-  const StreamRequest &GetStreamRequest(const Capabilities &capability);
-
   virtual void StartVideoStreaming();
   virtual void StopVideoStreaming();
 
@@ -295,25 +299,33 @@ class MYNTEYE_API Device {
 
   virtual void OnStereoStreamUpdate();
 
+  virtual Capabilities GetKeyStreamCapability() const = 0;
   virtual std::vector<Stream> GetKeyStreams() const = 0;
 
+  std::map<Resolution, device::img_params_t> GetImgParams() const {
+    return all_img_params_;
+  }
+  device::imu_params_t GetImuParams() const {
+    return imu_params_;
+  }
+
   bool video_streaming_;
   bool motion_tracking_;
 
  private:
   Model model_;
-  Resolution res_ = Resolution::RES_752x480;
-  StreamRequest request_;
   std::shared_ptr<uvc::device> device_;
   std::shared_ptr<DeviceInfo> device_info_;
 
+  std::map<Resolution, device::img_params_t> all_img_params_;
+  device::imu_params_t imu_params_;
+
   std::map<Stream, Intrinsics> stream_intrinsics_;
   std::map<Stream, std::map<Stream, Extrinsics>> stream_from_extrinsics_;
 
   std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
   std::map<Stream, Extrinsics> motion_from_extrinsics_;
 
-  img_params_t img_params_;
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
@@ -331,8 +343,8 @@ class MYNTEYE_API Device {
   std::shared_ptr<Motions> motions_;
 
   void ReadAllInfos();
-
-  void ConfigIntrinsics(const Resolution &res);
+  void UpdateStreamIntrinsics(
+      const Capabilities &capability, const StreamRequest &request);
 
   void CallbackPushedStreamData(const Stream &stream);
   void CallbackMotionData(const device::MotionData &data);
diff --git a/include/mynteye/device/utils.h b/include/mynteye/device/utils.h
index 0b64ce1..82e3255 100644
--- a/include/mynteye/device/utils.h
+++ b/include/mynteye/device/utils.h
@@ -19,6 +19,7 @@
 #include <string>
 
 #include "mynteye/mynteye.h"
+#include "mynteye/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -39,6 +40,16 @@ namespace device {
  */
 MYNTEYE_API std::shared_ptr<Device> select();
 
+/**
+ * @ingroup utils
+ *
+ * List stream requests and prompt user to select one.
+ *
+ * @return the selected request.
+ */
+MYNTEYE_API MYNTEYE_NAMESPACE::StreamRequest select_request(
+    const std::shared_ptr<Device> &device, bool *ok);
+
 }  // namespace device
 
 namespace utils {
@@ -58,14 +69,14 @@ MYNTEYE_API float get_real_exposure_time(
 
 /**
  * @ingroup utils
- * 
+ *
  * Get sdk root dir.
  */
 MYNTEYE_API std::string get_sdk_root_dir();
 
 /**
  * @ingroup utils
- * 
+ *
  * Get sdk install dir.
  */
 MYNTEYE_API std::string get_sdk_install_dir();
diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 6b1c192..56e5a16 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -37,6 +37,8 @@ MYNTEYE_BEGIN_NAMESPACE
 enum class Model : std::uint8_t {
   /** Standard */
   STANDARD,
+  /** Standard 2 */
+  STANDARD2,
   /** Last guard */
   LAST
 };
@@ -74,10 +76,10 @@ enum class Stream : std::uint8_t {
 enum class Capabilities : std::uint8_t {
   /** Provides stereo stream */
   STEREO,
+  /** Provide stereo color stream */
+  STEREO_COLOR,
   /** Provides color stream */
   COLOR,
-  /** Provide stereo color  stream */
-  STEREO_COLOR,
   /** Provides depth stream */
   DEPTH,
   /** Provides point cloud stream */
@@ -143,6 +145,7 @@ enum class Option : std::uint8_t {
    *   range: [0,255], default: 127
    */
   CONTRAST,
+
   /**
    * Image frame rate, must set IMU_FREQUENCY together
    *
@@ -155,6 +158,7 @@ enum class Option : std::uint8_t {
    *   values: {100,200,250,333,500}, default: 200
    */
   IMU_FREQUENCY,
+
   /**
    * Exposure mode
    *
@@ -174,12 +178,19 @@ enum class Option : std::uint8_t {
    *   range: [0,1000], default: 333
    */
   MAX_EXPOSURE_TIME,
+  /**
+   * min exposure time, valid if auto-exposure
+   *
+   *   range: [0,1000], default: 0
+   */
+  MIN_EXPOSURE_TIME,
   /**
    * Desired brightness, valid if auto-exposure
    *
    *   range: [1,255], default: 122
    */
   DESIRED_BRIGHTNESS,
+
   /**
    * IR control
    *
@@ -193,16 +204,7 @@ enum class Option : std::uint8_t {
    *   1: 12-bit
    */
   HDR_MODE,
-  /** Zero drift calibration */
-  ZERO_DRIFT_CALIBRATION,
-  /** Erase chip */
-  ERASE_CHIP,
-  /**
-   * min exposure time, valid if auto-exposure
-   *
-   *   range: [0,1000], default: 0
-   */
-  MIN_EXPOSURE_TIME,
+
   /**
    * The range of accelerometer
    *
@@ -227,6 +229,12 @@ enum class Option : std::uint8_t {
    *   values: {23,64}, default: 64
    */
   GYROSCOPE_LOW_PASS_FILTER,
+
+  /** Zero drift calibration */
+  ZERO_DRIFT_CALIBRATION,
+  /** Erase chip */
+  ERASE_CHIP,
+
   /** Last guard */
   LAST
 };
@@ -259,40 +267,6 @@ enum class AddOns : std::uint8_t {
   LAST
 };
 
-/**
- * @ingroup enumerations
- * @brief Camera supported resolution.
- */
-enum class Resolution : std::uint8_t {
-  /** 752x480 */
-  RES_752x480,
-  /** 1280x400 */
-  RES_1280x400,
-  /** 2560x800 */
-  RES_2560x800,
-  /** Last guard */
-  LAST
-};
-
-/**
- * @ingroup enumerations
- * @brief Camera supported frame rate.
- */
-enum class FrameRate : std::uint8_t {
-  /** 10 fps */
-  RATE_10_FPS = 10,
-  /** 20 fps */
-  RATE_20_FPS = 20,
-  /** 20 fps */
-  RATE_25_FPS = 25,
-  /** 30 fps */
-  RATE_30_FPS = 30,
-  /** 60 fps */
-  RATE_60_FPS = 60,
-  /** Last guard */
-  LAST
-};
-
 #define MYNTEYE_ENUM_HELPERS(TYPE)                                       \
   MYNTEYE_API const char *to_string(const TYPE &value);                  \
   inline bool is_valid(const TYPE &value) {                              \
@@ -316,8 +290,6 @@ MYNTEYE_ENUM_HELPERS(Info)
 MYNTEYE_ENUM_HELPERS(Option)
 MYNTEYE_ENUM_HELPERS(Source)
 MYNTEYE_ENUM_HELPERS(AddOns)
-MYNTEYE_ENUM_HELPERS(Resolution)
-MYNTEYE_ENUM_HELPERS(FrameRate)
 
 #undef MYNTEYE_ENUM_HELPERS
 
@@ -350,6 +322,26 @@ inline std::ostream &operator<<(std::ostream &os, const Format &value) {
 
 MYNTEYE_API std::size_t bytes_per_pixel(const Format &value);
 
+/**
+ * Resolution.
+ */
+struct MYNTEYE_API Resolution {
+  /** Width */
+  std::uint16_t width;
+  /** Height */
+  std::uint16_t height;
+
+  bool operator==(const Resolution &other) const {
+    return width == other.width && height == other.height;
+  }
+  bool operator!=(const Resolution &other) const {
+    return !(*this == other);
+  }
+  bool operator<(const Resolution &other) const {
+    return (width * height) < (other.width * other.height);
+  }
+};
+
 /**
  * Stream request.
  */
@@ -370,25 +362,10 @@ struct MYNTEYE_API StreamRequest {
       std::uint16_t fps)
       : width(width), height(height), format(format), fps(fps) {}
 
-  StreamRequest(Resolution res, Format format, FrameRate rate)
-      : format(format) {
-    fps = static_cast<uint16_t>(rate);
+  StreamRequest(const Resolution &res, Format format, std::uint16_t fps)
+      : width(res.width), height(res.height), format(format), fps(fps) {}
 
-    switch (res) {
-      case Resolution::RES_752x480:
-        width = 480, height = 752;
-        break;
-      case Resolution::RES_1280x400:
-        width = 1280, height = 400;
-        break;
-      case Resolution::RES_2560x800:
-        width = 2560, height = 800;
-        break;
-      default:
-        width = 480, height = 752;
-        break;
-    }
-  }
+  Resolution GetResolution() const { return {width, height}; }
 
   bool operator==(const StreamRequest &other) const {
     return width == other.width && height == other.height &&
diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 8a18b8f..8678d31 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -21,9 +21,13 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
   api->LogOptionInfos();
 
   std::size_t left_count = 0;
diff --git a/samples/api/get_depth_with_region.cc b/samples/api/get_depth_with_region.cc
index 560b279..25fc417 100644
--- a/samples/api/get_depth_with_region.cc
+++ b/samples/api/get_depth_with_region.cc
@@ -144,8 +144,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   api->SetOptionValue(Option::IR_CONTROL, 80);
 
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 62f26af..1fd4add 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -25,12 +25,14 @@ int main(int argc, char *argv[]) {
   glog_init _(argc, argv);
 
   auto &&device = device::select();
-  if (!device)
-    return 1;
+  if (!device) return 1;
+
+  bool ok;
+  auto &&request = device::select_request(device, &ok);
+  if (!ok) return 1;
+  device->ConfigStreamRequest(request);
 
   std::size_t left_count = 0;
-  device->InitResolution(Resolution::RES_1280x400);
-  device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
@@ -77,8 +79,8 @@ int main(int argc, char *argv[]) {
   while (true) {
     device->WaitForStreams();
 
-    device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
-    device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
+    device::StreamData left_data = device->GetStreamData(Stream::LEFT);
+    device::StreamData right_data = device->GetStreamData(Stream::RIGHT);
 
     auto &&motion_datas = device->GetMotionDatas();
     motion_count += motion_datas.size();
diff --git a/samples/tutorials/control/auto_exposure.cc b/samples/tutorials/control/auto_exposure.cc
index bc233dd..1c768c4 100644
--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@@ -22,9 +22,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   // auto-exposure: 0
   api->SetOptionValue(Option::EXPOSURE_MODE, 0);
diff --git a/samples/tutorials/control/framerate.cc b/samples/tutorials/control/framerate.cc
index 9867952..52ca904 100644
--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@@ -22,11 +22,14 @@
 MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
-  auto &&api = API::Create(Resolution::RES_1280x400);
-  // auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
   // Count img
   std::atomic_uint img_count(0);
   api->SetStreamCallback(
diff --git a/samples/tutorials/control/imu_range.cc b/samples/tutorials/control/imu_range.cc
index 1830248..93f776c 100644
--- a/samples/tutorials/control/imu_range.cc
+++ b/samples/tutorials/control/imu_range.cc
@@ -23,8 +23,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   // ACCELEROMETER_RANGE values: 6, 12, 24, 32
   api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
diff --git a/samples/tutorials/control/manual_exposure.cc b/samples/tutorials/control/manual_exposure.cc
index f513a4a..daa6fb9 100644
--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@@ -22,9 +22,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   // manual-exposure: 1
   api->SetOptionValue(Option::EXPOSURE_MODE, 1);
diff --git a/samples/tutorials/data/get_depth.cc b/samples/tutorials/data/get_depth.cc
index e973967..d2c4246 100644
--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.cc
@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   api->EnableStreamData(Stream::DEPTH);
 
diff --git a/samples/tutorials/data/get_device_info.cc b/samples/tutorials/data/get_device_info.cc
index 5217c36..ddb3bd9 100644
--- a/samples/tutorials/data/get_device_info.cc
+++ b/samples/tutorials/data/get_device_info.cc
@@ -18,8 +18,7 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
 
   LOG(INFO) << "Device name: " << api->GetInfo(Info::DEVICE_NAME);
   LOG(INFO) << "Serial number: " << api->GetInfo(Info::SERIAL_NUMBER);
diff --git a/samples/tutorials/data/get_disparity.cc b/samples/tutorials/data/get_disparity.cc
index 243d81e..582dc72 100644
--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   // api->EnableStreamData(Stream::DISPARITY);
   api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
diff --git a/samples/tutorials/data/get_from_callbacks.cc b/samples/tutorials/data/get_from_callbacks.cc
index 27c30a4..b1effcc 100644
--- a/samples/tutorials/data/get_from_callbacks.cc
+++ b/samples/tutorials/data/get_from_callbacks.cc
@@ -27,8 +27,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   // Attention: must not block the callbacks.
 
diff --git a/samples/tutorials/data/get_img_params.cc b/samples/tutorials/data/get_img_params.cc
index f84642e..41bfbce 100644
--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -18,9 +18,13 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";
diff --git a/samples/tutorials/data/get_imu.cc b/samples/tutorials/data/get_imu.cc
index a449f6e..c09d225 100644
--- a/samples/tutorials/data/get_imu.cc
+++ b/samples/tutorials/data/get_imu.cc
@@ -22,8 +22,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   // Enable this will cache the motion datas until you get them.
   api->EnableMotionDatas();
diff --git a/samples/tutorials/data/get_imu_params.cc b/samples/tutorials/data/get_imu_params.cc
index 7757611..092aaec 100644
--- a/samples/tutorials/data/get_imu_params.cc
+++ b/samples/tutorials/data/get_imu_params.cc
@@ -18,8 +18,7 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
 
   LOG(INFO) << "Motion intrinsics: {" << api->GetMotionIntrinsics() << "}";
   LOG(INFO) << "Motion extrinsics left to imu: {"
diff --git a/samples/tutorials/data/get_points.cc b/samples/tutorials/data/get_points.cc
index 28294f5..ef2d91f 100644
--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@@ -21,8 +21,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   api->EnableStreamData(Stream::POINTS);
 
diff --git a/samples/tutorials/data/get_stereo.cc b/samples/tutorials/data/get_stereo.cc
index 391c53e..1dd024a 100644
--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.cc
@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   api->Start(Source::VIDEO_STREAMING);
 
diff --git a/samples/tutorials/data/get_stereo_rectified.cc b/samples/tutorials/data/get_stereo_rectified.cc
index 10c0bf5..dadba65 100644
--- a/samples/tutorials/data/get_stereo_rectified.cc
+++ b/samples/tutorials/data/get_stereo_rectified.cc
@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   api->EnableStreamData(Stream::LEFT_RECTIFIED);
   api->EnableStreamData(Stream::RIGHT_RECTIFIED);
diff --git a/samples/tutorials/data/get_with_plugin.cc b/samples/tutorials/data/get_with_plugin.cc
index e8a0e05..af943b0 100644
--- a/samples/tutorials/data/get_with_plugin.cc
+++ b/samples/tutorials/data/get_with_plugin.cc
@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so");
 
diff --git a/samples/tutorials/intermediate/get_depth_and_points.cc b/samples/tutorials/intermediate/get_depth_and_points.cc
index 5761c62..5a2d5d8 100644
--- a/samples/tutorials/intermediate/get_depth_and_points.cc
+++ b/samples/tutorials/intermediate/get_depth_and_points.cc
@@ -148,8 +148,12 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
 
   api->SetOptionValue(Option::IR_CONTROL, 80);
 
diff --git a/src/mynteye/api/api.cc b/src/mynteye/api/api.cc
index a74df26..24d17dd 100644
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@@ -218,52 +218,15 @@ API::~API() {
   VLOG(2) << __func__;
 }
 
-std::shared_ptr<API> API::Create(Resolution res) {
-  auto &&device = device::select();
-  if (!device)
-    return nullptr;
-  device->InitResolution(res);
-  return std::make_shared<API>(device);
-}
-
-std::shared_ptr<API> API::Create(
-    std::shared_ptr<Device> device, Resolution res) {
-  if (!device)
-    return nullptr;
-  device->InitResolution(res);
-  return std::make_shared<API>(device);
-}
-
-// TODO(Kalman): Compatible with two generation
-std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
-  return Create(device, Resolution::RES_2560x800);
-}
-
 std::shared_ptr<API> API::Create(int argc, char *argv[]) {
   auto &&device = device::select();
+  if (!device) return nullptr;
   return Create(argc, argv, device);
 }
 
-// TODO(Kalman): Compatible with two generation
 std::shared_ptr<API> API::Create(
-    int argc, char *argv[], std::shared_ptr<Device> device) {
+    int argc, char *argv[], const std::shared_ptr<Device> &device) {
   static glog_init _(argc, argv);
-  int index = 0;
-  if (argc >= 2) {
-    try {
-      index = std::stoi(argv[1]);
-    } catch (...) {
-      LOG(WARNING) << "Unexpected index.";
-    }
-  }
-  if (!device)
-    return nullptr;
-  if (index == 0)
-    device->InitResolution(Resolution::RES_1280x400);
-  else if (index == 1)
-    device->InitResolution(Resolution::RES_2560x800);
-  else
-    device->InitResolution(Resolution::RES_1280x400);
   return std::make_shared<API>(device);
 }
 
@@ -287,12 +250,8 @@ bool API::Supports(const AddOns &addon) const {
   return device_->Supports(addon);
 }
 
-void API::InitResolution(const Resolution &res) {
-  return device_->InitResolution(res);
-}
-
-void API::SetStreamRequest(const Format &format, const FrameRate &rate) {
-  device_->SetStreamRequest(format, rate);
+StreamRequest API::SelectStreamRequest(bool *ok) const {
+  return device::select_request(device_, ok);
 }
 
 const std::vector<StreamRequest> &API::GetStreamRequests(
@@ -305,6 +264,27 @@ void API::ConfigStreamRequest(
   device_->ConfigStreamRequest(capability, request);
 }
 
+const StreamRequest &API::GetStreamRequest(
+    const Capabilities &capability) const {
+  return device_->GetStreamRequest(capability);
+}
+
+const std::vector<StreamRequest> &API::GetStreamRequests() const {
+  return device_->GetStreamRequests();
+}
+
+void API::ConfigStreamRequest(const StreamRequest &request) {
+  device_->ConfigStreamRequest(request);
+}
+
+const StreamRequest &API::GetStreamRequest() const {
+  return device_->GetStreamRequest();
+}
+
+std::shared_ptr<DeviceInfo> API::GetInfo() const {
+  return device_->GetInfo();
+}
+
 std::string API::GetInfo(const Info &info) const {
   return device_->GetInfo(info);
 }
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index 296e5af..04f1ca9 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -161,7 +161,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
   auto &&mode = GetStreamEnabledMode(stream);
   if (mode == MODE_NATIVE) {
     auto &&device = api_->device();
-    return data2api(device->GetLatestStreamData(stream));
+    return data2api(device->GetStreamData(stream));
   } else if (mode == MODE_SYNTHETIC) {
     if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
       static std::shared_ptr<ObjMat2> output = nullptr;
diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index 48a0998..5450eac 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -563,44 +563,43 @@ std::size_t from_data(
   return i;
 }
 
-// TODO(Kalman): Is there a more elegant way?
 std::size_t from_data(
-    device::img_params_t *img_params, const std::uint8_t *data,
+    Channels::img_params_t *img_params, const std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 0;
 
+  // TODO(JohnZhao)
+  Intrinsics in_left, in_right;
+  Extrinsics ex_right_to_left;
+
   if (spec_version->major() == 1) {
     if (spec_version->minor() == 0) {
-      i += from_data(
-          &img_params->in_left_map[Resolution::RES_752x480], data + i,
-          spec_version);
-      i += from_data(
-          &img_params->in_right_map[Resolution::RES_752x480], data + i,
-          spec_version);
+      i += from_data(&in_left, data + i, spec_version);
+      i += from_data(&in_right, data + i, spec_version);
+      i += from_data(&ex_right_to_left, data + i, spec_version);
+      (*img_params)[{752, 480}] = {true, in_left, in_right, ex_right_to_left};
     }
 
     if (spec_version->minor() == 1) {
-      i += from_data(
-          &img_params->in_left_map[Resolution::RES_1280x400], data + i,
-          spec_version);
-      i += from_data(
-          &img_params->in_right_map[Resolution::RES_1280x400], data + i,
-          spec_version);
-      i += from_data(
-          &img_params->in_left_map[Resolution::RES_2560x800], data + i,
-          spec_version);
-      i += from_data(
-          &img_params->in_right_map[Resolution::RES_2560x800], data + i,
-          spec_version);
+      i += from_data(&in_left, data + i, spec_version);
+      i += from_data(&in_right, data + i, spec_version);
+      (*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
+
+      i += from_data(&in_left, data + i, spec_version);
+      i += from_data(&in_right, data + i, spec_version);
+      (*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
+
+      i += from_data(&ex_right_to_left, data + i, spec_version);
+      (*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
+      (*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
     }
   }
 
-  i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
   return i;
 }
 
 std::size_t from_data(
-    device::imu_params_t *imu_params, const std::uint8_t *data,
+    Channels::imu_params_t *imu_params, const std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 0;
   i += from_data(&imu_params->in_accel, data + i, spec_version);
@@ -674,8 +673,7 @@ bool Channels::GetFiles(
           CheckSpecVersion(spec_ver);
         } break;
         case FID_IMG_PARAMS: {
-          img_params->ok = file_size > 0;
-          if (img_params->ok) {
+          if (file_size > 0) {
             CheckSpecVersion(spec_ver);
             from_data(img_params, data + i, spec_ver);
             // Considering the upgrade, comment this
@@ -864,38 +862,34 @@ std::size_t to_data(
 }
 
 std::size_t to_data(
-    const device::img_params_t *img_params, std::uint8_t *data,
+    const Channels::img_params_t *img_params, std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 3;  // skip id, size
 
+  // TODO(JohnZhao)
   if (spec_version->major() == 1) {
     if (spec_version->minor() == 0) {
-      i += to_data(
-          &img_params->in_left_map.at(Resolution::RES_752x480), data + i,
-          spec_version);
-      i += to_data(
-          &img_params->in_right_map.at(Resolution::RES_752x480), data + i,
-          spec_version);
+      auto &&params = (*img_params).at({752, 480});
+      i += to_data(&params.in_left, data + i, spec_version);
+      i += to_data(&params.in_right, data + i, spec_version);
+      i += to_data(&params.ex_right_to_left, data + i, spec_version);
     }
 
     if (spec_version->minor() == 1) {
-      i += to_data(
-          &img_params->in_left_map.at(Resolution::RES_1280x400), data + i,
-          spec_version);
-      i += to_data(
-          &img_params->in_right_map.at(Resolution::RES_1280x400), data + i,
-          spec_version);
-
-      i += to_data(
-          &img_params->in_left_map.at(Resolution::RES_2560x800), data + i,
-          spec_version);
-      i += to_data(
-          &img_params->in_right_map.at(Resolution::RES_2560x800), data + i,
-          spec_version);
+      {
+        auto &&params = (*img_params).at({1280, 400});
+        i += to_data(&params.in_left, data + i, spec_version);
+        i += to_data(&params.in_right, data + i, spec_version);
+      }
+      {
+        auto &&params = (*img_params).at({2560, 800});
+        i += to_data(&params.in_left, data + i, spec_version);
+        i += to_data(&params.in_right, data + i, spec_version);
+        i += to_data(&params.ex_right_to_left, data + i, spec_version);
+      }
     }
   }
 
-  i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
   // others
   std::size_t size = i - 3;
   data[0] = Channels::FID_IMG_PARAMS;
diff --git a/src/mynteye/device/channels.h b/src/mynteye/device/channels.h
index 86dccdb..3c42c65 100644
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -68,23 +68,9 @@ class MYNTEYE_API Channels {
 
   using device_info_t = DeviceInfo;
 
+  using img_params_t = std::map<Resolution, device::img_params_t>;
   using imu_params_t = device::imu_params_t;
-  using img_params_t = device::img_params_t;
-/*
-  typedef struct ImgParams {
-    bool ok;
-    std::map<Resolution, Intrinsics> in_left_map;
-    std::map<Resolution, Intrinsics> in_right_map;
-    Extrinsics ex_right_to_left;
-  } img_params_t;
 
-  typedef struct ImuParams {
-    bool ok;
-    ImuIntrinsics in_accel;
-    ImuIntrinsics in_gyro;
-    Extrinsics ex_left_to_imu;
-  } imu_params_t;
-*/
   explicit Channels(std::shared_ptr<uvc::device> device);
   ~Channels();
 
diff --git a/src/mynteye/device/config.cc b/src/mynteye/device/config.cc
index 4b867d8..115e243 100644
--- a/src/mynteye/device/config.cc
+++ b/src/mynteye/device/config.cc
@@ -16,39 +16,65 @@
 MYNTEYE_BEGIN_NAMESPACE
 
 const std::map<Model, StreamSupports> stream_supports_map = {
-    {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}}};
+  {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}},
+  {Model::STANDARD2, {Stream::LEFT, Stream::RIGHT}}
+};
 
 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
-    {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
+  {Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}},
+  {Model::STANDARD2, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
+};
 
-// TODO(Kalman): Compatible with two generation
 const std::map<Model, OptionSupports> option_supports_map = {
-    {Model::STANDARD,
-     {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN,
-      Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
-      Option::MIN_EXPOSURE_TIME, Option::ERASE_CHIP,
-      Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
-      Option::ACCELEROMETER_LOW_PASS_FILTER,
-      Option::GYROSCOPE_LOW_PASS_FILTER}}};
+  {Model::STANDARD, {
+    Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST,
+    Option::FRAME_RATE, Option::IMU_FREQUENCY,
+    Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
+      Option::DESIRED_BRIGHTNESS,
+    Option::IR_CONTROL,
+    Option::HDR_MODE,
+    Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
+    Option::ZERO_DRIFT_CALIBRATION,
+    Option::ERASE_CHIP}
+  },
+  {Model::STANDARD2, {
+    Option::BRIGHTNESS,
+    Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
+      Option::MIN_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
+    Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
+    Option::ACCELEROMETER_LOW_PASS_FILTER, Option::GYROSCOPE_LOW_PASS_FILTER,
+    Option::ERASE_CHIP}
+  }
+};
 
 const std::map<Model, std::map<Capabilities, StreamRequests>>
-    stream_requests_map = {
-        {Model::STANDARD,
-         {{Capabilities::STEREO, {{480, 752, Format::YUYV, 25}}},
-          {Capabilities::STEREO_COLOR,
-           {// {1280, 400, Format::YUYV, 10},
-            // {1280, 400, Format::YUYV, 20},
-            // {1280, 400, Format::YUYV, 30},
-            // {1280, 400, Format::YUYV, 60},
-            // {2560, 800, Format::YUYV, 10},
-            // {2560, 800, Format::YUYV, 20},
-            // {2560, 800, Format::YUYV, 30},
-            {1280, 400, Format::BGR888, 10},
-            {1280, 400, Format::BGR888, 20},
-            {1280, 400, Format::BGR888, 30},
-            {1280, 400, Format::BGR888, 60},
-            {2560, 800, Format::BGR888, 10},
-            {2560, 800, Format::BGR888, 20},
-            {2560, 800, Format::BGR888, 30}}}}}};
+stream_requests_map = {
+  {Model::STANDARD,
+    {{Capabilities::STEREO, {
+      {752, 480, Format::YUYV, 10},
+      {752, 480, Format::YUYV, 15},
+      {752, 480, Format::YUYV, 20},
+      {752, 480, Format::YUYV, 25},
+      {752, 480, Format::YUYV, 30},
+      {752, 480, Format::YUYV, 35},
+      {752, 480, Format::YUYV, 40},
+      {752, 480, Format::YUYV, 45},
+      {752, 480, Format::YUYV, 50},
+      {752, 480, Format::YUYV, 55},
+      {752, 480, Format::YUYV, 60}}
+    }}
+  },
+  {Model::STANDARD2,
+    {{Capabilities::STEREO_COLOR, {
+      {1280, 400, Format::BGR888, 10},
+      {1280, 400, Format::BGR888, 20},
+      {1280, 400, Format::BGR888, 30},
+      {1280, 400, Format::BGR888, 60},
+      {2560, 800, Format::BGR888, 10},
+      {2560, 800, Format::BGR888, 20},
+      {2560, 800, Format::BGR888, 30}}
+    }}
+  }
+};
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/config.h b/src/mynteye/device/config.h
index a4f8dba..f38dab0 100644
--- a/src/mynteye/device/config.h
+++ b/src/mynteye/device/config.h
@@ -27,18 +27,13 @@ MYNTEYE_BEGIN_NAMESPACE
 using StreamSupports = std::set<Stream>;
 using CapabilitiesSupports = std::set<Capabilities>;
 using OptionSupports = std::set<Option>;
-using ResolutionSupports = std::set<Resolution>;
-using FrameRateSupports = std::set<FrameRate>;
+
 extern const std::map<Model, StreamSupports> stream_supports_map;
 extern const std::map<Model, CapabilitiesSupports> capabilities_supports_map;
 extern const std::map<Model, OptionSupports> option_supports_map;
-extern const std::map<Model, ResolutionSupports> resolution_supports_map;
 
 using StreamRequests = std::vector<StreamRequest>;
 
-extern const std::map<Model, std::map<Resolution, FrameRateSupports>>
-    framerate_Supports_supports_map;
-
 extern const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map;
 
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index 7041168..a15d7a5 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -172,6 +172,33 @@ void Device::ConfigStreamRequest(
     return;
   }
   stream_config_requests_[capability] = request;
+  UpdateStreamIntrinsics(capability, request);
+}
+
+const StreamRequest &Device::GetStreamRequest(
+    const Capabilities &capability) const {
+  try {
+    return stream_config_requests_.at(capability);
+  } catch (const std::out_of_range &e) {
+    auto &&requests = GetStreamRequests(capability);
+    if (requests.size() >= 1) {
+      return requests[0];
+    } else {
+      LOG(FATAL) << "Please config the stream request of " << capability;
+    }
+  }
+}
+
+const std::vector<StreamRequest> &Device::GetStreamRequests() const {
+  return GetStreamRequests(GetKeyStreamCapability());
+}
+
+void Device::ConfigStreamRequest(const StreamRequest &request) {
+  ConfigStreamRequest(GetKeyStreamCapability(), request);
+}
+
+const StreamRequest &Device::GetStreamRequest() const {
+  return GetStreamRequest(GetKeyStreamCapability());
 }
 
 std::shared_ptr<DeviceInfo> Device::GetInfo() const {
@@ -406,6 +433,14 @@ void Device::WaitForStreams() {
   streams_->WaitForStreams();
 }
 
+device::StreamData Device::GetStreamData(const Stream &stream) {
+  CHECK(video_streaming_);
+  CHECK_NOTNULL(streams_);
+  CheckSupports(this, stream);
+  std::lock_guard<std::mutex> _(mtx_streams_);
+  return streams_->GetLatestStreamData(stream);
+}
+
 std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
   CHECK(video_streaming_);
   CHECK_NOTNULL(streams_);
@@ -414,14 +449,6 @@ std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
   return streams_->GetStreamDatas(stream);
 }
 
-device::StreamData Device::GetLatestStreamData(const Stream &stream) {
-  CHECK(video_streaming_);
-  CHECK_NOTNULL(streams_);
-  CheckSupports(this, stream);
-  std::lock_guard<std::mutex> _(mtx_streams_);
-  return streams_->GetLatestStreamData(stream);
-}
-
 void Device::EnableMotionDatas() {
   EnableMotionDatas(std::numeric_limits<std::size_t>::max());
 }
@@ -437,33 +464,6 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
   return motions_->GetMotionDatas();
 }
 
-void Device::InitResolution(const Resolution &res) {
-  res_ = res;
-  ConfigIntrinsics(res_);
-}
-
-void Device::SetStreamRequest(const Format &format, const FrameRate &rate) {
-  StreamRequest request(res_, format, rate);
-  request_ = request;
-}
-
-const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
-  try {
-    return stream_config_requests_.at(capability);
-  } catch (const std::out_of_range &e) {
-    auto &&requests = GetStreamRequests(capability);
-    if (requests.size() >= 1) {
-      for (auto &&request : requests) {
-        if (request == request_)
-          return request;
-      }
-      return requests[0];
-    } else {
-      LOG(FATAL) << "Please config the stream request of " << capability;
-    }
-  }
-}
-
 void Device::StartVideoStreaming() {
   if (video_streaming_) {
     LOG(WARNING) << "Cannot start video streaming without first stopping it";
@@ -557,8 +557,9 @@ void Device::ReadAllInfos() {
   device_info_ = std::make_shared<DeviceInfo>();
 
   CHECK_NOTNULL(channels_);
+  all_img_params_.clear();
   Device::imu_params_t imu_params;
-  if (!channels_->GetFiles(device_info_.get(), &img_params_, &imu_params)) {
+  if (!channels_->GetFiles(device_info_.get(), &all_img_params_, &imu_params)) {
 #if defined(WITH_DEVICE_INFO_REQUIRED)
     LOG(FATAL)
 #else
@@ -579,14 +580,28 @@ void Device::ReadAllInfos() {
           << ", nominal_baseline: " << device_info_->nominal_baseline << "}";
 
   device_info_->name = uvc::get_name(*device_);
-  if (img_params_.ok) {
-    SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params_.ex_right_to_left);
-    VLOG(2) << "Extrinsics left to right: {"
-            << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
-  } else {
+
+  bool img_params_ok = false;
+  for (auto &&params : all_img_params_) {
+    auto &&img_params = params.second;
+    if (img_params.ok) {
+      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);
+      VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
+      VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+      VLOG(2) << "Extrinsics left to right: {"
+              << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+      break;
+    }
+  }
+  if (!img_params_ok) {
     LOG(WARNING) << "Intrinsics & extrinsics not exist";
   }
+
   if (imu_params.ok) {
+    imu_params_ = imu_params;
     SetMotionIntrinsics({imu_params.in_accel, imu_params.in_gyro});
     SetMotionExtrinsics(Stream::LEFT, imu_params.ex_left_to_imu);
     VLOG(2) << "Motion intrinsics: {" << GetMotionIntrinsics() << "}";
@@ -597,12 +612,25 @@ void Device::ReadAllInfos() {
   }
 }
 
-void Device::ConfigIntrinsics(const Resolution &res) {
-  if (img_params_.ok) {
-    SetIntrinsics(Stream::LEFT, img_params_.in_left_map[res]);
-    SetIntrinsics(Stream::RIGHT, img_params_.in_right_map[res]);
-    VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
-    VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+void Device::UpdateStreamIntrinsics(
+    const Capabilities &capability, const StreamRequest &request) {
+  if (capability != GetKeyStreamCapability()) {
+    return;
+  }
+
+  for (auto &&params : all_img_params_) {
+    auto &&img_res = params.first;
+    auto &&img_params = params.second;
+    if (img_params.ok && img_res == request.GetResolution()) {
+      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 right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+      VLOG(2) << "Extrinsics left to right: {"
+              << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+      break;
+    }
   }
 }
 
@@ -629,8 +657,4 @@ void Device::CallbackMotionData(const device::MotionData &data) {
   }
 }
 
-Device::img_params_t Device::GetImgParams() {
-  return img_params_;
-}
-
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/device_s.cc b/src/mynteye/device/device_s.cc
index e30f3d4..bc62123 100644
--- a/src/mynteye/device/device_s.cc
+++ b/src/mynteye/device/device_s.cc
@@ -19,7 +19,7 @@
 MYNTEYE_BEGIN_NAMESPACE
 
 StandardDevice::StandardDevice(std::shared_ptr<uvc::device> device)
-    : Device(Model::STANDARD, device) {
+    : Device(Model::STANDARD2, device) {
   VLOG(2) << __func__;
 }
 
@@ -27,6 +27,10 @@ StandardDevice::~StandardDevice() {
   VLOG(2) << __func__;
 }
 
+Capabilities StandardDevice::GetKeyStreamCapability() const {
+  return Capabilities::STEREO_COLOR;
+}
+
 std::vector<Stream> StandardDevice::GetKeyStreams() const {
   return {Stream::LEFT, Stream::RIGHT};
 }
diff --git a/src/mynteye/device/device_s.h b/src/mynteye/device/device_s.h
index 3a850e2..ef753a4 100644
--- a/src/mynteye/device/device_s.h
+++ b/src/mynteye/device/device_s.h
@@ -27,6 +27,7 @@ class StandardDevice : public Device {
   explicit StandardDevice(std::shared_ptr<uvc::device> device);
   virtual ~StandardDevice();
 
+  Capabilities GetKeyStreamCapability() const override;
   std::vector<Stream> GetKeyStreams() const override;
 
   void OnStereoStreamUpdate() override;
diff --git a/src/mynteye/device/utils.cc b/src/mynteye/device/utils.cc
index 534249a..5f976eb 100644
--- a/src/mynteye/device/utils.cc
+++ b/src/mynteye/device/utils.cc
@@ -31,14 +31,14 @@ std::shared_ptr<Device> select() {
   Context context;
   auto &&devices = context.devices();
 
-  size_t n = devices.size();
+  std::size_t n = devices.size();
   if (n <= 0) {
     LOG(ERROR) << "No MYNT EYE devices :(";
     return nullptr;
   }
 
   LOG(INFO) << "MYNT EYE devices:";
-  for (size_t i = 0; i < n; i++) {
+  for (std::size_t i = 0; i < n; i++) {
     auto &&device = devices[i];
     LOG(INFO) << "  index: " << i
               << ", name: " << device->GetInfo(Info::DEVICE_NAME)
@@ -51,7 +51,7 @@ std::shared_ptr<Device> select() {
     LOG(INFO) << "Only one MYNT EYE device, select index: 0";
   } else {
     while (true) {
-      size_t i;
+      std::size_t i;
       LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
       std::cin >> i;
       if (i >= n) {
@@ -66,6 +66,42 @@ std::shared_ptr<Device> select() {
   return device;
 }
 
+MYNTEYE_NAMESPACE::StreamRequest select_request(
+    const std::shared_ptr<Device> &device, bool *ok) {
+  auto &&requests = device->GetStreamRequests();
+  std::size_t n = requests.size();
+  if (n <= 0) {
+    LOG(ERROR) << "No MYNT EYE devices :(";
+    *ok = false;
+    return {};
+  }
+
+  LOG(INFO) << "MYNT EYE devices:";
+  for (std::size_t i = 0; i < n; i++) {
+    auto &&request = requests[i];
+    LOG(INFO) << "  index: " << i
+              << ", request: " << request;
+  }
+
+  if (n <= 1) {
+    LOG(INFO) << "Only one stream request, select index: 0";
+    *ok = true;
+    return requests[0];
+  } else {
+    while (true) {
+      std::size_t i;
+      LOG(INFO) << "There are " << n << " stream requests, select index: ";
+      std::cin >> i;
+      if (i >= n) {
+        LOG(WARNING) << "Index out of range :(";
+        continue;
+      }
+      *ok = true;
+      return requests[i];
+    }
+  }
+}
+
 }  // namespace device
 
 namespace utils {
diff --git a/src/mynteye/types.cc b/src/mynteye/types.cc
index ecee3a5..a27601e 100644
--- a/src/mynteye/types.cc
+++ b/src/mynteye/types.cc
@@ -29,6 +29,7 @@ const char *to_string(const Model &value) {
     return "Model::" #X;
   switch (value) {
     CASE(STANDARD)
+    CASE(STANDARD2)
     default:
       CHECK(is_valid(value));
       return "Model::UNKNOWN";
@@ -62,6 +63,7 @@ const char *to_string(const Capabilities &value) {
     return "Capabilities::" #X;
   switch (value) {
     CASE(STEREO)
+    CASE(STEREO_COLOR)
     CASE(COLOR)
     CASE(DEPTH)
     CASE(POINTS)
@@ -109,16 +111,16 @@ const char *to_string(const Option &value) {
     CASE(EXPOSURE_MODE)
     CASE(MAX_GAIN)
     CASE(MAX_EXPOSURE_TIME)
+    CASE(MIN_EXPOSURE_TIME)
     CASE(DESIRED_BRIGHTNESS)
     CASE(IR_CONTROL)
     CASE(HDR_MODE)
-    CASE(ZERO_DRIFT_CALIBRATION)
-    CASE(ERASE_CHIP)
-    CASE(MIN_EXPOSURE_TIME)
     CASE(ACCELEROMETER_RANGE)
     CASE(GYROSCOPE_RANGE)
     CASE(ACCELEROMETER_LOW_PASS_FILTER)
     CASE(GYROSCOPE_LOW_PASS_FILTER)
+    CASE(ZERO_DRIFT_CALIBRATION)
+    CASE(ERASE_CHIP)
     default:
       CHECK(is_valid(value));
       return "Option::UNKNOWN";
@@ -160,6 +162,7 @@ const char *to_string(const Format &value) {
   switch (value) {
     CASE(GREY)
     CASE(YUYV)
+    CASE(BGR888)
     default:
       return "Format::UNKNOWN";
   }
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 4c4f13d..a771a54 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -24,10 +24,13 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-  api->InitResolution(Resolution::RES_1280x400);
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
   api->LogOptionInfos();
 
   // Enable this will cache the motion datas until you get them.
diff --git a/tools/dataset/record2.cc b/tools/dataset/record2.cc
index 52b1738..99580ea 100644
--- a/tools/dataset/record2.cc
+++ b/tools/dataset/record2.cc
@@ -27,10 +27,13 @@ int main(int argc, char *argv[]) {
   glog_init _(argc, argv);
 
   auto &&device = device::select();
-  if (!device)
-    return 1;
-  device->InitResolution(Resolution::RES_1280x400);
-  device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  if (!device) return 1;
+
+  bool ok;
+  auto &&request = device::select_request(device, &ok);
+  if (!ok) return 1;
+  device->ConfigStreamRequest(request);
+
   device->LogOptionInfos();
 
   // Enable this will cache the motion datas until you get them.

From 09e14293ed262896f45085dfbaf4fa93f7a17efa Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Thu, 20 Dec 2018 17:11:32 +0800
Subject: [PATCH 80/96] style(uvc-v4l2.cc): add white space

---
 src/mynteye/uvc/linux/uvc-v4l2.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/mynteye/uvc/linux/uvc-v4l2.cc b/src/mynteye/uvc/linux/uvc-v4l2.cc
index 01aba0a..166be56 100755
--- a/src/mynteye/uvc/linux/uvc-v4l2.cc
+++ b/src/mynteye/uvc/linux/uvc-v4l2.cc
@@ -412,7 +412,7 @@ struct device {
       no_data_count = 0;
       living_count = 0;
       LOG(WARNING) << __func__
-                   << " failed: v4l2 get stream time out,Try to reboot!";
+                   << " failed: v4l2 get stream time out, Try to reboot!";
       stop_capture();
       start_capture();
     }

From 1652d976bfbfc86b95f73cdaf6841d94514eb601 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Thu, 20 Dec 2018 20:45:11 +0800
Subject: [PATCH 81/96] fix(ros): fix init device

---
 include/mynteye/api/api.h                     |  6 +++
 src/mynteye/api/api.cc                        |  4 ++
 .../launch/mynteye.launch                     | 41 +++++++++----------
 .../src/wrapper_nodelet.cc                    | 35 ++++++++++------
 4 files changed, 52 insertions(+), 34 deletions(-)

diff --git a/include/mynteye/api/api.h b/include/mynteye/api/api.h
index 77f6bcf..37a9aed 100644
--- a/include/mynteye/api/api.h
+++ b/include/mynteye/api/api.h
@@ -114,6 +114,12 @@ class MYNTEYE_API API {
    */
   static std::shared_ptr<API> Create(
       int argc, char *argv[], const std::shared_ptr<Device> &device);
+  /**
+   * Create the API instance.
+   * @param device the selected device.
+   * @return the API instance.
+   */
+  static std::shared_ptr<API> Create(const std::shared_ptr<Device> &device);
 
   /**
    * Get the model.
diff --git a/src/mynteye/api/api.cc b/src/mynteye/api/api.cc
index 24d17dd..4780a4b 100644
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@@ -227,6 +227,10 @@ std::shared_ptr<API> API::Create(int argc, char *argv[]) {
 std::shared_ptr<API> API::Create(
     int argc, char *argv[], const std::shared_ptr<Device> &device) {
   static glog_init _(argc, argv);
+  return Create(device);
+}
+
+std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
   return std::make_shared<API>(device);
 }
 
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index 267a8dd..d08d91f 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -35,26 +35,27 @@
 
   <!-- stream toggles -->
 
-  <!-- Resolution -->
-  <arg name="res_752x480"    default="0" />
-  <arg name="res_1280x400"   default="1" />
-  <arg name="res_2560x800"   default="2" />
+  <!-- Request index -->
 
-  <!-- FrameRate -->
-  <arg name="rate_10_fps"   default="10" />
-  <arg name="rate_20_fps"   default="20" />
-  <arg name="rate_25_fps"   default="25" />
-  <arg name="rate_30_fps"   default="30" />
-  <arg name="rate_60_fps"   default="60" />
+  <!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 10 -->
+  <arg name="index_s210a_0"   default="0" />
+  <!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 20 -->
+  <arg name="index_s210a_1"   default="1" />
+  <!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 30 -->
+  <arg name="index_s210a_2"   default="2" />
+  <!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 60 -->
+  <arg name="index_s210a_3"   default="3" />
+  <!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 10 -->
+  <arg name="index_s210a_4"   default="4" />
+  <!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 20 -->
+  <arg name="index_s210a_5"   default="5" />
+  <!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 30 -->
+  <arg name="index_s210a_6"   default="6" />
 
-  <!-- Format -->
-  <arg name="grey"    default="1497715271" />
-  <arg name="yuyv"   default="1497715271" />
-  <arg name="bgr888"   default="861030210" />
+  <!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV, Fps: 25 -->
+  <arg name="index_s1030_0"   default="0" />
 
-  <arg name="resolution" default="$(arg res_1280x400)" />
-  <arg name="framerate" default="$(arg rate_30_fps)" />
-  <arg name="format" default="$(arg bgr888)" />
+  <arg name="request_index" default="$(arg index_s210a_2)" />
 
   <arg name="enable_left_rect" default="false" />
   <arg name="enable_right_rect" default="false" />
@@ -151,10 +152,8 @@
       <param name="enable_points" value="$(arg enable_points)" />
       <param name="enable_depth" value="$(arg enable_depth)" />
 
-      <!-- init params -->
-      <param name="resolution" value="$(arg resolution)" />
-      <param name="framerate" value="$(arg framerate)" />
-      <param name="format" value="$(arg format)" />
+      <!-- stream request index -->
+      <param name="request_index" value="$(arg request_index)" />
 
       <!-- device options -->
 
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 7142a2e..4cce33c 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
@@ -105,15 +105,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   void onInit() override {
     nh_ = getMTNodeHandle();
     private_nh_ = getMTPrivateNodeHandle();
-    int resolution = 0;
-    int format = 0;
-    int framerate = 20;
-    private_nh_.getParam("resolution", resolution);
-    private_nh_.getParam("framerate", framerate);
-    private_nh_.getParam("format", format);
-    frame_rate_ = framerate;
+    int request_index = 0;
+    private_nh_.getParam("request_index", request_index);
 
-    initDevice(resolution, format, framerate);
+    initDevice(request_index);
     NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
 
     // node params
@@ -255,7 +250,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     NODELET_INFO_STREAM("Advertized service " << DEVICE_INFO_SERVICE);
 
     publishStaticTransforms();
-    ros::Rate loop_rate(frame_rate_);
+    ros::Rate loop_rate(60);
     while (private_nh_.ok()) {
       publishTopics();
       loop_rate.sleep();
@@ -724,7 +719,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
  private:
-  void initDevice(int resolution, int format, int framerate) {
+  void initDevice(int request_index) {
     NODELET_INFO_STREAM("Detecting MYNT EYE devices");
 
     Context context;
@@ -759,9 +754,23 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
     }
 
-    api_ = API::Create(device, static_cast<Resolution>(resolution));
-    api_->SetStreamRequest(static_cast<Format>(format),
-                            static_cast<FrameRate>(framerate));
+    api_ = API::Create(device);
+    auto &&requests = device->GetStreamRequests();
+    std::size_t m = requests.size();
+
+    NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :(");
+    if (m <= 1) {
+      NODELET_INFO_STREAM("Only one stream request, select index: 0");
+      api_->ConfigStreamRequest(requests[0]);
+    } else {
+      if (request_index >= m) {
+        NODELET_WARN_STREAM("Resquest_index out of range");
+        api_->ConfigStreamRequest(requests[0]);
+      } else {
+        NODELET_WARN_STREAM("request_index: " << request_index);
+        api_->ConfigStreamRequest(requests[request_index]);
+      }
+    }
 
     computeRectTransforms();
   }

From a38e6a782a2521cfc2e2801912cbc723bc5402a8 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Thu, 20 Dec 2018 22:08:29 +0800
Subject: [PATCH 82/96] fix(api): update rectify params after config stream
 request

---
 src/mynteye/api/api.cc                        |  4 ++-
 .../api/processor/rectify_processor.cc        | 13 ++++++---
 src/mynteye/api/processor/rectify_processor.h |  4 +++
 src/mynteye/api/synthetic.cc                  | 29 +++++++++----------
 src/mynteye/api/synthetic.h                   |  2 ++
 5 files changed, 31 insertions(+), 21 deletions(-)

diff --git a/src/mynteye/api/api.cc b/src/mynteye/api/api.cc
index 4780a4b..41c201f 100644
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@@ -210,7 +210,7 @@ std::vector<std::string> get_plugin_paths() {
 
 API::API(std::shared_ptr<Device> device) : device_(device) {
   VLOG(2) << __func__;
-  std::dynamic_pointer_cast<StandardDevice>(device_);
+  // std::dynamic_pointer_cast<StandardDevice>(device_);
   synthetic_.reset(new Synthetic(this));
 }
 
@@ -266,6 +266,7 @@ const std::vector<StreamRequest> &API::GetStreamRequests(
 void API::ConfigStreamRequest(
     const Capabilities &capability, const StreamRequest &request) {
   device_->ConfigStreamRequest(capability, request);
+  synthetic_->NotifyImageParamsChanged();
 }
 
 const StreamRequest &API::GetStreamRequest(
@@ -279,6 +280,7 @@ const std::vector<StreamRequest> &API::GetStreamRequests() const {
 
 void API::ConfigStreamRequest(const StreamRequest &request) {
   device_->ConfigStreamRequest(request);
+  synthetic_->NotifyImageParamsChanged();
 }
 
 const StreamRequest &API::GetStreamRequest() const {
diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index 9c570f0..86b0988 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -27,11 +27,9 @@ const char RectifyProcessor::NAME[] = "RectifyProcessor";
 
 RectifyProcessor::RectifyProcessor(
     std::shared_ptr<Device> device, std::int32_t proc_period)
-    : Processor(std::move(proc_period)) {
+    : Processor(std::move(proc_period)), device_(device) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
-  InitParams(
-      device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
-      device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
+  NotifyImageParamsChanged();
 }
 
 RectifyProcessor::~RectifyProcessor() {
@@ -42,6 +40,13 @@ std::string RectifyProcessor::Name() {
   return NAME;
 }
 
+void RectifyProcessor::NotifyImageParamsChanged() {
+  InitParams(
+      device_->GetIntrinsics(Stream::LEFT),
+      device_->GetIntrinsics(Stream::RIGHT),
+      device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
+}
+
 Object *RectifyProcessor::OnCreateOutput() {
   return new ObjMat2();
 }
diff --git a/src/mynteye/api/processor/rectify_processor.h b/src/mynteye/api/processor/rectify_processor.h
index 0cb33a0..30b615b 100644
--- a/src/mynteye/api/processor/rectify_processor.h
+++ b/src/mynteye/api/processor/rectify_processor.h
@@ -37,6 +37,8 @@ class RectifyProcessor : public Processor {
 
   std::string Name() override;
 
+  void NotifyImageParamsChanged();
+
   cv::Mat R1, P1, R2, P2, Q;
   cv::Mat map11, map12, map21, map22;
 
@@ -48,6 +50,8 @@ class RectifyProcessor : public Processor {
  private:
   void InitParams(
       Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
+
+  std::shared_ptr<Device> device_;
 };
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index 04f1ca9..44fe48b 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -83,6 +83,11 @@ Synthetic::~Synthetic() {
   }
 }
 
+void Synthetic::NotifyImageParamsChanged() {
+  auto &&processor = find_processor<RectifyProcessor>(processor_);
+  if (processor) processor->NotifyImageParamsChanged();
+}
+
 bool Synthetic::Supports(const Stream &stream) const {
   return stream_supports_mode_.find(stream) != stream_supports_mode_.end();
 }
@@ -311,42 +316,35 @@ void Synthetic::EnableStreamData(const Stream &stream, std::uint32_t depth) {
         break;
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
       CHECK(ActivateProcessor<RectifyProcessor>());
-    }
-      return;
+    } return;
     case Stream::RIGHT_RECTIFIED: {
       if (!IsStreamDataEnabled(Stream::RIGHT))
         break;
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
       CHECK(ActivateProcessor<RectifyProcessor>());
-    }
-      return;
+    } return;
     case Stream::DISPARITY: {
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
       EnableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
       EnableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
       CHECK(ActivateProcessor<DisparityProcessor>());
-    }
-      return;
+    } return;
     case Stream::DISPARITY_NORMALIZED: {
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
       EnableStreamData(Stream::DISPARITY, depth + 1);
       CHECK(ActivateProcessor<DisparityNormalizedProcessor>());
-    }
-      return;
+    } return;
     case Stream::POINTS: {
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
       EnableStreamData(Stream::DISPARITY, depth + 1);
       CHECK(ActivateProcessor<PointsProcessor>());
-    }
-      return;
+    } return;
     case Stream::DEPTH: {
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
       EnableStreamData(Stream::POINTS, depth + 1);
       CHECK(ActivateProcessor<DepthProcessor>());
-    }
-      return;
-    default:
-      break;
+    } return;
+    default: break;
   }
   if (depth == 0) {
     LOG(WARNING) << "Enable stream data of " << stream << " failed";
@@ -399,8 +397,7 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
       case Stream::DEPTH: {
         DeactivateProcessor<DepthProcessor>();
       } break;
-      default:
-        return;
+      default: return;
     }
     if (depth > 0) {
       LOG(WARNING) << "Disable synthetic stream data of " << stream << " too";
diff --git a/src/mynteye/api/synthetic.h b/src/mynteye/api/synthetic.h
index 441ddfb..27c9d44 100644
--- a/src/mynteye/api/synthetic.h
+++ b/src/mynteye/api/synthetic.h
@@ -43,6 +43,8 @@ class Synthetic {
   explicit Synthetic(API *api);
   ~Synthetic();
 
+  void NotifyImageParamsChanged();
+
   bool Supports(const Stream &stream) const;
   mode_t SupportsMode(const Stream &stream) const;
 

From 91da3a3ca862cff41e580e05a9e758a8cff72f57 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Fri, 21 Dec 2018 00:23:42 +0800
Subject: [PATCH 83/96] refactor(*): adapt stereo stream to different device

---
 CMakeLists.txt                                |   7 +-
 include/mynteye/device/device.h               |   3 +-
 include/mynteye/types.h                       |   2 +-
 src/mynteye/api/api.cc                        |   1 -
 src/mynteye/api/synthetic.cc                  |   2 +-
 src/mynteye/device/device.cc                  |  84 ++++++------
 src/mynteye/device/{ => standard}/device_s.cc |  11 +-
 src/mynteye/device/{ => standard}/device_s.h  |   8 +-
 .../device/standard/streams_adapter_s.cc      |  80 +++++++++++
 .../device/standard/streams_adapter_s.h       |  42 ++++++
 src/mynteye/device/standard2/device_s2.cc     |  46 +++++++
 src/mynteye/device/standard2/device_s2.h      |  38 ++++++
 .../device/standard2/streams_adapter_s2.cc    |  98 ++++++++++++++
 .../device/standard2/streams_adapter_s2.h     |  42 ++++++
 src/mynteye/device/streams.cc                 | 127 +++---------------
 src/mynteye/device/streams.h                  |  26 +++-
 16 files changed, 453 insertions(+), 164 deletions(-)
 rename src/mynteye/device/{ => standard}/device_s.cc (78%)
 rename src/mynteye/device/{ => standard}/device_s.h (82%)
 create mode 100644 src/mynteye/device/standard/streams_adapter_s.cc
 create mode 100644 src/mynteye/device/standard/streams_adapter_s.h
 create mode 100644 src/mynteye/device/standard2/device_s2.cc
 create mode 100644 src/mynteye/device/standard2/device_s2.h
 create mode 100644 src/mynteye/device/standard2/streams_adapter_s2.cc
 create mode 100644 src/mynteye/device/standard2/streams_adapter_s2.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fb1d797..8c6e956 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -150,7 +150,7 @@ elseif(OS_MAC)
   SET(OSX_EXTRA_LIBS ${VVUVCKIT_LIBRARY} ${USB_LIBRARY})
 
   set(UVC_SRC src/mynteye/uvc/macosx/CameraEngine.cpp src/mynteye/uvc/macosx/AVfoundationCamera.mm src/mynteye/uvc/macosx/uvc-vvuvckit.cc )
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}") 
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}")
 
   find_package(libuvc REQUIRED)
   set(UVC_LIB ${libuvc_LIBRARIES})
@@ -171,8 +171,11 @@ set(MYNTEYE_SRCS
   src/mynteye/device/config.cc
   src/mynteye/device/context.cc
   src/mynteye/device/device.cc
-  src/mynteye/device/device_s.cc
   src/mynteye/device/motions.cc
+  src/mynteye/device/standard/device_s.cc
+  src/mynteye/device/standard/streams_adapter_s.cc
+  src/mynteye/device/standard2/device_s2.cc
+  src/mynteye/device/standard2/streams_adapter_s2.cc
   src/mynteye/device/streams.cc
   src/mynteye/device/types.cc
   src/mynteye/device/utils.cc
diff --git a/include/mynteye/device/device.h b/include/mynteye/device/device.h
index 3a416d4..e03ff5b 100644
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -45,6 +45,7 @@ class API;
 class Channels;
 class Motions;
 class Streams;
+class StreamsAdapter;
 
 template <class Data>
 class AsyncCallback;
@@ -300,7 +301,7 @@ class MYNTEYE_API Device {
   virtual void OnStereoStreamUpdate();
 
   virtual Capabilities GetKeyStreamCapability() const = 0;
-  virtual std::vector<Stream> GetKeyStreams() const = 0;
+  virtual std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const = 0;
 
   std::map<Resolution, device::img_params_t> GetImgParams() const {
     return all_img_params_;
diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 56e5a16..319c56b 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -37,7 +37,7 @@ MYNTEYE_BEGIN_NAMESPACE
 enum class Model : std::uint8_t {
   /** Standard */
   STANDARD,
-  /** Standard 2 */
+  /** Standard 2 generation */
   STANDARD2,
   /** Last guard */
   LAST
diff --git a/src/mynteye/api/api.cc b/src/mynteye/api/api.cc
index 41c201f..adc70e2 100644
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@@ -26,7 +26,6 @@
 #include "mynteye/api/plugin.h"
 #include "mynteye/api/synthetic.h"
 #include "mynteye/device/device.h"
-#include "mynteye/device/device_s.h"
 #include "mynteye/device/utils.h"
 
 #if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index 44fe48b..22b7b17 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -48,7 +48,7 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
   } else if (frame->format() == Format::BGR888) {
     cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
     return img;
-  } else {
+  } else {  // Format::GRAY
     return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
   }
 }
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index a15d7a5..c63cdbe 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -23,8 +23,9 @@
 #include "mynteye/device/async_callback.h"
 #include "mynteye/device/channels.h"
 #include "mynteye/device/config.h"
-#include "mynteye/device/device_s.h"
 #include "mynteye/device/motions.h"
+#include "mynteye/device/standard/device_s.h"
+#include "mynteye/device/standard2/device_s2.h"
 #include "mynteye/device/streams.h"
 #include "mynteye/device/types.h"
 #include "mynteye/util/strings.h"
@@ -108,7 +109,7 @@ std::shared_ptr<Device> Device::Create(
         case '1':
           return std::make_shared<StandardDevice>(device);
         case '2':
-          return std::make_shared<StandardDevice>(device);
+          return std::make_shared<Standard2Device>(device);
         default:
           LOG(FATAL) << "No such generation now";
       }
@@ -470,51 +471,54 @@ void Device::StartVideoStreaming() {
     return;
   }
 
-  streams_ = std::make_shared<Streams>(GetKeyStreams());
+  streams_ = std::make_shared<Streams>(CreateStreamsAdapter());
 
   // if stream capabilities are supported with subdevices of device_
+  /*
   Capabilities stream_capabilities[] = {
-      Capabilities::STEREO,       Capabilities::COLOR,
-      Capabilities::STEREO_COLOR, Capabilities::DEPTH,
+      Capabilities::STEREO,       Capabilities::STEREO_COLOR,
+      Capabilities::COLOR,        Capabilities::DEPTH,
       Capabilities::POINTS,       Capabilities::FISHEYE,
       Capabilities::INFRARED,     Capabilities::INFRARED2};
   for (auto &&capability : stream_capabilities) {
-    if (Supports(capability)) {
-      // do stream request selection if more than one request of each stream
-      auto &&stream_request = GetStreamRequest(capability);
-
-      streams_->ConfigStream(capability, stream_request);
-      uvc::set_device_mode(
-          *device_, stream_request.width, stream_request.height,
-          static_cast<int>(stream_request.format), stream_request.fps,
-          [this, capability](
-              const void *data, std::function<void()> continuation) {
-            // drop the first stereo stream data
-            static std::uint8_t drop_count = 1;
-            if (drop_count > 0) {
-              --drop_count;
-              continuation();
-              return;
-            }
-            // auto &&time_beg = times::now();
-            {
-              std::lock_guard<std::mutex> _(mtx_streams_);
-              if (streams_->PushStream(capability, data)) {
-                CallbackPushedStreamData(Stream::LEFT);
-                CallbackPushedStreamData(Stream::RIGHT);
-              }
-            }
-            continuation();
-            OnStereoStreamUpdate();
-            // VLOG(2) << "Stereo video callback cost "
-            //     << times::count<times::milliseconds>(times::now() - time_beg)
-            //     << " ms";
-          });
-    } else {
-      // LOG(FATAL) << "Not any stream capabilities are supported by this
-      // device";
-    }
   }
+  */
+  auto &&stream_cap = GetKeyStreamCapability();
+  if (Supports(stream_cap)) {
+    // do stream request selection if more than one request of each stream
+    auto &&stream_request = GetStreamRequest(stream_cap);
+    streams_->ConfigStream(stream_cap, stream_request);
+
+    uvc::set_device_mode(
+        *device_, stream_request.width, stream_request.height,
+        static_cast<int>(stream_request.format), stream_request.fps,
+        [this, stream_cap](
+            const void *data, std::function<void()> continuation) {
+          // drop the first stereo stream data
+          static std::uint8_t drop_count = 1;
+          if (drop_count > 0) {
+            --drop_count;
+            continuation();
+            return;
+          }
+          // auto &&time_beg = times::now();
+          {
+            std::lock_guard<std::mutex> _(mtx_streams_);
+            if (streams_->PushStream(stream_cap, data)) {
+              CallbackPushedStreamData(Stream::LEFT);
+              CallbackPushedStreamData(Stream::RIGHT);
+            }
+          }
+          continuation();
+          OnStereoStreamUpdate();
+          // VLOG(2) << "Stereo video callback cost "
+          //     << times::count<times::milliseconds>(times::now() - time_beg)
+          //     << " ms";
+        });
+  } else {
+    LOG(FATAL) << "Not any stream capabilities are supported by this device";
+  }
+
   uvc::start_streaming(*device_, 0);
   video_streaming_ = true;
 }
diff --git a/src/mynteye/device/device_s.cc b/src/mynteye/device/standard/device_s.cc
similarity index 78%
rename from src/mynteye/device/device_s.cc
rename to src/mynteye/device/standard/device_s.cc
index bc62123..844365d 100644
--- a/src/mynteye/device/device_s.cc
+++ b/src/mynteye/device/standard/device_s.cc
@@ -11,15 +11,16 @@
 // 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/device_s.h"
+#include "mynteye/device/standard/device_s.h"
 
 #include "mynteye/logger.h"
 #include "mynteye/device/motions.h"
+#include "mynteye/device/standard/streams_adapter_s.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
 StandardDevice::StandardDevice(std::shared_ptr<uvc::device> device)
-    : Device(Model::STANDARD2, device) {
+    : Device(Model::STANDARD, device) {
   VLOG(2) << __func__;
 }
 
@@ -28,11 +29,11 @@ StandardDevice::~StandardDevice() {
 }
 
 Capabilities StandardDevice::GetKeyStreamCapability() const {
-  return Capabilities::STEREO_COLOR;
+  return Capabilities::STEREO;
 }
 
-std::vector<Stream> StandardDevice::GetKeyStreams() const {
-  return {Stream::LEFT, Stream::RIGHT};
+std::shared_ptr<StreamsAdapter> StandardDevice::CreateStreamsAdapter() const {
+  return std::make_shared<StandardStreamsAdapter>();
 }
 
 void StandardDevice::OnStereoStreamUpdate() {
diff --git a/src/mynteye/device/device_s.h b/src/mynteye/device/standard/device_s.h
similarity index 82%
rename from src/mynteye/device/device_s.h
rename to src/mynteye/device/standard/device_s.h
index ef753a4..5822489 100644
--- a/src/mynteye/device/device_s.h
+++ b/src/mynteye/device/standard/device_s.h
@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_DEVICE_DEVICE_S_H_
-#define MYNTEYE_DEVICE_DEVICE_S_H_
+#ifndef MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_
+#define MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_
 #pragma once
 
 #include <memory>
@@ -28,11 +28,11 @@ class StandardDevice : public Device {
   virtual ~StandardDevice();
 
   Capabilities GetKeyStreamCapability() const override;
-  std::vector<Stream> GetKeyStreams() const override;
+  std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
 
   void OnStereoStreamUpdate() override;
 };
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_DEVICE_DEVICE_S_H_
+#endif  // MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_
diff --git a/src/mynteye/device/standard/streams_adapter_s.cc b/src/mynteye/device/standard/streams_adapter_s.cc
new file mode 100644
index 0000000..aae171e
--- /dev/null
+++ b/src/mynteye/device/standard/streams_adapter_s.cc
@@ -0,0 +1,80 @@
+// 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/standard/streams_adapter_s.h"
+
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+bool unpack_left_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::YUYV);
+  CHECK_EQ(frame->format(), Format::GREY);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = frame->width() * frame->height();
+  for (std::size_t i = 0; i < n; i++) {
+    frame->data()[i] = *(data_new + (i * 2));
+  }
+  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::YUYV);
+  CHECK_EQ(frame->format(), Format::GREY);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = frame->width() * frame->height();
+  for (std::size_t i = 0; i < n; i++) {
+    frame->data()[i] = *(data_new + (i * 2 + 1));
+  }
+  return true;
+}
+
+}  // namespace
+
+StandardStreamsAdapter::StandardStreamsAdapter() {
+}
+
+StandardStreamsAdapter::~StandardStreamsAdapter() {
+}
+
+std::vector<Stream> StandardStreamsAdapter::GetKeyStreams() {
+  return {Stream::LEFT, Stream::RIGHT};
+}
+
+std::vector<Capabilities> StandardStreamsAdapter::GetStreamCapabilities() {
+  return {Capabilities::STEREO};
+}
+
+std::map<Stream, Streams::unpack_img_data_t>
+StandardStreamsAdapter::GetUnpackImgDataMap() {
+  return {
+    {Stream::LEFT, unpack_stereo_img_data},
+    {Stream::RIGHT, unpack_stereo_img_data}
+  };
+}
+
+std::map<Stream, Streams::unpack_img_pixels_t>
+StandardStreamsAdapter::GetUnpackImgPixelsMap() {
+  return {
+    {Stream::LEFT, unpack_left_img_pixels},
+    {Stream::RIGHT, unpack_right_img_pixels}
+  };
+}
+
+MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard/streams_adapter_s.h b/src/mynteye/device/standard/streams_adapter_s.h
new file mode 100644
index 0000000..8d335dc
--- /dev/null
+++ b/src/mynteye/device/standard/streams_adapter_s.h
@@ -0,0 +1,42 @@
+// 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_STANDARD_STREAMS_ADAPTER_S_H_
+#define MYNTEYE_DEVICE_STANDARD_STREAMS_ADAPTER_S_H_
+#pragma once
+
+#include <map>
+#include <memory>
+#include <vector>
+
+#include "mynteye/device/streams.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class StandardStreamsAdapter : public StreamsAdapter {
+ public:
+  StandardStreamsAdapter();
+  virtual ~StandardStreamsAdapter();
+
+  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_STANDARD_STREAMS_ADAPTER_S_H_
diff --git a/src/mynteye/device/standard2/device_s2.cc b/src/mynteye/device/standard2/device_s2.cc
new file mode 100644
index 0000000..4b5fc44
--- /dev/null
+++ b/src/mynteye/device/standard2/device_s2.cc
@@ -0,0 +1,46 @@
+// 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_s2.h"
+
+#include "mynteye/logger.h"
+#include "mynteye/device/motions.h"
+#include "mynteye/device/standard2/streams_adapter_s2.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+Standard2Device::Standard2Device(std::shared_ptr<uvc::device> device)
+    : Device(Model::STANDARD2, device) {
+  VLOG(2) << __func__;
+}
+
+Standard2Device::~Standard2Device() {
+  VLOG(2) << __func__;
+}
+
+Capabilities Standard2Device::GetKeyStreamCapability() const {
+  return Capabilities::STEREO_COLOR;
+}
+
+std::shared_ptr<StreamsAdapter> Standard2Device::CreateStreamsAdapter() const {
+  return std::make_shared<Standard2StreamsAdapter>();
+}
+
+void Standard2Device::OnStereoStreamUpdate() {
+  if (motion_tracking_) {
+    auto &&motions = this->motions();
+    motions->DoMotionTrack();
+  }
+}
+
+MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard2/device_s2.h b/src/mynteye/device/standard2/device_s2.h
new file mode 100644
index 0000000..7f3ef7e
--- /dev/null
+++ b/src/mynteye/device/standard2/device_s2.h
@@ -0,0 +1,38 @@
+// 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_S2_H_
+#define MYNTEYE_DEVICE_STANDARD2_DEVICE_S2_H_
+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include "mynteye/device/device.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class Standard2Device : public Device {
+ public:
+  explicit Standard2Device(std::shared_ptr<uvc::device> device);
+  virtual ~Standard2Device();
+
+  Capabilities GetKeyStreamCapability() const override;
+  std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
+
+  void OnStereoStreamUpdate() override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_DEVICE_STANDARD2_DEVICE_S2_H_
diff --git a/src/mynteye/device/standard2/streams_adapter_s2.cc b/src/mynteye/device/standard2/streams_adapter_s2.cc
new file mode 100644
index 0000000..0edc4fa
--- /dev/null
+++ b/src/mynteye/device/standard2/streams_adapter_s2.cc
@@ -0,0 +1,98 @@
+// 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_s2.h"
+
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+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
+
+Standard2StreamsAdapter::Standard2StreamsAdapter() {
+}
+
+Standard2StreamsAdapter::~Standard2StreamsAdapter() {
+}
+
+std::vector<Stream> Standard2StreamsAdapter::GetKeyStreams() {
+  return {Stream::LEFT, Stream::RIGHT};
+}
+
+std::vector<Capabilities> Standard2StreamsAdapter::GetStreamCapabilities() {
+  return {Capabilities::STEREO_COLOR};
+}
+
+std::map<Stream, Streams::unpack_img_data_t>
+Standard2StreamsAdapter::GetUnpackImgDataMap() {
+  return {
+    {Stream::LEFT, unpack_stereo_img_data},
+    {Stream::RIGHT, unpack_stereo_img_data}
+  };
+}
+
+std::map<Stream, Streams::unpack_img_pixels_t>
+Standard2StreamsAdapter::GetUnpackImgPixelsMap() {
+  return {
+    {Stream::LEFT, unpack_left_img_pixels},
+    {Stream::RIGHT, unpack_right_img_pixels}
+  };
+}
+
+MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard2/streams_adapter_s2.h b/src/mynteye/device/standard2/streams_adapter_s2.h
new file mode 100644
index 0000000..e0585cb
--- /dev/null
+++ b/src/mynteye/device/standard2/streams_adapter_s2.h
@@ -0,0 +1,42 @@
+// 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_S2_H_
+#define MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S2_H_
+#pragma once
+
+#include <map>
+#include <memory>
+#include <vector>
+
+#include "mynteye/device/streams.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class Standard2StreamsAdapter : public StreamsAdapter {
+ public:
+  Standard2StreamsAdapter();
+  virtual ~Standard2StreamsAdapter();
+
+  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_S2_H_
diff --git a/src/mynteye/device/streams.cc b/src/mynteye/device/streams.cc
index 15e2bc3..0261c08 100644
--- a/src/mynteye/device/streams.cc
+++ b/src/mynteye/device/streams.cc
@@ -23,11 +23,10 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
-namespace {
-
 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);
@@ -73,101 +72,11 @@ bool unpack_stereo_img_data(
   return true;
 }
 
-bool unpack_left_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, frame->format());
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV) {
-    std::size_t n = 2;
-    std::size_t w = frame->width() * n;
-    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] = *(data_new + 2 * i * w + j);
-      }
-    }
-  } else if (request.format == Format::BGR888) {
-    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);
-      }
-    }
-  } else if (request.format == Format::GREY) {
-    std::size_t n = frame->width() * frame->height();
-    for (std::size_t i = 0; i < n; i++) {
-      frame->data()[i] = *(data_new + (i * 2));
-    }
-  } else {
-    return false;
-  }
-
-  return true;
-}
-
-// TODO(Kalman): Too similar to 'unpack_left_img_pixels'
-bool unpack_right_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, frame->format());
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV) {
-    std::size_t n = 2;
-    std::size_t w = frame->width() * n;
-    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] = *(data_new + (2 * i + 1) * w + j);
-      }
-    }
-  } else if (request.format == Format::BGR888) {
-    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);
-      }
-    }
-  } else if (request.format == Format::GREY) {
-    std::size_t n = frame->width() * frame->height();
-    for (std::size_t i = 0; i < n; i++) {
-      frame->data()[i] = *(data_new + (i * 2 + 1));
-    }
-  } else {
-    return false;
-  }
-
-  return true;
-}
-
-}  // namespace
-
-Streams::Streams(const std::vector<Stream> key_streams)
-    : key_streams_(key_streams),
-      stream_capabilities_(
-          {Capabilities::STEREO, Capabilities::COLOR, Capabilities::DEPTH,
-           Capabilities::POINTS, Capabilities::FISHEYE, Capabilities::INFRARED,
-           Capabilities::INFRARED2, Capabilities::STEREO_COLOR}),
-      unpack_img_data_map_(
-          {{Stream::LEFT, unpack_stereo_img_data},
-           {Stream::RIGHT, unpack_stereo_img_data}}),
-      unpack_img_pixels_map_(
-          {{Stream::LEFT, unpack_left_img_pixels},
-           {Stream::RIGHT, unpack_right_img_pixels}}) {
+Streams::Streams(const std::shared_ptr<StreamsAdapter> &adapter)
+    : key_streams_(std::move(adapter->GetKeyStreams())),
+      stream_capabilities_(std::move(adapter->GetStreamCapabilities())),
+      unpack_img_data_map_(std::move(adapter->GetUnpackImgDataMap())),
+      unpack_img_pixels_map_(std::move(adapter->GetUnpackImgPixelsMap())) {
   VLOG(2) << __func__;
 }
 
@@ -193,16 +102,17 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
   auto &&request = GetStreamConfigRequest(capability);
   bool pushed = false;
   switch (capability) {
+    case Capabilities::STEREO:
     case Capabilities::STEREO_COLOR: {
       // alloc left
-      AllocStreamData(Stream::LEFT, request);
+      AllocStreamData(capability, Stream::LEFT, request);
       auto &&left_data = stream_datas_map_[Stream::LEFT].back();
       // unpack img data
       if (unpack_img_data_map_[Stream::LEFT](
               data, request, left_data.img.get())) {
         left_data.frame_id = left_data.img->frame_id;
         // alloc right
-        AllocStreamData(Stream::RIGHT, request);
+        AllocStreamData(capability, Stream::RIGHT, request);
         auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
         *right_data.img = *left_data.img;
         right_data.frame_id = left_data.img->frame_id;
@@ -306,12 +216,16 @@ bool Streams::HasStreamDatas(const Stream &stream) const {
          !stream_datas_map_.at(stream).empty();
 }
 
-void Streams::AllocStreamData(
+void Streams::AllocStreamData(const Capabilities &capability,
     const Stream &stream, const StreamRequest &request) {
-  AllocStreamData(stream, request, request.format);
+  auto format = request.format;
+  if (capability == Capabilities::STEREO) {
+    format = Format::GREY;
+  }
+  AllocStreamData(capability, stream, request, format);
 }
 
-void Streams::AllocStreamData(
+void Streams::AllocStreamData(const Capabilities &capability,
     const Stream &stream, const StreamRequest &request, const Format &format) {
   stream_data_t data;
 
@@ -336,11 +250,12 @@ void Streams::AllocStreamData(
     data.img = nullptr;
   }
   if (!data.frame) {
-    int width = request.width;
-    if (format != Format::GREY)
-      width /= 2;
+    auto width = request.width;
+    if (capability == Capabilities::STEREO_COLOR) {
+      width /= 2;  // split to half
+    }
     data.frame =
-        std::make_shared<frame_t>(width, request.height, format, nullptr);
+      std::make_shared<frame_t>(width, request.height, format, nullptr);
   }
   data.frame_id = 0;
   stream_datas_map_[stream].push_back(data);
diff --git a/src/mynteye/device/streams.h b/src/mynteye/device/streams.h
index 01757b9..59fab12 100644
--- a/src/mynteye/device/streams.h
+++ b/src/mynteye/device/streams.h
@@ -18,6 +18,7 @@
 #include <condition_variable>
 #include <functional>
 #include <map>
+#include <memory>
 #include <mutex>
 #include <vector>
 
@@ -27,6 +28,11 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+extern bool unpack_stereo_img_data(
+    const void *data, const StreamRequest &request, ImgData *img);
+
+class StreamsAdapter;
+
 class Streams {
  public:
   using frame_t = device::Frame;
@@ -38,7 +44,7 @@ class Streams {
   using unpack_img_pixels_t = std::function<bool(
       const void *data, const StreamRequest &request, frame_t *frame)>;
 
-  explicit Streams(const std::vector<Stream> key_streams);
+  explicit Streams(const std::shared_ptr<StreamsAdapter> &adapter);
   ~Streams();
 
   void ConfigStream(
@@ -65,8 +71,9 @@ class Streams {
 
   bool HasStreamDatas(const Stream &stream) const;
 
-  void AllocStreamData(const Stream &stream, const StreamRequest &request);
-  void AllocStreamData(
+  void AllocStreamData(const Capabilities &capability,
+      const Stream &stream, const StreamRequest &request);
+  void AllocStreamData(const Capabilities &capability,
       const Stream &stream, const StreamRequest &request, const Format &format);
 
   void DiscardStreamData(const Stream &stream);
@@ -88,6 +95,19 @@ class Streams {
   std::condition_variable cv_;
 };
 
+class StreamsAdapter {
+ public:
+  virtual ~StreamsAdapter() {}
+
+  virtual std::vector<Stream> GetKeyStreams() = 0;
+  virtual std::vector<Capabilities> GetStreamCapabilities() = 0;
+
+  virtual std::map<Stream, Streams::unpack_img_data_t>
+  GetUnpackImgDataMap() = 0;
+  virtual std::map<Stream, Streams::unpack_img_pixels_t>
+  GetUnpackImgPixelsMap() = 0;
+};
+
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_DEVICE_STREAMS_H_

From a06786c16dedfd3b8dd5bfe271d6756e59b90a34 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Fri, 21 Dec 2018 00:32:22 +0800
Subject: [PATCH 84/96] refactor(device_s): todo set img rate according to
 stream request

---
 src/mynteye/device/standard/device_s.cc | 5 +++++
 src/mynteye/device/standard/device_s.h  | 2 ++
 2 files changed, 7 insertions(+)

diff --git a/src/mynteye/device/standard/device_s.cc b/src/mynteye/device/standard/device_s.cc
index 844365d..36719ba 100644
--- a/src/mynteye/device/standard/device_s.cc
+++ b/src/mynteye/device/standard/device_s.cc
@@ -36,6 +36,11 @@ std::shared_ptr<StreamsAdapter> StandardDevice::CreateStreamsAdapter() const {
   return std::make_shared<StandardStreamsAdapter>();
 }
 
+void StandardDevice::StartVideoStreaming() {
+  // TODO(John) Set img framerate, imu frequency according to stream request
+  Device::StartVideoStreaming();
+}
+
 void StandardDevice::OnStereoStreamUpdate() {
   if (motion_tracking_) {
     auto &&motions = this->motions();
diff --git a/src/mynteye/device/standard/device_s.h b/src/mynteye/device/standard/device_s.h
index 5822489..855e611 100644
--- a/src/mynteye/device/standard/device_s.h
+++ b/src/mynteye/device/standard/device_s.h
@@ -30,6 +30,8 @@ class StandardDevice : public Device {
   Capabilities GetKeyStreamCapability() const override;
   std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
 
+  void StartVideoStreaming() override;
+
   void OnStereoStreamUpdate() override;
 };
 

From 5b8301c6016270db58f659064e382ab3c8a0115b Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Fri, 21 Dec 2018 19:05:52 +0800
Subject: [PATCH 85/96] fix(device):fix the image info bug for s1030

---
 src/mynteye/device/channels.cc                |  2 +-
 src/mynteye/device/config.cc                  | 12 +----
 .../device/standard/streams_adapter_s.cc      | 52 +++++++++++++++++++
 .../device/standard2/streams_adapter_s2.cc    | 52 +++++++++++++++++++
 src/mynteye/device/streams.cc                 | 50 ------------------
 src/mynteye/device/streams.h                  |  2 +
 src/mynteye/device/types.h                    | 38 ++++++++++++--
 7 files changed, 142 insertions(+), 66 deletions(-)

diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index 5450eac..68e74c0 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -127,7 +127,7 @@ Channels::Channels(std::shared_ptr<uvc::device> device)
       imu_sn_(0),
       imu_callback_(nullptr) {
   VLOG(2) << __func__;
-  UpdateControlInfos();
+  // UpdateControlInfos();
 }
 
 Channels::~Channels() {
diff --git a/src/mynteye/device/config.cc b/src/mynteye/device/config.cc
index 115e243..39a587f 100644
--- a/src/mynteye/device/config.cc
+++ b/src/mynteye/device/config.cc
@@ -51,17 +51,7 @@ const std::map<Model, std::map<Capabilities, StreamRequests>>
 stream_requests_map = {
   {Model::STANDARD,
     {{Capabilities::STEREO, {
-      {752, 480, Format::YUYV, 10},
-      {752, 480, Format::YUYV, 15},
-      {752, 480, Format::YUYV, 20},
-      {752, 480, Format::YUYV, 25},
-      {752, 480, Format::YUYV, 30},
-      {752, 480, Format::YUYV, 35},
-      {752, 480, Format::YUYV, 40},
-      {752, 480, Format::YUYV, 45},
-      {752, 480, Format::YUYV, 50},
-      {752, 480, Format::YUYV, 55},
-      {752, 480, Format::YUYV, 60}}
+      {752, 480, Format::YUYV, 25}}
     }}
   },
   {Model::STANDARD2,
diff --git a/src/mynteye/device/standard/streams_adapter_s.cc b/src/mynteye/device/standard/streams_adapter_s.cc
index aae171e..eeb0fa6 100644
--- a/src/mynteye/device/standard/streams_adapter_s.cc
+++ b/src/mynteye/device/standard/streams_adapter_s.cc
@@ -13,7 +13,10 @@
 // limitations under the License.
 #include "mynteye/device/standard/streams_adapter_s.h"
 
+#include <iomanip>
+
 #include "mynteye/logger.h"
+#include "mynteye/device/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -45,6 +48,55 @@ bool unpack_right_img_pixels(
   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(ImagePacketS1);
+  std::vector<std::uint8_t> packet(packet_n);
+  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
+
+  ImagePacketS1 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 = static_cast<uint64_t>(img_packet.timestamp * 10);
+  img->exposure_time = img_packet.exposure_time;
+  return true;
+}
+
 }  // namespace
 
 StandardStreamsAdapter::StandardStreamsAdapter() {
diff --git a/src/mynteye/device/standard2/streams_adapter_s2.cc b/src/mynteye/device/standard2/streams_adapter_s2.cc
index 0edc4fa..a612160 100644
--- a/src/mynteye/device/standard2/streams_adapter_s2.cc
+++ b/src/mynteye/device/standard2/streams_adapter_s2.cc
@@ -13,7 +13,10 @@
 // limitations under the License.
 #include "mynteye/device/standard2/streams_adapter_s2.h"
 
+#include <iomanip>
+
 #include "mynteye/logger.h"
+#include "mynteye/device/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -63,6 +66,55 @@ bool unpack_right_img_pixels(
   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(ImagePacketS2);
+  std::vector<std::uint8_t> packet(packet_n);
+  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
+
+  ImagePacketS2 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
 
 Standard2StreamsAdapter::Standard2StreamsAdapter() {
diff --git a/src/mynteye/device/streams.cc b/src/mynteye/device/streams.cc
index 0261c08..13ce895 100644
--- a/src/mynteye/device/streams.cc
+++ b/src/mynteye/device/streams.cc
@@ -15,7 +15,6 @@
 
 #include <algorithm>
 #include <chrono>
-#include <iomanip>
 #include <stdexcept>
 
 #include "mynteye/logger.h"
@@ -23,55 +22,6 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
-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;
-}
-
 Streams::Streams(const std::shared_ptr<StreamsAdapter> &adapter)
     : key_streams_(std::move(adapter->GetKeyStreams())),
       stream_capabilities_(std::move(adapter->GetStreamCapabilities())),
diff --git a/src/mynteye/device/streams.h b/src/mynteye/device/streams.h
index 59fab12..e719e41 100644
--- a/src/mynteye/device/streams.h
+++ b/src/mynteye/device/streams.h
@@ -28,8 +28,10 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+/*
 extern bool unpack_stereo_img_data(
     const void *data, const StreamRequest &request, ImgData *img);
+*/
 
 class StreamsAdapter;
 
diff --git a/src/mynteye/device/types.h b/src/mynteye/device/types.h
index 29f96e4..b056b06 100644
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@@ -140,10 +140,10 @@ struct MYNTEYE_API DeviceInfo {
 
 /**
  * @ingroup datatypes
- * Image packet.
+ * Image packet for standand 2.
  */
 #pragma pack(push, 1)
-struct ImagePacket {
+struct ImagePacketS2 {
   std::uint8_t header;
   std::uint8_t size;
   std::uint16_t frame_id;
@@ -151,8 +151,8 @@ struct ImagePacket {
   std::uint16_t exposure_time;
   std::uint8_t checksum;
 
-  ImagePacket() = default;
-  explicit ImagePacket(std::uint8_t *data) {
+  ImagePacketS2() = default;
+  explicit ImagePacketS2(std::uint8_t *data) {
     from_data(data);
   }
 
@@ -174,6 +174,36 @@ struct ImagePacket {
 };
 #pragma pack(pop)
 
+/**
+ * @ingroup datatypes
+ * Image packet for standand 1.
+ */
+#pragma pack(push, 1)
+struct ImagePacketS1 {
+  std::uint8_t header;
+  std::uint8_t size;
+  std::uint16_t frame_id;
+  std::uint32_t timestamp;
+  std::uint16_t exposure_time;
+  std::uint8_t checksum;
+
+  ImagePacketS1() = default;
+  explicit ImagePacketS1(std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(std::uint8_t *data) {
+    header = *data;
+    size = *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
+                *(data + 7);
+    exposure_time = (*(data + 8) << 8) | *(data + 9);
+    checksum = *(data + 10);
+  }
+};
+#pragma pack(pop)
+
 /**
  * @ingroup datatypes
  * Imu request packet.

From 0d664b28ad7260e4497822c73fabf17aff79da98 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Fri, 21 Dec 2018 22:04:40 +0800
Subject: [PATCH 86/96] fix(imu):fix tbe imu bug of s1030

---
 include/mynteye/types.h                   |   4 +-
 src/mynteye/device/channels.cc            |   4 +-
 src/mynteye/device/channels.h             |   2 +
 src/mynteye/device/motions.cc             |  31 ++---
 src/mynteye/device/motions.h              |   2 +-
 src/mynteye/device/standard/device_s.cc   |   2 +-
 src/mynteye/device/standard2/device_s2.cc |   2 +-
 src/mynteye/device/types.h                | 152 ++++++++++++++++++----
 8 files changed, 147 insertions(+), 52 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 319c56b..d704b97 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -515,8 +515,8 @@ struct MYNTEYE_API ImgData {
  * IMU data.
  */
 struct MYNTEYE_API ImuData {
-  /** Imu serial number */
-  std::uint32_t serial_number;
+  /** Imu frame id */
+  std::uint32_t frame_id;
   /** accel or gyro flag:1 for accel,2 for gyro,3 for both */
   std::uint8_t flag;
   /** IMU timestamp in 1us */
diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index 68e74c0..30de25b 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -333,7 +333,7 @@ void Channels::SetImuCallback(imu_callback_t callback) {
 
 void Channels::DoImuTrack() {
   static ImuReqPacket req_packet{0};
-  static ImuResPacket res_packet;
+  static ImuResPacket res_packet(model_);
 
   req_packet.serial_number = imu_sn_;
   if (!XuImuWrite(req_packet)) {
@@ -360,7 +360,7 @@ void Channels::DoImuTrack() {
     return n;
   }();
 
-  auto &&sn = res_packet.packets.back().segments.back().serial_number;
+  auto &&sn = res_packet.packets.back().serial_number;
   if (imu_sn_ == sn) {
     VLOG(2) << "New imu not ready, dropped";
     return;
diff --git a/src/mynteye/device/channels.h b/src/mynteye/device/channels.h
index 3c42c65..b55af5d 100644
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -71,6 +71,8 @@ class MYNTEYE_API Channels {
   using img_params_t = std::map<Resolution, device::img_params_t>;
   using imu_params_t = device::imu_params_t;
 
+  std::uint8_t model_;
+
   explicit Channels(std::shared_ptr<uvc::device> device);
   ~Channels();
 
diff --git a/src/mynteye/device/motions.cc b/src/mynteye/device/motions.cc
index 3020196..c7d2e6e 100644
--- a/src/mynteye/device/motions.cc
+++ b/src/mynteye/device/motions.cc
@@ -36,7 +36,7 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
   if (motion_callback_) {
     accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
     if (accel_range == -1)
-      accel_range = 12;
+      accel_range = (channels_->model_) ? 8 : 12;  // ugly
 
     gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     if (gyro_range == -1)
@@ -53,28 +53,16 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         //     static_cast<uint32_t>(-seg.offset) > packet.timestamp) {
         //   LOG(WARNING) << "Imu timestamp offset is incorrect";
         // }
-        imu->serial_number = seg.serial_number;
+        imu->frame_id = seg.frame_id;
         imu->timestamp = seg.timestamp;
         imu->flag = seg.flag;
         imu->temperature = seg.temperature / 326.8f + 25;
-
-        if (imu->flag == 1) {
-          imu->accel[0] = seg.accel_or_gyro[0] * 1.f * accel_range / 0x10000;
-          imu->accel[1] = seg.accel_or_gyro[1] * 1.f * accel_range / 0x10000;
-          imu->accel[2] = seg.accel_or_gyro[2] * 1.f * accel_range / 0x10000;
-          imu->gyro[0] = 0;
-          imu->gyro[1] = 0;
-          imu->gyro[2] = 0;
-        } else if (imu->flag == 2) {
-          imu->accel[0] = 0;
-          imu->accel[1] = 0;
-          imu->accel[2] = 0;
-          imu->gyro[0] = seg.accel_or_gyro[0] * 1.f * gyro_range / 0x10000;
-          imu->gyro[1] = seg.accel_or_gyro[1] * 1.f * gyro_range / 0x10000;
-          imu->gyro[2] = seg.accel_or_gyro[2] * 1.f * gyro_range / 0x10000;
-        } else {
-          imu->Reset();
-        }
+        imu->accel[0] = seg.accel[0] * 1.f * accel_range / 0x10000;
+        imu->accel[1] = seg.accel[1] * 1.f * accel_range / 0x10000;
+        imu->accel[2] = seg.accel[2] * 1.f * accel_range / 0x10000;
+        imu->gyro[0] = seg.gyro[0] * 1.f * gyro_range / 0x10000;
+        imu->gyro[1] = seg.gyro[1] * 1.f * gyro_range / 0x10000;
+        imu->gyro[2] = seg.gyro[2] * 1.f * gyro_range / 0x10000;
 
         std::lock_guard<std::mutex> _(mtx_datas_);
         motion_data_t data = {imu};
@@ -90,7 +78,8 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
   }
 }
 
-void Motions::DoMotionTrack() {
+void Motions::DoMotionTrack(std::uint8_t model) {
+  channels_->model_ = model;
   channels_->DoImuTrack();
 }
 
diff --git a/src/mynteye/device/motions.h b/src/mynteye/device/motions.h
index 7760e0d..129727b 100644
--- a/src/mynteye/device/motions.h
+++ b/src/mynteye/device/motions.h
@@ -37,7 +37,7 @@ class Motions {
   ~Motions();
 
   void SetMotionCallback(motion_callback_t callback);
-  void DoMotionTrack();
+  void DoMotionTrack(std::uint8_t model);
 
   void StartMotionTracking();
   void StopMotionTracking();
diff --git a/src/mynteye/device/standard/device_s.cc b/src/mynteye/device/standard/device_s.cc
index 36719ba..7c4fddd 100644
--- a/src/mynteye/device/standard/device_s.cc
+++ b/src/mynteye/device/standard/device_s.cc
@@ -44,7 +44,7 @@ void StandardDevice::StartVideoStreaming() {
 void StandardDevice::OnStereoStreamUpdate() {
   if (motion_tracking_) {
     auto &&motions = this->motions();
-    motions->DoMotionTrack();
+    motions->DoMotionTrack(1);
   }
 }
 
diff --git a/src/mynteye/device/standard2/device_s2.cc b/src/mynteye/device/standard2/device_s2.cc
index 4b5fc44..96f99d6 100644
--- a/src/mynteye/device/standard2/device_s2.cc
+++ b/src/mynteye/device/standard2/device_s2.cc
@@ -39,7 +39,7 @@ std::shared_ptr<StreamsAdapter> Standard2Device::CreateStreamsAdapter() const {
 void Standard2Device::OnStereoStreamUpdate() {
   if (motion_tracking_) {
     auto &&motions = this->motions();
-    motions->DoMotionTrack();
+    motions->DoMotionTrack(2);
   }
 }
 
diff --git a/src/mynteye/device/types.h b/src/mynteye/device/types.h
index b056b06..f04d09c 100644
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@@ -140,7 +140,7 @@ struct MYNTEYE_API DeviceInfo {
 
 /**
  * @ingroup datatypes
- * Image packet for standand 2.
+ * Image packet for standard 2.
  */
 #pragma pack(push, 1)
 struct ImagePacketS2 {
@@ -176,7 +176,7 @@ struct ImagePacketS2 {
 
 /**
  * @ingroup datatypes
- * Image packet for standand 1.
+ * Image packet for standard 1.
  */
 #pragma pack(push, 1)
 struct ImagePacketS1 {
@@ -230,18 +230,49 @@ struct ImuReqPacket {
 
 /**
  * @ingroup datatypes
- * Imu segment.
+ * Imu group for standard 1.
  */
 #pragma pack(push, 1)
-struct ImuSegment {
-  std::uint32_t serial_number;
+struct ImuGroupS1 {
+  std::int16_t offset;
+  std::uint16_t frame_id;
+  std::int16_t accel[3];
+  std::int16_t temperature;
+  std::int16_t gyro[3];
+
+  ImuGroupS1() = default;
+  explicit ImuGroupS1(std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(std::uint8_t *data) {
+    offset = (*(data) << 8) | *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    accel[0] = (*(data + 4) << 8) | *(data + 5);
+    accel[1] = (*(data + 6) << 8) | *(data + 7);
+    accel[2] = (*(data + 8) << 8) | *(data + 9);
+    temperature = (*(data + 10) << 8) | *(data + 11);
+    gyro[0] = (*(data + 12) << 8) | *(data + 13);
+    gyro[1] = (*(data + 14) << 8) | *(data + 15);
+    gyro[2] = (*(data + 16) << 8) | *(data + 17);
+  }
+};
+#pragma pack(pop)
+
+/**
+ * @ingroup datatypes
+ * Imu group for standard 2.
+ */
+#pragma pack(push, 1)
+struct ImuGroupS2 {
+  std::uint32_t frame_id;
   std::uint64_t timestamp;
   std::uint8_t flag;
   std::int16_t temperature;
   std::int16_t accel_or_gyro[3];
 
-  ImuSegment() = default;
-  explicit ImuSegment(std::uint8_t *data) {
+  ImuGroupS2() = default;
+  explicit ImuGroupS2(std::uint8_t *data) {
     from_data(data);
   }
 
@@ -249,7 +280,7 @@ struct ImuSegment {
     std::uint32_t timestamp_l;
     std::uint32_t timestamp_h;
 
-    serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
+    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);
@@ -265,24 +296,86 @@ struct ImuSegment {
 };
 #pragma pack(pop)
 
+/**
+ * @ingroup datatypes
+ * Imu segment.
+ */
+#pragma pack(push, 1)
+struct ImuSegment {
+  std::uint32_t frame_id;
+  std::uint64_t timestamp;
+  std::uint8_t flag;
+  std::int16_t temperature;
+  std::int16_t accel[3];
+  std::int16_t gyro[3];
+
+  ImuSegment() = default;
+
+  explicit ImuSegment(ImuGroupS2 group)
+    : frame_id(group.frame_id), timestamp(group.timestamp),
+      flag(group.flag), temperature(group.temperature) {
+    accel[0] = (flag == 1)?group.accel_or_gyro[0]:0;
+    accel[1] = (flag == 1)?group.accel_or_gyro[1]:0;
+    accel[2] = (flag == 1)?group.accel_or_gyro[2]:0;
+    gyro[0] = (flag == 2)?group.accel_or_gyro[0]:0;
+    gyro[1] = (flag == 2)?group.accel_or_gyro[1]:0;
+    gyro[2] = (flag == 2)?group.accel_or_gyro[2]:0;
+  }
+
+  explicit ImuSegment(std::uint32_t timestamp, ImuGroupS1 group) {
+    frame_id = static_cast<uint32_t> (group.frame_id);
+    this->timestamp = static_cast<uint64_t> (timestamp + group.offset);
+    flag = 3;
+    temperature = group.temperature;
+    accel[0] = group.accel[0];
+    accel[1] = group.accel[1];
+    accel[2] = group.accel[2];
+    gyro[0] = group.gyro[0];
+    gyro[1] = group.gyro[1];
+    gyro[2] = group.gyro[2];
+  }
+};
+#pragma pack(pop)
+
 /**
  * @ingroup datatypes
  * Imu packet.
  */
 #pragma pack(push, 1)
 struct ImuPacket {
+  std::uint8_t model;
   std::uint8_t count;
+  std::uint32_t serial_number;
   std::vector<ImuSegment> segments;
 
   ImuPacket() = default;
-  explicit ImuPacket(std::uint8_t seg_count, std::uint8_t *data) {
-    count = seg_count;
-    from_data(data);
-  }
+  explicit ImuPacket(
+      std::uint8_t model, std::uint8_t seg_count, std::uint8_t *data)
+        : model(model), count(seg_count) {
+          from_data(data);
+        }
   void from_data(std::uint8_t *data) {
-        std::size_t seg_n = sizeof(ImuSegment);  // 21
-        for (std::size_t i = 0; i < count; i++) {
-          segments.push_back(ImuSegment(data + seg_n * i));
+        if (model == 1) {
+          serial_number =
+              (*(data) << 24) | (*(data + 1) << 16) |
+              (*(data + 2) << 8) | *(data + 3);
+          int timestamp =
+              (*(data + 4) << 24) | (*(data + 5) << 16)|
+              (*(data + 6) << 8) | *(data + 7);
+          count = *(data + 8);
+
+          std::size_t seg_n = sizeof(ImuGroupS1);  // 18
+          for (std::size_t i = 0; i < count; i++) {
+            ImuGroupS1 group(data + 9 + (seg_n * i));
+            segments.push_back(ImuSegment(timestamp, group));
+          }
+        } else if (model == 2) {
+          std::size_t seg_n = sizeof(ImuGroupS2);  // 21
+          for (std::size_t i = 0; i < count; i++) {
+            ImuGroupS2 group(data + seg_n * i);
+            segments.push_back(ImuSegment(group));
+          }
+          serial_number = segments.back().frame_id;
         }
   }
 };
@@ -294,6 +387,7 @@ struct ImuPacket {
  */
 #pragma pack(push, 1)
 struct ImuResPacket {
+  std::uint8_t model;
   std::uint8_t header;
   std::uint8_t state;
   std::uint16_t size;
@@ -301,21 +395,31 @@ struct ImuResPacket {
   std::uint8_t checksum;
 
   ImuResPacket() = default;
-  explicit ImuResPacket(std::uint8_t *data) {
-    from_data(data);
-  }
+  explicit ImuResPacket(std::uint8_t model) : model(model) {}
 
   void from_data(std::uint8_t *data) {
     header = *data;
     state = *(data + 1);
     size = (*(data + 2) << 8) | *(data + 3);
 
-    std::size_t seg_n = sizeof(ImuSegment);  // 21
-    std::uint8_t seg_count = size / seg_n;
-    ImuPacket packet(seg_count, data + 4);
-    packets.push_back(packet);
-    // packet(2);
-    checksum = *(data + 4 + size);
+    if (model == 1) {
+      std::size_t seg_n = sizeof(ImuGroupS1);  // 18
+      for (std::size_t i = 4; i < size;) {
+        ImuPacket packet(model, 0, data + i);
+        packets.push_back(packet);
+        i += 9 + (packet.count * seg_n);
+      }
+      checksum = *(data + 4 + size);
+    }
+
+    if (model == 2) {
+      std::size_t seg_n = sizeof(ImuGroupS2);  // 21
+      std::uint8_t seg_count = size / seg_n;
+      ImuPacket packet(model, seg_count, data + 4);
+      packets.push_back(packet);
+      // packet(2);
+      checksum = *(data + 4 + size);
+    }
   }
 };
 #pragma pack(pop)

From 618f2c02e5e4a4d5a1f22d8129e8af119d279fa8 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Fri, 21 Dec 2018 22:09:49 +0800
Subject: [PATCH 87/96] format(device/type.h):add white space

---
 src/mynteye/device/types.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/mynteye/device/types.h b/src/mynteye/device/types.h
index f04d09c..a454857 100644
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@@ -314,12 +314,12 @@ struct ImuSegment {
   explicit ImuSegment(ImuGroupS2 group)
     : frame_id(group.frame_id), timestamp(group.timestamp),
       flag(group.flag), temperature(group.temperature) {
-    accel[0] = (flag == 1)?group.accel_or_gyro[0]:0;
-    accel[1] = (flag == 1)?group.accel_or_gyro[1]:0;
-    accel[2] = (flag == 1)?group.accel_or_gyro[2]:0;
-    gyro[0] = (flag == 2)?group.accel_or_gyro[0]:0;
-    gyro[1] = (flag == 2)?group.accel_or_gyro[1]:0;
-    gyro[2] = (flag == 2)?group.accel_or_gyro[2]:0;
+    accel[0] = (flag == 1) ? group.accel_or_gyro[0] : 0;
+    accel[1] = (flag == 1) ? group.accel_or_gyro[1] : 0;
+    accel[2] = (flag == 1) ? group.accel_or_gyro[2] : 0;
+    gyro[0] = (flag == 2) ? group.accel_or_gyro[0] : 0;
+    gyro[1] = (flag == 2) ? group.accel_or_gyro[1] : 0;
+    gyro[2] = (flag == 2) ? group.accel_or_gyro[2] : 0;
   }
 
   explicit ImuSegment(std::uint32_t timestamp, ImuGroupS1 group) {

From 5800e1c6c8a7bdcdfb0e1189ca87d434f2c63c71 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Sat, 22 Dec 2018 16:17:47 +0800
Subject: [PATCH 88/96] refactor(channel):init channel need model

---
 src/mynteye/device/channels.cc            | 10 +++++++--
 src/mynteye/device/channels.h             | 11 +++++++---
 src/mynteye/device/device.cc              |  2 +-
 src/mynteye/device/motions.cc             |  5 ++---
 src/mynteye/device/motions.h              |  6 +++---
 src/mynteye/device/standard/device_s.cc   |  2 +-
 src/mynteye/device/standard2/device_s2.cc |  2 +-
 src/mynteye/device/types.h                | 26 +++++++++++------------
 8 files changed, 37 insertions(+), 27 deletions(-)

diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index 30de25b..d3db8ff 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -120,13 +120,15 @@ void CheckSpecVersion(const Version *spec_version) {
 
 }  // namespace
 
-Channels::Channels(std::shared_ptr<uvc::device> device)
+Channels::Channels(const Model &model, std::shared_ptr<uvc::device> device)
     : device_(device),
+      model_(model),
       is_imu_tracking_(false),
       imu_track_stop_(false),
       imu_sn_(0),
       imu_callback_(nullptr) {
   VLOG(2) << __func__;
+  imu_res_version_ = (model == Model::STANDARD) ? 1 : 2;
   // UpdateControlInfos();
 }
 
@@ -327,13 +329,17 @@ bool Channels::RunControlAction(const Option &option) const {
   }
 }
 
+std::uint8_t Channels::GetImuResVersion() {
+  return imu_res_version_;
+}
+
 void Channels::SetImuCallback(imu_callback_t callback) {
   imu_callback_ = callback;
 }
 
 void Channels::DoImuTrack() {
   static ImuReqPacket req_packet{0};
-  static ImuResPacket res_packet(model_);
+  static ImuResPacket res_packet(imu_res_version_);
 
   req_packet.serial_number = imu_sn_;
   if (!XuImuWrite(req_packet)) {
diff --git a/src/mynteye/device/channels.h b/src/mynteye/device/channels.h
index b55af5d..29ec704 100644
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -71,9 +71,8 @@ class MYNTEYE_API Channels {
   using img_params_t = std::map<Resolution, device::img_params_t>;
   using imu_params_t = device::imu_params_t;
 
-  std::uint8_t model_;
-
-  explicit Channels(std::shared_ptr<uvc::device> device);
+  explicit Channels(
+      const Model &model, std::shared_ptr<uvc::device> device);
   ~Channels();
 
   void LogControlInfos() const;
@@ -85,6 +84,8 @@ class MYNTEYE_API Channels {
 
   bool RunControlAction(const Option &option) const;
 
+  std::uint8_t GetImuResVersion();
+
   void SetImuCallback(imu_callback_t callback);
   void DoImuTrack();
 
@@ -131,6 +132,10 @@ class MYNTEYE_API Channels {
   control_info_t PuControlInfo(Option option) const;
   control_info_t XuControlInfo(Option option) const;
 
+  std::uint8_t imu_res_version_;
+
+  Model model_;
+
   std::shared_ptr<uvc::device> device_;
 
   std::map<Option, control_info_t> control_infos_;
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index c63cdbe..356565e 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -85,7 +85,7 @@ Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
       model_(model),
       device_(device),
       streams_(nullptr),
-      channels_(std::make_shared<Channels>(device)),
+      channels_(std::make_shared<Channels>(model_, device)),
       motions_(std::make_shared<Motions>(channels_)) {
   VLOG(2) << __func__;
   ReadAllInfos();
diff --git a/src/mynteye/device/motions.cc b/src/mynteye/device/motions.cc
index c7d2e6e..bd39b8b 100644
--- a/src/mynteye/device/motions.cc
+++ b/src/mynteye/device/motions.cc
@@ -36,7 +36,7 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
   if (motion_callback_) {
     accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
     if (accel_range == -1)
-      accel_range = (channels_->model_) ? 8 : 12;  // ugly
+      accel_range = (channels_->GetImuResVersion() == 1) ? 8 : 12;
 
     gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     if (gyro_range == -1)
@@ -78,8 +78,7 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
   }
 }
 
-void Motions::DoMotionTrack(std::uint8_t model) {
-  channels_->model_ = model;
+void Motions::DoMotionTrack() {
   channels_->DoImuTrack();
 }
 
diff --git a/src/mynteye/device/motions.h b/src/mynteye/device/motions.h
index 129727b..9bb50d3 100644
--- a/src/mynteye/device/motions.h
+++ b/src/mynteye/device/motions.h
@@ -37,7 +37,7 @@ class Motions {
   ~Motions();
 
   void SetMotionCallback(motion_callback_t callback);
-  void DoMotionTrack(std::uint8_t model);
+  void DoMotionTrack();
 
   void StartMotionTracking();
   void StopMotionTracking();
@@ -58,8 +58,8 @@ class Motions {
 
   std::mutex mtx_datas_;
 
-  int accel_range = 12;
-  int gyro_range = 1000;
+  int accel_range;
+  int gyro_range;
 };
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard/device_s.cc b/src/mynteye/device/standard/device_s.cc
index 7c4fddd..36719ba 100644
--- a/src/mynteye/device/standard/device_s.cc
+++ b/src/mynteye/device/standard/device_s.cc
@@ -44,7 +44,7 @@ void StandardDevice::StartVideoStreaming() {
 void StandardDevice::OnStereoStreamUpdate() {
   if (motion_tracking_) {
     auto &&motions = this->motions();
-    motions->DoMotionTrack(1);
+    motions->DoMotionTrack();
   }
 }
 
diff --git a/src/mynteye/device/standard2/device_s2.cc b/src/mynteye/device/standard2/device_s2.cc
index 96f99d6..4b5fc44 100644
--- a/src/mynteye/device/standard2/device_s2.cc
+++ b/src/mynteye/device/standard2/device_s2.cc
@@ -39,7 +39,7 @@ std::shared_ptr<StreamsAdapter> Standard2Device::CreateStreamsAdapter() const {
 void Standard2Device::OnStereoStreamUpdate() {
   if (motion_tracking_) {
     auto &&motions = this->motions();
-    motions->DoMotionTrack(2);
+    motions->DoMotionTrack();
   }
 }
 
diff --git a/src/mynteye/device/types.h b/src/mynteye/device/types.h
index a454857..cd216b0 100644
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@@ -322,9 +322,9 @@ struct ImuSegment {
     gyro[2] = (flag == 2) ? group.accel_or_gyro[2] : 0;
   }
 
-  explicit ImuSegment(std::uint32_t timestamp, ImuGroupS1 group) {
+  ImuSegment(std::uint32_t timestamp, ImuGroupS1 group) {
     frame_id = static_cast<uint32_t> (group.frame_id);
-    this->timestamp = static_cast<uint64_t> (timestamp + group.offset);
+    this->timestamp = static_cast<uint64_t> (timestamp + group.offset) * 10;
     flag = 3;
     temperature = group.temperature;
     accel[0] = group.accel[0];
@@ -343,19 +343,19 @@ struct ImuSegment {
  */
 #pragma pack(push, 1)
 struct ImuPacket {
-  std::uint8_t model;
+  std::uint8_t version;
   std::uint8_t count;
   std::uint32_t serial_number;
   std::vector<ImuSegment> segments;
 
   ImuPacket() = default;
   explicit ImuPacket(
-      std::uint8_t model, std::uint8_t seg_count, std::uint8_t *data)
-        : model(model), count(seg_count) {
+      std::uint8_t version, std::uint8_t seg_count, std::uint8_t *data)
+        : version(version), count(seg_count) {
           from_data(data);
         }
   void from_data(std::uint8_t *data) {
-        if (model == 1) {
+        if (version == 1) {
           serial_number =
               (*(data) << 24) | (*(data + 1) << 16) |
               (*(data + 2) << 8) | *(data + 3);
@@ -369,7 +369,7 @@ struct ImuPacket {
             ImuGroupS1 group(data + 9 + (seg_n * i));
             segments.push_back(ImuSegment(timestamp, group));
           }
-        } else if (model == 2) {
+        } else if (version == 2) {
           std::size_t seg_n = sizeof(ImuGroupS2);  // 21
           for (std::size_t i = 0; i < count; i++) {
             ImuGroupS2 group(data + seg_n * i);
@@ -387,7 +387,7 @@ struct ImuPacket {
  */
 #pragma pack(push, 1)
 struct ImuResPacket {
-  std::uint8_t model;
+  std::uint8_t version;
   std::uint8_t header;
   std::uint8_t state;
   std::uint16_t size;
@@ -395,27 +395,27 @@ struct ImuResPacket {
   std::uint8_t checksum;
 
   ImuResPacket() = default;
-  explicit ImuResPacket(std::uint8_t model) : model(model) {}
+  explicit ImuResPacket(std::uint8_t version) : version(version) {}
 
   void from_data(std::uint8_t *data) {
     header = *data;
     state = *(data + 1);
     size = (*(data + 2) << 8) | *(data + 3);
 
-    if (model == 1) {
+    if (version == 1) {
       std::size_t seg_n = sizeof(ImuGroupS1);  // 18
       for (std::size_t i = 4; i < size;) {
-        ImuPacket packet(model, 0, data + i);
+        ImuPacket packet(version, 0, data + i);
         packets.push_back(packet);
         i += 9 + (packet.count * seg_n);
       }
       checksum = *(data + 4 + size);
     }
 
-    if (model == 2) {
+    if (version == 2) {
       std::size_t seg_n = sizeof(ImuGroupS2);  // 21
       std::uint8_t seg_count = size / seg_n;
-      ImuPacket packet(model, seg_count, data + 4);
+      ImuPacket packet(version, seg_count, data + 4);
       packets.push_back(packet);
       // packet(2);
       checksum = *(data + 4 + size);

From b5a61075df453c41f3a5b409232d2a1ca593eecf Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Sat, 22 Dec 2018 18:03:23 +0800
Subject: [PATCH 89/96] fix(channels):update control infos by model

---
 include/mynteye/types.h        | 15 ++++++++----
 src/mynteye/device/channels.cc | 44 ++++++++++++++++++++++++----------
 2 files changed, 42 insertions(+), 17 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index d704b97..925c29c 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -169,13 +169,15 @@ enum class Option : std::uint8_t {
   /**
    * Max gain, valid if auto-exposure
    *
-   *   range: [0,255], default: 8
+   *   range of standard 1: [0,48], default: 48
+   *   range of standard 2: [0,255], default: 8
    */
   MAX_GAIN,
   /**
    * Max exposure time, valid if auto-exposure
    *
-   *   range: [0,1000], default: 333
+   *   range of standard 1: [0,240], default: 240
+   *   range of standard 2: [0,1000], default: 333
    */
   MAX_EXPOSURE_TIME,
   /**
@@ -187,7 +189,8 @@ enum class Option : std::uint8_t {
   /**
    * Desired brightness, valid if auto-exposure
    *
-   *   range: [1,255], default: 122
+   *   range of standard 1: [0,255], default: 192
+   *   range of standard 2: [1,255], default: 122
    */
   DESIRED_BRIGHTNESS,
 
@@ -208,13 +211,15 @@ enum class Option : std::uint8_t {
   /**
    * The range of accelerometer
    *
-   *   values: {6,12,24,48}, default: 6
+   *   value of standard 1: 4,8,16,32}, default: 8
+   *   value of standard 2: {6,12,24,48}, default: 6
    */
   ACCELEROMETER_RANGE,
   /**
    * The range of gyroscope
    *
-   *   values: {250,500,1000,2000,4000}, default: 1000
+   *   value of standard 1: {500,1000,2000,4000}, default: 1000
+   *   value of standard 2: {250,500,1000,2000,4000}, default: 1000
    */
   GYROSCOPE_RANGE,
   /**
diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index d3db8ff..47cf224 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -19,7 +19,9 @@
 #include <iterator>
 #include <sstream>
 #include <stdexcept>
+#include <vector>
 
+#include "mynteye/device/config.h"
 #include "mynteye/logger.h"
 #include "mynteye/util/strings.h"
 #include "mynteye/util/times.h"
@@ -129,7 +131,7 @@ Channels::Channels(const Model &model, std::shared_ptr<uvc::device> device)
       imu_callback_(nullptr) {
   VLOG(2) << __func__;
   imu_res_version_ = (model == Model::STANDARD) ? 1 : 2;
-  // UpdateControlInfos();
+  UpdateControlInfos();
 }
 
 Channels::~Channels() {
@@ -145,19 +147,25 @@ void Channels::LogControlInfos() const {
   }
 }
 
-// TODO(Kalman): Compatible with two generation
 void Channels::UpdateControlInfos() {
-  for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) {
-    control_infos_[option] = PuControlInfo(option);
+  auto &&supports = option_supports_map.at(model_);
+  for (auto &&option : std::vector<Option>{
+    Option::GAIN, Option::BRIGHTNESS,
+    Option::CONTRAST}) {
+    if (supports.find(option) != supports.end())
+      control_infos_[option] = PuControlInfo(option);
     }
 
     for (auto &&option : std::vector<Option>{
-             Option::EXPOSURE_MODE, Option::DESIRED_BRIGHTNESS,
-             Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-             Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
+             Option::FRAME_RATE, Option::IMU_FREQUENCY,
+             Option::EXPOSURE_MODE, Option::MAX_GAIN,
+             Option::MAX_EXPOSURE_TIME, Option::MIN_EXPOSURE_TIME,
+             Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
+             Option::HDR_MODE, Option::ACCELEROMETER_RANGE,
              Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
              Option::GYROSCOPE_LOW_PASS_FILTER}) {
-      control_infos_[option] = XuControlInfo(option);
+      if (supports.find(option) != supports.end())
+        control_infos_[option] = XuControlInfo(option);
     }
 
     if (VLOG_IS_ON(2)) {
@@ -260,13 +268,25 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
       XuCamCtrlSet(option, value);
     } break;
     case Option::ACCELEROMETER_RANGE: {
-      if (!in_range() || !in_values({6, 12, 24, 48}))
-        break;
+      if (model_ == Model::STANDARD) {
+        if (!in_range() || !in_values({4, 8, 16, 32}))
+          break;
+      }
+      if (model_ == Model::STANDARD2) {
+        if (!in_range() || !in_values({6, 12, 24, 48}))
+          break;
+      }
       XuCamCtrlSet(option, value);
     } break;
     case Option::GYROSCOPE_RANGE: {
-      if (!in_range() || !in_values({250, 500, 1000, 2000, 4000}))
-        break;
+      if (model_ == Model::STANDARD) {
+        if (!in_range() || !in_values({500, 1000, 2000, 4000}))
+          break;
+      }
+      if (model_ == Model::STANDARD2) {
+        if (!in_range() || !in_values({250, 500, 1000, 2000, 4000}))
+          break;
+      }
       XuCamCtrlSet(option, value);
     } break;
     case Option::ACCELEROMETER_LOW_PASS_FILTER: {

From 104b3841d9cd2a6ce310a1be348073c715b428c4 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Sun, 23 Dec 2018 20:58:18 +0800
Subject: [PATCH 90/96] style(types.h): change comments

---
 include/mynteye/types.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 925c29c..facadeb 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -211,7 +211,7 @@ enum class Option : std::uint8_t {
   /**
    * The range of accelerometer
    *
-   *   value of standard 1: 4,8,16,32}, default: 8
+   *   value of standard 1: {4,8,16,32}, default: 8
    *   value of standard 2: {6,12,24,48}, default: 6
    */
   ACCELEROMETER_RANGE,
@@ -520,9 +520,9 @@ struct MYNTEYE_API ImgData {
  * IMU data.
  */
 struct MYNTEYE_API ImuData {
-  /** Imu frame id */
+  /** IMU frame id */
   std::uint32_t frame_id;
-  /** accel or gyro flag:1 for accel,2 for gyro,3 for both */
+  /** IMU accel or gyro flag: 1 for accel, 2 for gyro, 3 for both */
   std::uint8_t flag;
   /** IMU timestamp in 1us */
   std::uint64_t timestamp;

From 3ed2d501c25b44043b64fe5b5d1c75ce5540e7bb Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Sun, 23 Dec 2018 21:11:12 +0800
Subject: [PATCH 91/96] refactor(device): change where define image info packet

---
 .../device/standard/streams_adapter_s.cc      | 80 +++++++++++++------
 .../device/standard2/streams_adapter_s2.cc    | 40 +++++++++-
 src/mynteye/device/types.h                    | 66 ---------------
 3 files changed, 93 insertions(+), 93 deletions(-)

diff --git a/src/mynteye/device/standard/streams_adapter_s.cc b/src/mynteye/device/standard/streams_adapter_s.cc
index eeb0fa6..85d7146 100644
--- a/src/mynteye/device/standard/streams_adapter_s.cc
+++ b/src/mynteye/device/standard/streams_adapter_s.cc
@@ -22,31 +22,33 @@ MYNTEYE_BEGIN_NAMESPACE
 
 namespace {
 
-bool unpack_left_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::GREY);
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
-  for (std::size_t i = 0; i < n; i++) {
-    frame->data()[i] = *(data_new + (i * 2));
-  }
-  return true;
-}
+// image info
 
-bool unpack_right_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::GREY);
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
-  for (std::size_t i = 0; i < n; i++) {
-    frame->data()[i] = *(data_new + (i * 2 + 1));
+#pragma pack(push, 1)
+struct ImagePacket {
+  std::uint8_t header;
+  std::uint8_t size;
+  std::uint16_t frame_id;
+  std::uint32_t timestamp;
+  std::uint16_t exposure_time;
+  std::uint8_t checksum;
+
+  ImagePacket() = default;
+  explicit ImagePacket(std::uint8_t *data) {
+    from_data(data);
   }
-  return true;
-}
+
+  void from_data(std::uint8_t *data) {
+    header = *data;
+    size = *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
+                *(data + 7);
+    exposure_time = (*(data + 8) << 8) | *(data + 9);
+    checksum = *(data + 10);
+  }
+};
+#pragma pack(pop)
 
 bool unpack_stereo_img_data(
     const void *data, const StreamRequest &request, ImgData *img) {
@@ -57,11 +59,11 @@ bool unpack_stereo_img_data(
       request.width * request.height * bytes_per_pixel(request.format);
   auto data_end = data_new + data_n;
 
-  std::size_t packet_n = sizeof(ImagePacketS1);
+  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());
 
-  ImagePacketS1 img_packet(packet.data());
+  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)
@@ -97,6 +99,34 @@ bool unpack_stereo_img_data(
   return true;
 }
 
+// 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::YUYV);
+  CHECK_EQ(frame->format(), Format::GREY);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = frame->width() * frame->height();
+  for (std::size_t i = 0; i < n; i++) {
+    frame->data()[i] = *(data_new + (i * 2));
+  }
+  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::YUYV);
+  CHECK_EQ(frame->format(), Format::GREY);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = frame->width() * frame->height();
+  for (std::size_t i = 0; i < n; i++) {
+    frame->data()[i] = *(data_new + (i * 2 + 1));
+  }
+  return true;
+}
+
 }  // namespace
 
 StandardStreamsAdapter::StandardStreamsAdapter() {
diff --git a/src/mynteye/device/standard2/streams_adapter_s2.cc b/src/mynteye/device/standard2/streams_adapter_s2.cc
index a612160..1319965 100644
--- a/src/mynteye/device/standard2/streams_adapter_s2.cc
+++ b/src/mynteye/device/standard2/streams_adapter_s2.cc
@@ -22,6 +22,42 @@ 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);
@@ -75,11 +111,11 @@ bool unpack_stereo_img_data(
       request.width * request.height * bytes_per_pixel(request.format);
   auto data_end = data_new + data_n;
 
-  std::size_t packet_n = sizeof(ImagePacketS2);
+  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());
 
-  ImagePacketS2 img_packet(packet.data());
+  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)
diff --git a/src/mynteye/device/types.h b/src/mynteye/device/types.h
index cd216b0..77ec08d 100644
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@@ -138,72 +138,6 @@ struct MYNTEYE_API DeviceInfo {
   std::uint16_t nominal_baseline;
 };
 
-/**
- * @ingroup datatypes
- * Image packet for standard 2.
- */
-#pragma pack(push, 1)
-struct ImagePacketS2 {
-  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;
-
-  ImagePacketS2() = default;
-  explicit ImagePacketS2(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)
-
-/**
- * @ingroup datatypes
- * Image packet for standard 1.
- */
-#pragma pack(push, 1)
-struct ImagePacketS1 {
-  std::uint8_t header;
-  std::uint8_t size;
-  std::uint16_t frame_id;
-  std::uint32_t timestamp;
-  std::uint16_t exposure_time;
-  std::uint8_t checksum;
-
-  ImagePacketS1() = default;
-  explicit ImagePacketS1(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    header = *data;
-    size = *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
-                *(data + 7);
-    exposure_time = (*(data + 8) << 8) | *(data + 9);
-    checksum = *(data + 10);
-  }
-};
-#pragma pack(pop)
-
 /**
  * @ingroup datatypes
  * Imu request packet.

From f7b85c6b05f65faa5771df8feeedbb6bc1e677f3 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Sun, 23 Dec 2018 21:19:58 +0800
Subject: [PATCH 92/96] fix(device-s1): Fix overflow of timestamp convertion

---
 src/mynteye/device/standard/streams_adapter_s.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/mynteye/device/standard/streams_adapter_s.cc b/src/mynteye/device/standard/streams_adapter_s.cc
index 85d7146..6b07809 100644
--- a/src/mynteye/device/standard/streams_adapter_s.cc
+++ b/src/mynteye/device/standard/streams_adapter_s.cc
@@ -94,7 +94,8 @@ bool unpack_stereo_img_data(
   }
 
   img->frame_id = img_packet.frame_id;
-  img->timestamp = static_cast<uint64_t>(img_packet.timestamp * 10);
+  // make timestamp unit from 10us to 1us
+  img->timestamp = static_cast<uint64_t>(img_packet.timestamp) * 10;
   img->exposure_time = img_packet.exposure_time;
   return true;
 }

From c6bed032cb7cc115115196ee7741c929af7ff5d3 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Sun, 23 Dec 2018 21:36:12 +0800
Subject: [PATCH 93/96] style(streams.h): remove comment codes

---
 src/mynteye/device/streams.h | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/src/mynteye/device/streams.h b/src/mynteye/device/streams.h
index e719e41..a5bcc91 100644
--- a/src/mynteye/device/streams.h
+++ b/src/mynteye/device/streams.h
@@ -28,11 +28,6 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
-/*
-extern bool unpack_stereo_img_data(
-    const void *data, const StreamRequest &request, ImgData *img);
-*/
-
 class StreamsAdapter;
 
 class Streams {

From 2f4ffded7c1da38b1e636f63100c2a65de1f46ed Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Mon, 24 Dec 2018 00:39:43 +0800
Subject: [PATCH 94/96] refactor(device): add channels adapter to device

---
 CMakeLists.txt                                |   2 +
 include/mynteye/device/device.h               |  10 +-
 include/mynteye/types.h                       |  12 +-
 src/mynteye/device/channels.cc                | 109 ++++++-------
 src/mynteye/device/channels.h                 |  33 +++-
 src/mynteye/device/device.cc                  |  21 +--
 src/mynteye/device/motions.cc                 |   4 +-
 .../device/standard/channels_adapter_s.cc     | 129 +++++++++++++++
 .../device/standard/channels_adapter_s.h      |  44 +++++
 src/mynteye/device/standard/device_s.cc       |   9 +-
 src/mynteye/device/standard/device_s.h        |   1 -
 .../device/standard2/channels_adapter_s2.cc   | 125 ++++++++++++++
 .../device/standard2/channels_adapter_s2.h    |  44 +++++
 src/mynteye/device/standard2/device_s2.cc     |   9 +-
 src/mynteye/device/standard2/device_s2.h      |   1 -
 src/mynteye/device/types.h                    | 153 ------------------
 16 files changed, 455 insertions(+), 251 deletions(-)
 create mode 100644 src/mynteye/device/standard/channels_adapter_s.cc
 create mode 100644 src/mynteye/device/standard/channels_adapter_s.h
 create mode 100644 src/mynteye/device/standard2/channels_adapter_s2.cc
 create mode 100644 src/mynteye/device/standard2/channels_adapter_s2.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c6e956..d0dbc40 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -172,8 +172,10 @@ set(MYNTEYE_SRCS
   src/mynteye/device/context.cc
   src/mynteye/device/device.cc
   src/mynteye/device/motions.cc
+  src/mynteye/device/standard/channels_adapter_s.cc
   src/mynteye/device/standard/device_s.cc
   src/mynteye/device/standard/streams_adapter_s.cc
+  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/streams.cc
diff --git a/include/mynteye/device/device.h b/include/mynteye/device/device.h
index e03ff5b..617aaf1 100644
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -43,6 +43,7 @@ struct DeviceInfo;
 
 class API;
 class Channels;
+class ChannelsAdapter;
 class Motions;
 class Streams;
 class StreamsAdapter;
@@ -70,7 +71,13 @@ class MYNTEYE_API Device {
   using img_params_t = device::img_params_t;
   using imu_params_t = device::imu_params_t;
 
-  Device(const Model &model, std::shared_ptr<uvc::device> device);
+ protected:
+  Device(const Model &model,
+      const std::shared_ptr<uvc::device> &device,
+      const std::shared_ptr<StreamsAdapter> &streams_adapter,
+      const std::shared_ptr<ChannelsAdapter> &channels_adapter);
+
+ public:
   virtual ~Device();
 
   /**
@@ -301,7 +308,6 @@ class MYNTEYE_API Device {
   virtual void OnStereoStreamUpdate();
 
   virtual Capabilities GetKeyStreamCapability() const = 0;
-  virtual std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const = 0;
 
   std::map<Resolution, device::img_params_t> GetImgParams() const {
     return all_img_params_;
diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index facadeb..3c8b2f9 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -212,7 +212,7 @@ enum class Option : std::uint8_t {
    * The range of accelerometer
    *
    *   value of standard 1: {4,8,16,32}, default: 8
-   *   value of standard 2: {6,12,24,48}, default: 6
+   *   value of standard 2: {6,12,24,48}, default: 12
    */
   ACCELEROMETER_RANGE,
   /**
@@ -357,7 +357,7 @@ struct MYNTEYE_API StreamRequest {
   std::uint16_t height;
   /** Stream pixel format */
   Format format;
-  /** Stream frames per second (unused) */
+  /** Stream frames per second */
   std::uint16_t fps;
 
   StreamRequest() {}
@@ -522,7 +522,13 @@ struct MYNTEYE_API ImgData {
 struct MYNTEYE_API ImuData {
   /** IMU frame id */
   std::uint32_t frame_id;
-  /** IMU accel or gyro flag: 1 for accel, 2 for gyro, 3 for both */
+  /**
+   * IMU accel or gyro flag
+   *
+   *   0: accel and gyro are both valid
+   *   1: accel is valid
+   *   2: gyro is valid
+   */
   std::uint8_t flag;
   /** IMU timestamp in 1us */
   std::uint64_t timestamp;
diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index 47cf224..ffbaede 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -21,25 +21,22 @@
 #include <stdexcept>
 #include <vector>
 
-#include "mynteye/device/config.h"
 #include "mynteye/logger.h"
 #include "mynteye/util/strings.h"
 #include "mynteye/util/times.h"
 
-#include "mynteye/logger.h"
-
 #define IMU_TRACK_PERIOD 25  // ms
 
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace {
 
-const uvc::xu mynteye_xu = {3,
-                            2,
-                            {0x947a6d9f,
-                             0x8a2f,
-                             0x418d,
-                             {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}}};
+const uvc::xu mynteye_xu = {3, 2,
+  {
+    0x947a6d9f, 0x8a2f, 0x418d,
+    {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}
+  }
+};
 
 int XuCamCtrlId(Option option) {
   switch (option) {
@@ -122,15 +119,15 @@ void CheckSpecVersion(const Version *spec_version) {
 
 }  // namespace
 
-Channels::Channels(const Model &model, std::shared_ptr<uvc::device> device)
-    : device_(device),
-      model_(model),
-      is_imu_tracking_(false),
-      imu_track_stop_(false),
-      imu_sn_(0),
-      imu_callback_(nullptr) {
+Channels::Channels(const std::shared_ptr<uvc::device> &device,
+    const std::shared_ptr<ChannelsAdapter> &adapter)
+  : device_(device),
+    adapter_(adapter),
+    is_imu_tracking_(false),
+    imu_track_stop_(false),
+    imu_sn_(0),
+    imu_callback_(nullptr) {
   VLOG(2) << __func__;
-  imu_res_version_ = (model == Model::STANDARD) ? 1 : 2;
   UpdateControlInfos();
 }
 
@@ -139,6 +136,14 @@ Channels::~Channels() {
   StopImuTracking();
 }
 
+std::int32_t Channels::GetAccelRangeDefault() {
+  return adapter_->GetAccelRangeDefault();
+}
+
+std::int32_t Channels::GetGyroRangeDefault() {
+  return adapter_->GetGyroRangeDefault();
+}
+
 void Channels::LogControlInfos() const {
   for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
     LOG(INFO) << it->first << ": min=" << it->second.min
@@ -148,34 +153,32 @@ void Channels::LogControlInfos() const {
 }
 
 void Channels::UpdateControlInfos() {
-  auto &&supports = option_supports_map.at(model_);
+  auto &&supports = adapter_->GetOptionSupports();
   for (auto &&option : std::vector<Option>{
-    Option::GAIN, Option::BRIGHTNESS,
-    Option::CONTRAST}) {
+      Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST}) {
     if (supports.find(option) != supports.end())
       control_infos_[option] = PuControlInfo(option);
-    }
+  }
 
-    for (auto &&option : std::vector<Option>{
-             Option::FRAME_RATE, Option::IMU_FREQUENCY,
-             Option::EXPOSURE_MODE, Option::MAX_GAIN,
-             Option::MAX_EXPOSURE_TIME, Option::MIN_EXPOSURE_TIME,
-             Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
-             Option::HDR_MODE, Option::ACCELEROMETER_RANGE,
-             Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
-             Option::GYROSCOPE_LOW_PASS_FILTER}) {
-      if (supports.find(option) != supports.end())
-        control_infos_[option] = XuControlInfo(option);
-    }
+  for (auto &&option : std::vector<Option>{
+      Option::FRAME_RATE, Option::IMU_FREQUENCY,
+      Option::EXPOSURE_MODE, Option::MAX_GAIN,
+      Option::MAX_EXPOSURE_TIME, Option::MIN_EXPOSURE_TIME,
+      Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
+      Option::HDR_MODE, Option::ACCELEROMETER_RANGE,
+      Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+      Option::GYROSCOPE_LOW_PASS_FILTER}) {
+    if (supports.find(option) != supports.end())
+      control_infos_[option] = XuControlInfo(option);
+  }
 
-    if (VLOG_IS_ON(2)) {
-      for (auto &&it = control_infos_.begin(); it != control_infos_.end();
-           it++) {
-        VLOG(2) << it->first << ": min=" << it->second.min
-                << ", max=" << it->second.max << ", def=" << it->second.def
-                << ", cur=" << GetControlValue(it->first);
-      }
+  if (VLOG_IS_ON(2)) {
+    for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
+      VLOG(2) << it->first << ": min=" << it->second.min
+              << ", max=" << it->second.max << ", def=" << it->second.def
+              << ", cur=" << GetControlValue(it->first);
     }
+  }
 }
 
 Channels::control_info_t Channels::GetControlInfo(const Option &option) const {
@@ -268,25 +271,13 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
       XuCamCtrlSet(option, value);
     } break;
     case Option::ACCELEROMETER_RANGE: {
-      if (model_ == Model::STANDARD) {
-        if (!in_range() || !in_values({4, 8, 16, 32}))
-          break;
-      }
-      if (model_ == Model::STANDARD2) {
-        if (!in_range() || !in_values({6, 12, 24, 48}))
-          break;
-      }
+      if (!in_range() || !in_values(adapter_->GetAccelRangeValues()))
+        break;
       XuCamCtrlSet(option, value);
     } break;
     case Option::GYROSCOPE_RANGE: {
-      if (model_ == Model::STANDARD) {
-        if (!in_range() || !in_values({500, 1000, 2000, 4000}))
-          break;
-      }
-      if (model_ == Model::STANDARD2) {
-        if (!in_range() || !in_values({250, 500, 1000, 2000, 4000}))
-          break;
-      }
+      if (!in_range() || !in_values(adapter_->GetGyroRangeValues()))
+        break;
       XuCamCtrlSet(option, value);
     } break;
     case Option::ACCELEROMETER_LOW_PASS_FILTER: {
@@ -349,17 +340,13 @@ bool Channels::RunControlAction(const Option &option) const {
   }
 }
 
-std::uint8_t Channels::GetImuResVersion() {
-  return imu_res_version_;
-}
-
 void Channels::SetImuCallback(imu_callback_t callback) {
   imu_callback_ = callback;
 }
 
 void Channels::DoImuTrack() {
   static ImuReqPacket req_packet{0};
-  static ImuResPacket res_packet(imu_res_version_);
+  static ImuResPacket res_packet;
 
   req_packet.serial_number = imu_sn_;
   if (!XuImuWrite(req_packet)) {
@@ -1094,7 +1081,7 @@ bool Channels::XuImuRead(ImuResPacket *res) const {
   static std::uint8_t data[2000]{};
   // std::fill(data, data + 2000, 0);  // reset
   if (XuControlQuery(CHANNEL_IMU_READ, uvc::XU_QUERY_GET, 2000, data)) {
-    res->from_data(data);
+    adapter_->GetImuResPacket(data, res);
 
     if (res->header != 0x5B) {
       LOG(WARNING) << "Imu response packet header must be 0x5B, but 0x"
diff --git a/src/mynteye/device/channels.h b/src/mynteye/device/channels.h
index 29ec704..0fb4472 100644
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -17,7 +17,9 @@
 
 #include <map>
 #include <memory>
+#include <set>
 #include <thread>
+#include <vector>
 
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
@@ -34,6 +36,8 @@ struct xu;
 
 }  // namespace uvc
 
+class ChannelsAdapter;
+
 class MYNTEYE_API Channels {
  public:
   typedef enum Channel {
@@ -71,10 +75,13 @@ class MYNTEYE_API Channels {
   using img_params_t = std::map<Resolution, device::img_params_t>;
   using imu_params_t = device::imu_params_t;
 
-  explicit Channels(
-      const Model &model, std::shared_ptr<uvc::device> device);
+  Channels(const std::shared_ptr<uvc::device> &device,
+           const std::shared_ptr<ChannelsAdapter> &adapter);
   ~Channels();
 
+  std::int32_t GetAccelRangeDefault();
+  std::int32_t GetGyroRangeDefault();
+
   void LogControlInfos() const;
   void UpdateControlInfos();
   control_info_t GetControlInfo(const Option &option) const;
@@ -84,8 +91,6 @@ class MYNTEYE_API Channels {
 
   bool RunControlAction(const Option &option) const;
 
-  std::uint8_t GetImuResVersion();
-
   void SetImuCallback(imu_callback_t callback);
   void DoImuTrack();
 
@@ -132,11 +137,8 @@ class MYNTEYE_API Channels {
   control_info_t PuControlInfo(Option option) const;
   control_info_t XuControlInfo(Option option) const;
 
-  std::uint8_t imu_res_version_;
-
-  Model model_;
-
   std::shared_ptr<uvc::device> device_;
+  std::shared_ptr<ChannelsAdapter> adapter_;
 
   std::map<Option, control_info_t> control_infos_;
 
@@ -148,6 +150,21 @@ class MYNTEYE_API Channels {
   imu_callback_t imu_callback_;
 };
 
+class ChannelsAdapter {
+ public:
+  virtual ~ChannelsAdapter() {}
+
+  virtual std::set<Option> GetOptionSupports() = 0;
+
+  virtual std::int32_t GetAccelRangeDefault() = 0;
+  virtual std::vector<std::int32_t> GetAccelRangeValues() = 0;
+
+  virtual std::int32_t GetGyroRangeDefault() = 0;
+  virtual std::vector<std::int32_t> GetGyroRangeValues() = 0;
+
+  virtual void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) = 0;
+};
+
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_DEVICE_CHANNELS_H_
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index 356565e..484a52f 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -79,14 +79,17 @@ bool CheckSupports(
 
 }  // namespace
 
-Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
-    : video_streaming_(false),
-      motion_tracking_(false),
-      model_(model),
-      device_(device),
-      streams_(nullptr),
-      channels_(std::make_shared<Channels>(model_, device)),
-      motions_(std::make_shared<Motions>(channels_)) {
+Device::Device(const Model &model,
+    const std::shared_ptr<uvc::device> &device,
+    const std::shared_ptr<StreamsAdapter> &streams_adapter,
+    const std::shared_ptr<ChannelsAdapter> &channels_adapter)
+  : video_streaming_(false),
+    motion_tracking_(false),
+    model_(model),
+    device_(device),
+    streams_(std::make_shared<Streams>(streams_adapter)),
+    channels_(std::make_shared<Channels>(device_, channels_adapter)),
+    motions_(std::make_shared<Motions>(channels_)) {
   VLOG(2) << __func__;
   ReadAllInfos();
 }
@@ -471,8 +474,6 @@ void Device::StartVideoStreaming() {
     return;
   }
 
-  streams_ = std::make_shared<Streams>(CreateStreamsAdapter());
-
   // if stream capabilities are supported with subdevices of device_
   /*
   Capabilities stream_capabilities[] = {
diff --git a/src/mynteye/device/motions.cc b/src/mynteye/device/motions.cc
index bd39b8b..3acb3ee 100644
--- a/src/mynteye/device/motions.cc
+++ b/src/mynteye/device/motions.cc
@@ -36,11 +36,11 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
   if (motion_callback_) {
     accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
     if (accel_range == -1)
-      accel_range = (channels_->GetImuResVersion() == 1) ? 8 : 12;
+      accel_range = channels_->GetAccelRangeDefault();
 
     gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     if (gyro_range == -1)
-      gyro_range = 1000;
+      gyro_range = channels_->GetGyroRangeDefault();
 
     channels_->SetImuCallback([this](const ImuPacket &packet) {
       if (!motion_callback_ && !motion_datas_enabled_) {
diff --git a/src/mynteye/device/standard/channels_adapter_s.cc b/src/mynteye/device/standard/channels_adapter_s.cc
new file mode 100644
index 0000000..a2fc0ee
--- /dev/null
+++ b/src/mynteye/device/standard/channels_adapter_s.cc
@@ -0,0 +1,129 @@
+// 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/standard/channels_adapter_s.h"
+
+#include "mynteye/device/config.h"
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+#pragma pack(push, 1)
+struct ImuData {
+  std::int16_t offset;
+  std::uint16_t frame_id;
+  std::int16_t accel[3];
+  std::int16_t temperature;
+  std::int16_t gyro[3];
+
+  ImuData() = default;
+  explicit ImuData(const std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(const std::uint8_t *data) {
+    offset = (*(data) << 8) | *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    accel[0] = (*(data + 4) << 8) | *(data + 5);
+    accel[1] = (*(data + 6) << 8) | *(data + 7);
+    accel[2] = (*(data + 8) << 8) | *(data + 9);
+    temperature = (*(data + 10) << 8) | *(data + 11);
+    gyro[0] = (*(data + 12) << 8) | *(data + 13);
+    gyro[1] = (*(data + 14) << 8) | *(data + 15);
+    gyro[2] = (*(data + 16) << 8) | *(data + 17);
+  }
+};
+#pragma pack(pop)
+
+void unpack_imu_segment(const ImuData &imu, const std::uint32_t &timestamp,
+    ImuSegment *seg) {
+  seg->frame_id = static_cast<uint32_t>(imu.frame_id);
+  seg->timestamp = static_cast<uint64_t>(timestamp + imu.offset) * 10;
+  seg->flag = 0;
+  seg->temperature = imu.temperature;
+  seg->accel[0] = imu.accel[0];
+  seg->accel[1] = imu.accel[1];
+  seg->accel[2] = imu.accel[2];
+  seg->gyro[0] = imu.gyro[0];
+  seg->gyro[1] = imu.gyro[1];
+  seg->gyro[2] = imu.gyro[2];
+}
+
+void unpack_imu_packet(const std::uint8_t *data, ImuPacket *pkg) {
+  pkg->serial_number =
+      (*(data) << 24) | (*(data + 1) << 16) |
+      (*(data + 2) << 8) | *(data + 3);
+  std::uint32_t timestamp =
+      (*(data + 4) << 24) | (*(data + 5) << 16)|
+      (*(data + 6) << 8) | *(data + 7);
+  pkg->count = *(data + 8);
+
+  std::size_t data_n = sizeof(ImuData);  // 18
+  for (std::size_t i = 0; i < pkg->count; i++) {
+    ImuSegment seg;
+    unpack_imu_segment(ImuData(data + 9 + (data_n * i)), timestamp, &seg);
+    pkg->segments.push_back(seg);
+  }
+}
+
+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);  // 18
+  for (std::size_t i = 4; i < res->size;) {
+    ImuPacket packet;
+    unpack_imu_packet(data + i, &packet);
+    res->packets.push_back(packet);
+    i += 9 + (packet.count * data_n);
+  }
+  res->checksum = *(data + 4 + res->size);
+}
+
+}  // namespace
+
+StandardChannelsAdapter::StandardChannelsAdapter() {
+}
+
+StandardChannelsAdapter::~StandardChannelsAdapter() {
+}
+
+std::set<Option> StandardChannelsAdapter::GetOptionSupports() {
+  return option_supports_map.at(Model::STANDARD);
+}
+
+std::int32_t StandardChannelsAdapter::GetAccelRangeDefault() {
+  return 8;
+}
+
+std::vector<std::int32_t> StandardChannelsAdapter::GetAccelRangeValues() {
+  return {4, 8, 16, 32};
+}
+
+std::int32_t StandardChannelsAdapter::GetGyroRangeDefault() {
+  return 1000;
+}
+
+std::vector<std::int32_t> StandardChannelsAdapter::GetGyroRangeValues() {
+  return {500, 1000, 2000, 4000};
+}
+
+void StandardChannelsAdapter::GetImuResPacket(
+    const std::uint8_t *data, ImuResPacket *res) {
+  unpack_imu_res_packet(data, res);
+}
+
+MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard/channels_adapter_s.h b/src/mynteye/device/standard/channels_adapter_s.h
new file mode 100644
index 0000000..20404e8
--- /dev/null
+++ b/src/mynteye/device/standard/channels_adapter_s.h
@@ -0,0 +1,44 @@
+// 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_STANDARD_CHANNELS_ADAPTER_S_H_
+#define MYNTEYE_DEVICE_STANDARD_CHANNELS_ADAPTER_S_H_
+#pragma once
+
+#include <cstdint>
+#include <set>
+#include <vector>
+
+#include "mynteye/device/channels.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class StandardChannelsAdapter : public ChannelsAdapter {
+ public:
+  StandardChannelsAdapter();
+  virtual ~StandardChannelsAdapter();
+
+  std::set<Option> GetOptionSupports() override;
+
+  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_STANDARD_CHANNELS_ADAPTER_S_H_
diff --git a/src/mynteye/device/standard/device_s.cc b/src/mynteye/device/standard/device_s.cc
index 36719ba..411315e 100644
--- a/src/mynteye/device/standard/device_s.cc
+++ b/src/mynteye/device/standard/device_s.cc
@@ -15,12 +15,15 @@
 
 #include "mynteye/logger.h"
 #include "mynteye/device/motions.h"
+#include "mynteye/device/standard/channels_adapter_s.h"
 #include "mynteye/device/standard/streams_adapter_s.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
 StandardDevice::StandardDevice(std::shared_ptr<uvc::device> device)
-    : Device(Model::STANDARD, device) {
+  : Device(Model::STANDARD, device,
+           std::make_shared<StandardStreamsAdapter>(),
+           std::make_shared<StandardChannelsAdapter>()) {
   VLOG(2) << __func__;
 }
 
@@ -32,10 +35,6 @@ Capabilities StandardDevice::GetKeyStreamCapability() const {
   return Capabilities::STEREO;
 }
 
-std::shared_ptr<StreamsAdapter> StandardDevice::CreateStreamsAdapter() const {
-  return std::make_shared<StandardStreamsAdapter>();
-}
-
 void StandardDevice::StartVideoStreaming() {
   // TODO(John) Set img framerate, imu frequency according to stream request
   Device::StartVideoStreaming();
diff --git a/src/mynteye/device/standard/device_s.h b/src/mynteye/device/standard/device_s.h
index 855e611..40ad33b 100644
--- a/src/mynteye/device/standard/device_s.h
+++ b/src/mynteye/device/standard/device_s.h
@@ -28,7 +28,6 @@ class StandardDevice : public Device {
   virtual ~StandardDevice();
 
   Capabilities GetKeyStreamCapability() const override;
-  std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
 
   void StartVideoStreaming() override;
 
diff --git a/src/mynteye/device/standard2/channels_adapter_s2.cc b/src/mynteye/device/standard2/channels_adapter_s2.cc
new file mode 100644
index 0000000..3257039
--- /dev/null
+++ b/src/mynteye/device/standard2/channels_adapter_s2.cc
@@ -0,0 +1,125 @@
+// 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_s2.h"
+
+#include "mynteye/device/config.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
+
+Standard2ChannelsAdapter::Standard2ChannelsAdapter() {
+}
+
+Standard2ChannelsAdapter::~Standard2ChannelsAdapter() {
+}
+
+std::set<Option> Standard2ChannelsAdapter::GetOptionSupports() {
+  return option_supports_map.at(Model::STANDARD2);
+}
+
+std::int32_t Standard2ChannelsAdapter::GetAccelRangeDefault() {
+  return 12;
+}
+
+std::vector<std::int32_t> Standard2ChannelsAdapter::GetAccelRangeValues() {
+  return {6, 12, 24, 48};
+}
+
+std::int32_t Standard2ChannelsAdapter::GetGyroRangeDefault() {
+  return 1000;
+}
+
+std::vector<std::int32_t> Standard2ChannelsAdapter::GetGyroRangeValues() {
+  return {250, 500, 1000, 2000, 4000};
+}
+
+void Standard2ChannelsAdapter::GetImuResPacket(
+    const std::uint8_t *data, ImuResPacket *res) {
+  unpack_imu_res_packet(data, res);
+}
+
+MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard2/channels_adapter_s2.h b/src/mynteye/device/standard2/channels_adapter_s2.h
new file mode 100644
index 0000000..b4cde16
--- /dev/null
+++ b/src/mynteye/device/standard2/channels_adapter_s2.h
@@ -0,0 +1,44 @@
+// 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_S2_H_
+#define MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S2_H_
+#pragma once
+
+#include <cstdint>
+#include <set>
+#include <vector>
+
+#include "mynteye/device/channels.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class Standard2ChannelsAdapter : public ChannelsAdapter {
+ public:
+  Standard2ChannelsAdapter();
+  virtual ~Standard2ChannelsAdapter();
+
+  std::set<Option> GetOptionSupports() override;
+
+  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_S2_H_
diff --git a/src/mynteye/device/standard2/device_s2.cc b/src/mynteye/device/standard2/device_s2.cc
index 4b5fc44..5428dcd 100644
--- a/src/mynteye/device/standard2/device_s2.cc
+++ b/src/mynteye/device/standard2/device_s2.cc
@@ -15,12 +15,15 @@
 
 #include "mynteye/logger.h"
 #include "mynteye/device/motions.h"
+#include "mynteye/device/standard2/channels_adapter_s2.h"
 #include "mynteye/device/standard2/streams_adapter_s2.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
 Standard2Device::Standard2Device(std::shared_ptr<uvc::device> device)
-    : Device(Model::STANDARD2, device) {
+  : Device(Model::STANDARD2, device,
+           std::make_shared<Standard2StreamsAdapter>(),
+           std::make_shared<Standard2ChannelsAdapter>()) {
   VLOG(2) << __func__;
 }
 
@@ -32,10 +35,6 @@ Capabilities Standard2Device::GetKeyStreamCapability() const {
   return Capabilities::STEREO_COLOR;
 }
 
-std::shared_ptr<StreamsAdapter> Standard2Device::CreateStreamsAdapter() const {
-  return std::make_shared<Standard2StreamsAdapter>();
-}
-
 void Standard2Device::OnStereoStreamUpdate() {
   if (motion_tracking_) {
     auto &&motions = this->motions();
diff --git a/src/mynteye/device/standard2/device_s2.h b/src/mynteye/device/standard2/device_s2.h
index 7f3ef7e..badf6ac 100644
--- a/src/mynteye/device/standard2/device_s2.h
+++ b/src/mynteye/device/standard2/device_s2.h
@@ -28,7 +28,6 @@ class Standard2Device : public Device {
   virtual ~Standard2Device();
 
   Capabilities GetKeyStreamCapability() const override;
-  std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
 
   void OnStereoStreamUpdate() override;
 };
diff --git a/src/mynteye/device/types.h b/src/mynteye/device/types.h
index 77ec08d..44efaf5 100644
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@@ -162,74 +162,6 @@ struct ImuReqPacket {
 };
 #pragma pack(pop)
 
-/**
- * @ingroup datatypes
- * Imu group for standard 1.
- */
-#pragma pack(push, 1)
-struct ImuGroupS1 {
-  std::int16_t offset;
-  std::uint16_t frame_id;
-  std::int16_t accel[3];
-  std::int16_t temperature;
-  std::int16_t gyro[3];
-
-  ImuGroupS1() = default;
-  explicit ImuGroupS1(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    offset = (*(data) << 8) | *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    accel[0] = (*(data + 4) << 8) | *(data + 5);
-    accel[1] = (*(data + 6) << 8) | *(data + 7);
-    accel[2] = (*(data + 8) << 8) | *(data + 9);
-    temperature = (*(data + 10) << 8) | *(data + 11);
-    gyro[0] = (*(data + 12) << 8) | *(data + 13);
-    gyro[1] = (*(data + 14) << 8) | *(data + 15);
-    gyro[2] = (*(data + 16) << 8) | *(data + 17);
-  }
-};
-#pragma pack(pop)
-
-/**
- * @ingroup datatypes
- * Imu group for standard 2.
- */
-#pragma pack(push, 1)
-struct ImuGroupS2 {
-  std::uint32_t frame_id;
-  std::uint64_t timestamp;
-  std::uint8_t flag;
-  std::int16_t temperature;
-  std::int16_t accel_or_gyro[3];
-
-  ImuGroupS2() = default;
-  explicit ImuGroupS2(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(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)
-
 /**
  * @ingroup datatypes
  * Imu segment.
@@ -242,32 +174,6 @@ struct ImuSegment {
   std::int16_t temperature;
   std::int16_t accel[3];
   std::int16_t gyro[3];
-
-  ImuSegment() = default;
-
-  explicit ImuSegment(ImuGroupS2 group)
-    : frame_id(group.frame_id), timestamp(group.timestamp),
-      flag(group.flag), temperature(group.temperature) {
-    accel[0] = (flag == 1) ? group.accel_or_gyro[0] : 0;
-    accel[1] = (flag == 1) ? group.accel_or_gyro[1] : 0;
-    accel[2] = (flag == 1) ? group.accel_or_gyro[2] : 0;
-    gyro[0] = (flag == 2) ? group.accel_or_gyro[0] : 0;
-    gyro[1] = (flag == 2) ? group.accel_or_gyro[1] : 0;
-    gyro[2] = (flag == 2) ? group.accel_or_gyro[2] : 0;
-  }
-
-  ImuSegment(std::uint32_t timestamp, ImuGroupS1 group) {
-    frame_id = static_cast<uint32_t> (group.frame_id);
-    this->timestamp = static_cast<uint64_t> (timestamp + group.offset) * 10;
-    flag = 3;
-    temperature = group.temperature;
-    accel[0] = group.accel[0];
-    accel[1] = group.accel[1];
-    accel[2] = group.accel[2];
-    gyro[0] = group.gyro[0];
-    gyro[1] = group.gyro[1];
-    gyro[2] = group.gyro[2];
-  }
 };
 #pragma pack(pop)
 
@@ -281,37 +187,6 @@ struct ImuPacket {
   std::uint8_t count;
   std::uint32_t serial_number;
   std::vector<ImuSegment> segments;
-
-  ImuPacket() = default;
-  explicit ImuPacket(
-      std::uint8_t version, std::uint8_t seg_count, std::uint8_t *data)
-        : version(version), count(seg_count) {
-          from_data(data);
-        }
-  void from_data(std::uint8_t *data) {
-        if (version == 1) {
-          serial_number =
-              (*(data) << 24) | (*(data + 1) << 16) |
-              (*(data + 2) << 8) | *(data + 3);
-          int timestamp =
-              (*(data + 4) << 24) | (*(data + 5) << 16)|
-              (*(data + 6) << 8) | *(data + 7);
-          count = *(data + 8);
-
-          std::size_t seg_n = sizeof(ImuGroupS1);  // 18
-          for (std::size_t i = 0; i < count; i++) {
-            ImuGroupS1 group(data + 9 + (seg_n * i));
-            segments.push_back(ImuSegment(timestamp, group));
-          }
-        } else if (version == 2) {
-          std::size_t seg_n = sizeof(ImuGroupS2);  // 21
-          for (std::size_t i = 0; i < count; i++) {
-            ImuGroupS2 group(data + seg_n * i);
-            segments.push_back(ImuSegment(group));
-          }
-          serial_number = segments.back().frame_id;
-        }
-  }
 };
 #pragma pack(pop)
 
@@ -327,34 +202,6 @@ struct ImuResPacket {
   std::uint16_t size;
   std::vector<ImuPacket> packets;
   std::uint8_t checksum;
-
-  ImuResPacket() = default;
-  explicit ImuResPacket(std::uint8_t version) : version(version) {}
-
-  void from_data(std::uint8_t *data) {
-    header = *data;
-    state = *(data + 1);
-    size = (*(data + 2) << 8) | *(data + 3);
-
-    if (version == 1) {
-      std::size_t seg_n = sizeof(ImuGroupS1);  // 18
-      for (std::size_t i = 4; i < size;) {
-        ImuPacket packet(version, 0, data + i);
-        packets.push_back(packet);
-        i += 9 + (packet.count * seg_n);
-      }
-      checksum = *(data + 4 + size);
-    }
-
-    if (version == 2) {
-      std::size_t seg_n = sizeof(ImuGroupS2);  // 21
-      std::uint8_t seg_count = size / seg_n;
-      ImuPacket packet(version, seg_count, data + 4);
-      packets.push_back(packet);
-      // packet(2);
-      checksum = *(data + 4 + size);
-    }
-  }
 };
 #pragma pack(pop)
 

From 52f1075182831125c67c9539bbd3017f9f2aee1a Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Mon, 24 Dec 2018 00:41:59 +0800
Subject: [PATCH 95/96] refactor(device-s1): remove useless override

---
 src/mynteye/device/standard/device_s.cc | 5 -----
 src/mynteye/device/standard/device_s.h  | 2 --
 2 files changed, 7 deletions(-)

diff --git a/src/mynteye/device/standard/device_s.cc b/src/mynteye/device/standard/device_s.cc
index 411315e..5da96fc 100644
--- a/src/mynteye/device/standard/device_s.cc
+++ b/src/mynteye/device/standard/device_s.cc
@@ -35,11 +35,6 @@ Capabilities StandardDevice::GetKeyStreamCapability() const {
   return Capabilities::STEREO;
 }
 
-void StandardDevice::StartVideoStreaming() {
-  // TODO(John) Set img framerate, imu frequency according to stream request
-  Device::StartVideoStreaming();
-}
-
 void StandardDevice::OnStereoStreamUpdate() {
   if (motion_tracking_) {
     auto &&motions = this->motions();
diff --git a/src/mynteye/device/standard/device_s.h b/src/mynteye/device/standard/device_s.h
index 40ad33b..0e21055 100644
--- a/src/mynteye/device/standard/device_s.h
+++ b/src/mynteye/device/standard/device_s.h
@@ -29,8 +29,6 @@ class StandardDevice : public Device {
 
   Capabilities GetKeyStreamCapability() const override;
 
-  void StartVideoStreaming() override;
-
   void OnStereoStreamUpdate() override;
 };
 

From 34283fda0c81f7077d2df6cca3a7ddc898c6fbb2 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Mon, 24 Dec 2018 10:32:25 +0800
Subject: [PATCH 96/96] refactor(device): move get/set params to channels
 adapter

---
 src/mynteye/device/channels.cc                | 733 ++++++++----------
 src/mynteye/device/channels.h                 |  82 ++
 .../device/standard/channels_adapter_s.cc     |  34 +
 .../device/standard/channels_adapter_s.h      |   7 +
 .../device/standard2/channels_adapter_s2.cc   |  48 ++
 .../device/standard2/channels_adapter_s2.h    |   7 +
 6 files changed, 495 insertions(+), 416 deletions(-)

diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index ffbaede..7a02618 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -430,199 +430,6 @@ void Channels::StopImuTracking() {
   }
 }
 
-namespace {
-
-template <typename T>
-T _from_data(const std::uint8_t *data) {
-  std::size_t size = sizeof(T) / sizeof(std::uint8_t);
-  T value = 0;
-  for (std::size_t i = 0; i < size; i++) {
-    value |= data[i] << (8 * (size - i - 1));
-  }
-  return value;
-}
-
-template <>
-double _from_data(const std::uint8_t *data) {
-  return *(reinterpret_cast<const double *>(data));
-}
-
-std::string _from_data(const std::uint8_t *data, std::size_t count) {
-  std::string s(reinterpret_cast<const char *>(data), count);
-  strings::trim(s);
-  return s;
-}
-
-std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data) {
-  std::size_t i = 4;  // skip vid, pid
-  // name, 16
-  info->name = _from_data(data + i, 16);
-  i += 16;
-  // serial_number, 16
-  info->serial_number = _from_data(data + i, 16);
-  i += 16;
-  // firmware_version, 2
-  info->firmware_version.set_major(data[i]);
-  info->firmware_version.set_minor(data[i + 1]);
-  i += 2;
-  // hardware_version, 3
-  info->hardware_version.set_major(data[i]);
-  info->hardware_version.set_minor(data[i + 1]);
-  info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
-  i += 3;
-  // spec_version, 2
-  info->spec_version.set_major(data[i]);
-  info->spec_version.set_minor(data[i + 1]);
-  i += 2;
-  // lens_type, 4
-  info->lens_type.set_vendor(_from_data<std::uint16_t>(data + i));
-  info->lens_type.set_product(_from_data<std::uint16_t>(data + i + 2));
-  i += 4;
-  // imu_type, 4
-  info->imu_type.set_vendor(_from_data<std::uint16_t>(data + i));
-  info->imu_type.set_product(_from_data<std::uint16_t>(data + i + 2));
-  i += 4;
-  // nominal_baseline, 2
-  info->nominal_baseline = _from_data<std::uint16_t>(data + i);
-  i += 2;
-
-  return i;
-}
-
-std::size_t from_data(
-    Intrinsics *in, const std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // width, 2
-  in->width = _from_data<std::uint16_t>(data + i);
-  i += 2;
-  // height, 2
-  in->height = _from_data<std::uint16_t>(data + i);
-  i += 2;
-  // fx, 8
-  in->fx = _from_data<double>(data + i);
-  i += 8;
-  // fy, 8
-  in->fy = _from_data<double>(data + i);
-  i += 8;
-  // cx, 8
-  in->cx = _from_data<double>(data + i);
-  i += 8;
-  // cy, 8
-  in->cy = _from_data<double>(data + i);
-  i += 8;
-  // model, 1
-  in->model = data[i];
-  i += 1;
-  // coeffs, 40
-  for (std::size_t j = 0; j < 5; j++) {
-    in->coeffs[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 40;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t from_data(
-    ImuIntrinsics *in, const std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // scale
-  for (std::size_t j = 0; j < 3; j++) {
-    for (std::size_t k = 0; k < 3; k++) {
-      in->scale[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
-    }
-  }
-  i += 72;
-  // drift
-  for (std::size_t j = 0; j < 3; j++) {
-    in->drift[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 24;
-  // noise
-  for (std::size_t j = 0; j < 3; j++) {
-    in->noise[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 24;
-  // bias
-  for (std::size_t j = 0; j < 3; j++) {
-    in->bias[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 24;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t from_data(
-    Extrinsics *ex, const std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // rotation
-  for (std::size_t j = 0; j < 3; j++) {
-    for (std::size_t k = 0; k < 3; k++) {
-      ex->rotation[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
-    }
-  }
-  i += 72;
-  // translation
-  for (std::size_t j = 0; j < 3; j++) {
-    ex->translation[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 24;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t from_data(
-    Channels::img_params_t *img_params, const std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 0;
-
-  // TODO(JohnZhao)
-  Intrinsics in_left, in_right;
-  Extrinsics ex_right_to_left;
-
-  if (spec_version->major() == 1) {
-    if (spec_version->minor() == 0) {
-      i += from_data(&in_left, data + i, spec_version);
-      i += from_data(&in_right, data + i, spec_version);
-      i += from_data(&ex_right_to_left, data + i, spec_version);
-      (*img_params)[{752, 480}] = {true, in_left, in_right, ex_right_to_left};
-    }
-
-    if (spec_version->minor() == 1) {
-      i += from_data(&in_left, data + i, spec_version);
-      i += from_data(&in_right, data + i, spec_version);
-      (*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
-
-      i += from_data(&in_left, data + i, spec_version);
-      i += from_data(&in_right, data + i, spec_version);
-      (*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
-
-      i += from_data(&ex_right_to_left, data + i, spec_version);
-      (*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
-      (*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
-    }
-  }
-
-  return i;
-}
-
-std::size_t from_data(
-    Channels::imu_params_t *imu_params, const std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 0;
-  i += from_data(&imu_params->in_accel, data + i, spec_version);
-  i += from_data(&imu_params->in_gyro, data + i, spec_version);
-  i += from_data(&imu_params->ex_left_to_imu, data + i, spec_version);
-  return i;
-}
-
-}  // namespace
-
 bool Channels::GetFiles(
     device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
     Version *spec_version) const {
@@ -650,7 +457,7 @@ bool Channels::GetFiles(
 
   if (XuFileQuery(uvc::XU_QUERY_GET, 2000, data)) {
     // header = std::bitset<8>(data[0]);
-    std::uint16_t size = _from_data<std::uint16_t>(data + 1);
+    std::uint16_t size = bytes::_from_data<std::uint16_t>(data + 1);
     std::uint8_t checksum = data[3 + size];
     VLOG(2) << "GetFiles data size: " << size << ", checksum: 0x" << std::hex
             << std::setw(2) << std::setfill('0') << static_cast<int>(checksum);
@@ -673,13 +480,13 @@ bool Channels::GetFiles(
     std::size_t end = 3 + size;
     while (i < end) {
       std::uint8_t file_id = *(data + i);
-      std::uint16_t file_size = _from_data<std::uint16_t>(data + i + 1);
+      std::uint16_t file_size = bytes::_from_data<std::uint16_t>(data + i + 1);
       VLOG(2) << "GetFiles id: " << static_cast<int>(file_id)
               << ", size: " << file_size;
       i += 3;
       switch (file_id) {
         case FID_DEVICE_INFO: {
-          CHECK_EQ(from_data(info, data + i), file_size)
+          CHECK_EQ(bytes::from_data(info, data + i), file_size)
               << "The firmware not support getting device info, you could "
                  "upgrade to latest";
           spec_ver = &info->spec_version;
@@ -688,16 +495,19 @@ bool Channels::GetFiles(
         case FID_IMG_PARAMS: {
           if (file_size > 0) {
             CheckSpecVersion(spec_ver);
-            from_data(img_params, data + i, spec_ver);
+            /*auto &&n = */adapter_->GetImgParamsFromData(
+                data + i, spec_ver, img_params);
             // Considering the upgrade, comment this
-            // CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
+            // CHECK_EQ(n, file_size);
           }
         } break;
         case FID_IMU_PARAMS: {
           imu_params->ok = file_size > 0;
           if (imu_params->ok) {
             CheckSpecVersion(spec_ver);
-            CHECK_EQ(from_data(imu_params, data + i, spec_ver), file_size);
+            auto &&n = adapter_->GetImuParamsFromData(
+                data + i, spec_ver, imu_params);
+            CHECK_EQ(n, file_size);
           }
         } break;
         default:
@@ -714,220 +524,6 @@ bool Channels::GetFiles(
   }
 }
 
-namespace {
-
-template <typename T>
-std::size_t _to_data(T value, std::uint8_t *data) {
-  std::size_t size = sizeof(T) / sizeof(std::uint8_t);
-  for (std::size_t i = 0; i < size; i++) {
-    data[i] = static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) & 0xFF);
-  }
-  return size;
-}
-
-template <>
-std::size_t _to_data(double value, std::uint8_t *data) {
-  std::uint8_t *val = reinterpret_cast<std::uint8_t *>(&value);
-  std::copy(val, val + 8, data);
-  return 8;
-}
-
-std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count) {
-  std::copy(value.begin(), value.end(), data);
-  for (std::size_t i = value.size(); i < count; i++) {
-    data[i] = ' ';
-  }
-  return count;
-}
-
-std::size_t to_data(
-    const Channels::device_info_t *info, std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 3;  // skip id, size
-  i += 4;             // skip vid, pid
-  // name, 16
-  _to_data(info->name, data + i, 16);
-  i += 16;
-  // serial_number, 16
-  _to_data(info->serial_number, data + i, 16);
-  i += 16;
-  // firmware_version, 2
-  data[i] = info->firmware_version.major();
-  data[i + 1] = info->firmware_version.minor();
-  i += 2;
-  // hardware_version, 3
-  data[i] = info->hardware_version.major();
-  data[i + 1] = info->hardware_version.minor();
-  data[i + 2] =
-      static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong());
-  i += 3;
-  // spec_version, 2
-  data[i] = info->spec_version.major();
-  data[i + 1] = info->spec_version.minor();
-  i += 2;
-  // lens_type, 4
-  _to_data(info->lens_type.vendor(), data + i);
-  _to_data(info->lens_type.product(), data + i + 2);
-  i += 4;
-  // imu_type, 4
-  _to_data(info->imu_type.vendor(), data + i);
-  _to_data(info->imu_type.product(), data + i + 2);
-  i += 4;
-  // nominal_baseline, 2
-  _to_data(info->nominal_baseline, data + i);
-  i += 2;
-
-  MYNTEYE_UNUSED(spec_version)
-
-  // others
-  std::size_t size = i - 3;
-  data[0] = Channels::FID_DEVICE_INFO;
-  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
-  data[2] = static_cast<std::uint8_t>(size & 0xFF);
-  return size + 3;
-}
-
-std::size_t to_data(
-    const Intrinsics *in, std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // width, 2
-  _to_data(in->width, data + i);
-  i += 2;
-  // height, 2
-  _to_data(in->height, data + i);
-  i += 2;
-  // fx, 8
-  _to_data(in->fx, data + i);
-  i += 8;
-  // fy, 8
-  _to_data(in->fy, data + i);
-  i += 8;
-  // cx, 8
-  _to_data(in->cx, data + i);
-  i += 8;
-  // cy, 8
-  _to_data(in->cy, data + i);
-  i += 8;
-  // model, 1
-  data[i] = in->model;
-  i += 1;
-  // coeffs, 40
-  for (std::size_t j = 0; j < 5; j++) {
-    _to_data(in->coeffs[j], data + i + j * 8);
-  }
-  i += 40;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t to_data(
-    const ImuIntrinsics *in, std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // scale
-  for (std::size_t j = 0; j < 3; j++) {
-    for (std::size_t k = 0; k < 3; k++) {
-      _to_data(in->scale[j][k], data + i + (j * 3 + k) * 8);
-    }
-  }
-  i += 72;
-  // drift
-  for (std::size_t j = 0; j < 3; j++) {
-    _to_data(in->drift[j], data + i + j * 8);
-  }
-  i += 24;
-  // noise
-  for (std::size_t j = 0; j < 3; j++) {
-    _to_data(in->noise[j], data + i + j * 8);
-  }
-  i += 24;
-  // bias
-  for (std::size_t j = 0; j < 3; j++) {
-    _to_data(in->bias[j], data + i + j * 8);
-  }
-  i += 24;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t to_data(
-    const Extrinsics *ex, std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // rotation
-  for (std::size_t j = 0; j < 3; j++) {
-    for (std::size_t k = 0; k < 3; k++) {
-      _to_data(ex->rotation[j][k], data + i + (j * 3 + k) * 8);
-    }
-  }
-  i += 72;
-  // translation
-  for (std::size_t j = 0; j < 3; j++) {
-    _to_data(ex->translation[j], data + i + j * 8);
-  }
-  i += 24;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t to_data(
-    const Channels::img_params_t *img_params, std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 3;  // skip id, size
-
-  // TODO(JohnZhao)
-  if (spec_version->major() == 1) {
-    if (spec_version->minor() == 0) {
-      auto &&params = (*img_params).at({752, 480});
-      i += to_data(&params.in_left, data + i, spec_version);
-      i += to_data(&params.in_right, data + i, spec_version);
-      i += to_data(&params.ex_right_to_left, data + i, spec_version);
-    }
-
-    if (spec_version->minor() == 1) {
-      {
-        auto &&params = (*img_params).at({1280, 400});
-        i += to_data(&params.in_left, data + i, spec_version);
-        i += to_data(&params.in_right, data + i, spec_version);
-      }
-      {
-        auto &&params = (*img_params).at({2560, 800});
-        i += to_data(&params.in_left, data + i, spec_version);
-        i += to_data(&params.in_right, data + i, spec_version);
-        i += to_data(&params.ex_right_to_left, data + i, spec_version);
-      }
-    }
-  }
-
-  // others
-  std::size_t size = i - 3;
-  data[0] = Channels::FID_IMG_PARAMS;
-  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
-  data[2] = static_cast<std::uint8_t>(size & 0xFF);
-  return size + 3;
-}
-
-std::size_t to_data(
-    const Channels::imu_params_t *imu_params, std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 3;  // skip id, size
-  i += to_data(&imu_params->in_accel, data + i, spec_version);
-  i += to_data(&imu_params->in_gyro, data + i, spec_version);
-  i += to_data(&imu_params->ex_left_to_imu, data + i, spec_version);
-  // others
-  std::size_t size = i - 3;
-  data[0] = Channels::FID_IMU_PARAMS;
-  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
-  data[2] = static_cast<std::uint8_t>(size & 0xFF);
-  return size + 3;
-}
-
-}  // namespace
-
 bool Channels::SetFiles(
     device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
     Version *spec_version) {
@@ -949,15 +545,15 @@ bool Channels::SetFiles(
   std::uint16_t size = 0;
   if (info != nullptr) {
     header[0] = true;
-    size += to_data(info, data + 3 + size, spec_ver);
+    size += bytes::to_data(info, data + 3 + size, spec_ver);
   }
   if (img_params != nullptr) {
     header[1] = true;
-    size += to_data(img_params, data + 3 + size, spec_ver);
+    size += adapter_->SetImgParamsToData(img_params, spec_ver, data + 3 + size);
   }
   if (imu_params != nullptr) {
     header[2] = true;
-    size += to_data(imu_params, data + 3 + size, spec_ver);
+    size += adapter_->SetImuParamsToData(imu_params, spec_ver, data + 3 + size);
   }
 
   data[0] = static_cast<std::uint8_t>(header.to_ulong());
@@ -1142,4 +738,309 @@ Channels::control_info_t Channels::XuControlInfo(Option option) const {
   return {min, max, def};
 }
 
+
+std::size_t ChannelsAdapter::GetImuParamsFromData(
+    const std::uint8_t *data, const Version *version,
+    Channels::imu_params_t *imu_params) {
+  std::size_t i = 0;
+  i += bytes::from_data(&imu_params->in_accel, data + i, version);
+  i += bytes::from_data(&imu_params->in_gyro, data + i, version);
+  i += bytes::from_data(&imu_params->ex_left_to_imu, data + i, version);
+  return i;
+}
+
+std::size_t ChannelsAdapter::SetImuParamsToData(
+    const Channels::imu_params_t *imu_params, const Version *version,
+    std::uint8_t *data) {
+  std::size_t i = 3;  // skip id, size
+  i += bytes::to_data(&imu_params->in_accel, data + i, version);
+  i += bytes::to_data(&imu_params->in_gyro, data + i, version);
+  i += bytes::to_data(&imu_params->ex_left_to_imu, data + i, version);
+  // others
+  std::size_t size = i - 3;
+  data[0] = Channels::FID_IMU_PARAMS;
+  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
+  data[2] = static_cast<std::uint8_t>(size & 0xFF);
+  return size + 3;
+}
+
+
+namespace bytes {
+
+// from
+
+std::string _from_data(const std::uint8_t *data, std::size_t count) {
+  std::string s(reinterpret_cast<const char *>(data), count);
+  strings::trim(s);
+  return s;
+}
+
+std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data) {
+  std::size_t i = 4;  // skip vid, pid
+  // name, 16
+  info->name = _from_data(data + i, 16);
+  i += 16;
+  // serial_number, 16
+  info->serial_number = _from_data(data + i, 16);
+  i += 16;
+  // firmware_version, 2
+  info->firmware_version.set_major(data[i]);
+  info->firmware_version.set_minor(data[i + 1]);
+  i += 2;
+  // hardware_version, 3
+  info->hardware_version.set_major(data[i]);
+  info->hardware_version.set_minor(data[i + 1]);
+  info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
+  i += 3;
+  // spec_version, 2
+  info->spec_version.set_major(data[i]);
+  info->spec_version.set_minor(data[i + 1]);
+  i += 2;
+  // lens_type, 4
+  info->lens_type.set_vendor(_from_data<std::uint16_t>(data + i));
+  info->lens_type.set_product(_from_data<std::uint16_t>(data + i + 2));
+  i += 4;
+  // imu_type, 4
+  info->imu_type.set_vendor(_from_data<std::uint16_t>(data + i));
+  info->imu_type.set_product(_from_data<std::uint16_t>(data + i + 2));
+  i += 4;
+  // nominal_baseline, 2
+  info->nominal_baseline = _from_data<std::uint16_t>(data + i);
+  i += 2;
+
+  return i;
+}
+
+std::size_t from_data(Intrinsics *in, const std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // width, 2
+  in->width = _from_data<std::uint16_t>(data + i);
+  i += 2;
+  // height, 2
+  in->height = _from_data<std::uint16_t>(data + i);
+  i += 2;
+  // fx, 8
+  in->fx = _from_data<double>(data + i);
+  i += 8;
+  // fy, 8
+  in->fy = _from_data<double>(data + i);
+  i += 8;
+  // cx, 8
+  in->cx = _from_data<double>(data + i);
+  i += 8;
+  // cy, 8
+  in->cy = _from_data<double>(data + i);
+  i += 8;
+  // model, 1
+  in->model = data[i];
+  i += 1;
+  // coeffs, 40
+  for (std::size_t j = 0; j < 5; j++) {
+    in->coeffs[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 40;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // scale
+  for (std::size_t j = 0; j < 3; j++) {
+    for (std::size_t k = 0; k < 3; k++) {
+      in->scale[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
+    }
+  }
+  i += 72;
+  // drift
+  for (std::size_t j = 0; j < 3; j++) {
+    in->drift[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 24;
+  // noise
+  for (std::size_t j = 0; j < 3; j++) {
+    in->noise[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 24;
+  // bias
+  for (std::size_t j = 0; j < 3; j++) {
+    in->bias[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 24;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+std::size_t from_data(Extrinsics *ex, const std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // rotation
+  for (std::size_t j = 0; j < 3; j++) {
+    for (std::size_t k = 0; k < 3; k++) {
+      ex->rotation[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
+    }
+  }
+  i += 72;
+  // translation
+  for (std::size_t j = 0; j < 3; j++) {
+    ex->translation[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 24;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+// to
+
+std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count) {
+  std::copy(value.begin(), value.end(), data);
+  for (std::size_t i = value.size(); i < count; i++) {
+    data[i] = ' ';
+  }
+  return count;
+}
+
+std::size_t to_data(const Channels::device_info_t *info, std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 3;  // skip id, size
+  i += 4;             // skip vid, pid
+  // name, 16
+  _to_data(info->name, data + i, 16);
+  i += 16;
+  // serial_number, 16
+  _to_data(info->serial_number, data + i, 16);
+  i += 16;
+  // firmware_version, 2
+  data[i] = info->firmware_version.major();
+  data[i + 1] = info->firmware_version.minor();
+  i += 2;
+  // hardware_version, 3
+  data[i] = info->hardware_version.major();
+  data[i + 1] = info->hardware_version.minor();
+  data[i + 2] =
+      static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong());
+  i += 3;
+  // spec_version, 2
+  data[i] = info->spec_version.major();
+  data[i + 1] = info->spec_version.minor();
+  i += 2;
+  // lens_type, 4
+  _to_data(info->lens_type.vendor(), data + i);
+  _to_data(info->lens_type.product(), data + i + 2);
+  i += 4;
+  // imu_type, 4
+  _to_data(info->imu_type.vendor(), data + i);
+  _to_data(info->imu_type.product(), data + i + 2);
+  i += 4;
+  // nominal_baseline, 2
+  _to_data(info->nominal_baseline, data + i);
+  i += 2;
+
+  MYNTEYE_UNUSED(spec_version)
+
+  // others
+  std::size_t size = i - 3;
+  data[0] = Channels::FID_DEVICE_INFO;
+  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
+  data[2] = static_cast<std::uint8_t>(size & 0xFF);
+  return size + 3;
+}
+
+std::size_t to_data(const Intrinsics *in, std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // width, 2
+  _to_data(in->width, data + i);
+  i += 2;
+  // height, 2
+  _to_data(in->height, data + i);
+  i += 2;
+  // fx, 8
+  _to_data(in->fx, data + i);
+  i += 8;
+  // fy, 8
+  _to_data(in->fy, data + i);
+  i += 8;
+  // cx, 8
+  _to_data(in->cx, data + i);
+  i += 8;
+  // cy, 8
+  _to_data(in->cy, data + i);
+  i += 8;
+  // model, 1
+  data[i] = in->model;
+  i += 1;
+  // coeffs, 40
+  for (std::size_t j = 0; j < 5; j++) {
+    _to_data(in->coeffs[j], data + i + j * 8);
+  }
+  i += 40;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // scale
+  for (std::size_t j = 0; j < 3; j++) {
+    for (std::size_t k = 0; k < 3; k++) {
+      _to_data(in->scale[j][k], data + i + (j * 3 + k) * 8);
+    }
+  }
+  i += 72;
+  // drift
+  for (std::size_t j = 0; j < 3; j++) {
+    _to_data(in->drift[j], data + i + j * 8);
+  }
+  i += 24;
+  // noise
+  for (std::size_t j = 0; j < 3; j++) {
+    _to_data(in->noise[j], data + i + j * 8);
+  }
+  i += 24;
+  // bias
+  for (std::size_t j = 0; j < 3; j++) {
+    _to_data(in->bias[j], data + i + j * 8);
+  }
+  i += 24;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+std::size_t to_data(const Extrinsics *ex, std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // rotation
+  for (std::size_t j = 0; j < 3; j++) {
+    for (std::size_t k = 0; k < 3; k++) {
+      _to_data(ex->rotation[j][k], data + i + (j * 3 + k) * 8);
+    }
+  }
+  i += 72;
+  // translation
+  for (std::size_t j = 0; j < 3; j++) {
+    _to_data(ex->translation[j], data + i + j * 8);
+  }
+  i += 24;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+}  // namespace bytes
+
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/channels.h b/src/mynteye/device/channels.h
index 0fb4472..ec8298f 100644
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -15,9 +15,11 @@
 #define MYNTEYE_DEVICE_CHANNELS_H_
 #pragma once
 
+#include <algorithm>
 #include <map>
 #include <memory>
 #include <set>
+#include <string>
 #include <thread>
 #include <vector>
 
@@ -163,8 +165,88 @@ class ChannelsAdapter {
   virtual std::vector<std::int32_t> GetGyroRangeValues() = 0;
 
   virtual void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) = 0;
+
+  virtual std::size_t GetImgParamsFromData(
+      const std::uint8_t *data, const Version *version,
+      Channels::img_params_t *img_params) = 0;
+  virtual std::size_t SetImgParamsToData(
+      const Channels::img_params_t *img_params, const Version *version,
+      std::uint8_t *data) = 0;
+
+  virtual std::size_t GetImuParamsFromData(
+      const std::uint8_t *data, const Version *version,
+      Channels::imu_params_t *imu_params);
+  virtual std::size_t SetImuParamsToData(
+      const Channels::imu_params_t *imu_params, const Version *version,
+      std::uint8_t *data);
 };
 
+namespace bytes {
+
+// from
+
+template <typename T>
+T _from_data(const std::uint8_t *data) {
+  std::size_t size = sizeof(T) / sizeof(std::uint8_t);
+  T value = 0;
+  for (std::size_t i = 0; i < size; i++) {
+    value |= data[i] << (8 * (size - i - 1));
+  }
+  return value;
+}
+
+template <>
+inline double _from_data(const std::uint8_t *data) {
+  return *(reinterpret_cast<const double *>(data));
+}
+
+std::string _from_data(const std::uint8_t *data, std::size_t count);
+
+std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data);
+
+std::size_t from_data(Intrinsics *in, const std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t from_data(Extrinsics *ex, const std::uint8_t *data,
+    const Version *spec_version);
+
+// to
+
+template <typename T>
+std::size_t _to_data(T value, std::uint8_t *data) {
+  std::size_t size = sizeof(T) / sizeof(std::uint8_t);
+  for (std::size_t i = 0; i < size; i++) {
+    data[i] = static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) & 0xFF);
+  }
+  return size;
+}
+
+template <>
+inline std::size_t _to_data(double value, std::uint8_t *data) {
+  std::uint8_t *val = reinterpret_cast<std::uint8_t *>(&value);
+  std::copy(val, val + 8, data);
+  return 8;
+}
+
+std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count);
+
+std::size_t to_data(const Channels::device_info_t *info, std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t to_data(const Intrinsics *in, std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t to_data(const Extrinsics *ex, std::uint8_t *data,
+    const Version *spec_version);
+
+}  // namespace bytes
+
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_DEVICE_CHANNELS_H_
diff --git a/src/mynteye/device/standard/channels_adapter_s.cc b/src/mynteye/device/standard/channels_adapter_s.cc
index a2fc0ee..1b3c502 100644
--- a/src/mynteye/device/standard/channels_adapter_s.cc
+++ b/src/mynteye/device/standard/channels_adapter_s.cc
@@ -126,4 +126,38 @@ void StandardChannelsAdapter::GetImuResPacket(
   unpack_imu_res_packet(data, res);
 }
 
+std::size_t StandardChannelsAdapter::GetImgParamsFromData(
+    const std::uint8_t *data, const Version *version,
+    Channels::img_params_t *img_params) {
+  std::size_t i = 0;
+
+  Intrinsics in_left, in_right;
+  Extrinsics ex_right_to_left;
+
+  i += bytes::from_data(&in_left, data + i, version);
+  i += bytes::from_data(&in_right, data + i, version);
+  i += bytes::from_data(&ex_right_to_left, data + i, version);
+  (*img_params)[{752, 480}] = {true, in_left, in_right, ex_right_to_left};
+
+  return i;
+}
+
+std::size_t StandardChannelsAdapter::SetImgParamsToData(
+    const Channels::img_params_t *img_params, const Version *version,
+    std::uint8_t *data) {
+  std::size_t i = 3;  // skip id, size
+
+  auto &&params = (*img_params).at({752, 480});
+  i += bytes::to_data(&params.in_left, data + i, version);
+  i += bytes::to_data(&params.in_right, data + i, version);
+  i += bytes::to_data(&params.ex_right_to_left, data + i, version);
+
+  // others
+  std::size_t size = i - 3;
+  data[0] = Channels::FID_IMG_PARAMS;
+  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
+  data[2] = static_cast<std::uint8_t>(size & 0xFF);
+  return size + 3;
+}
+
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard/channels_adapter_s.h b/src/mynteye/device/standard/channels_adapter_s.h
index 20404e8..c404d40 100644
--- a/src/mynteye/device/standard/channels_adapter_s.h
+++ b/src/mynteye/device/standard/channels_adapter_s.h
@@ -37,6 +37,13 @@ class StandardChannelsAdapter : public ChannelsAdapter {
   std::vector<std::int32_t> GetGyroRangeValues() override;
 
   void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
+
+  std::size_t GetImgParamsFromData(
+      const std::uint8_t *data, const Version *version,
+      Channels::img_params_t *img_params) override;
+  std::size_t SetImgParamsToData(
+      const Channels::img_params_t *img_params, const Version *version,
+      std::uint8_t *data) override;
 };
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard2/channels_adapter_s2.cc b/src/mynteye/device/standard2/channels_adapter_s2.cc
index 3257039..0b88de4 100644
--- a/src/mynteye/device/standard2/channels_adapter_s2.cc
+++ b/src/mynteye/device/standard2/channels_adapter_s2.cc
@@ -122,4 +122,52 @@ void Standard2ChannelsAdapter::GetImuResPacket(
   unpack_imu_res_packet(data, res);
 }
 
+std::size_t Standard2ChannelsAdapter::GetImgParamsFromData(
+    const std::uint8_t *data, const Version *version,
+    Channels::img_params_t *img_params) {
+  std::size_t i = 0;
+
+  Intrinsics in_left, in_right;
+  Extrinsics ex_right_to_left;
+
+  i += bytes::from_data(&in_left, data + i, version);
+  i += bytes::from_data(&in_right, data + i, version);
+  (*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
+
+  i += bytes::from_data(&in_left, data + i, version);
+  i += bytes::from_data(&in_right, data + i, version);
+  (*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
+
+  i += bytes::from_data(&ex_right_to_left, data + i, version);
+  (*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
+  (*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
+
+  return i;
+}
+
+std::size_t Standard2ChannelsAdapter::SetImgParamsToData(
+    const Channels::img_params_t *img_params, const Version *version,
+    std::uint8_t *data) {
+  std::size_t i = 3;  // skip id, size
+
+  {
+    auto &&params = (*img_params).at({1280, 400});
+    i += bytes::to_data(&params.in_left, data + i, version);
+    i += bytes::to_data(&params.in_right, data + i, version);
+  }
+  {
+    auto &&params = (*img_params).at({2560, 800});
+    i += bytes::to_data(&params.in_left, data + i, version);
+    i += bytes::to_data(&params.in_right, data + i, version);
+    i += bytes::to_data(&params.ex_right_to_left, data + i, version);
+  }
+
+  // others
+  std::size_t size = i - 3;
+  data[0] = Channels::FID_IMG_PARAMS;
+  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
+  data[2] = static_cast<std::uint8_t>(size & 0xFF);
+  return size + 3;
+}
+
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard2/channels_adapter_s2.h b/src/mynteye/device/standard2/channels_adapter_s2.h
index b4cde16..631aa06 100644
--- a/src/mynteye/device/standard2/channels_adapter_s2.h
+++ b/src/mynteye/device/standard2/channels_adapter_s2.h
@@ -37,6 +37,13 @@ class Standard2ChannelsAdapter : public ChannelsAdapter {
   std::vector<std::int32_t> GetGyroRangeValues() override;
 
   void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
+
+  std::size_t GetImgParamsFromData(
+      const std::uint8_t *data, const Version *version,
+      Channels::img_params_t *img_params) override;
+  std::size_t SetImgParamsToData(
+      const Channels::img_params_t *img_params, const Version *version,
+      std::uint8_t *data) override;
 };
 
 MYNTEYE_END_NAMESPACE