Merge branch 'develop' into feature/android

* develop: (28 commits)
  feat(*): add function to querry some hardware info
  feat: forbid 2100/210A uless update sdk to 2.3.1 and above
  refactor(synthetic): remove usless logic
  chore(readme): update readme
  docs(doxyfile): update version
  fix: change cmake version to 2.3.2
  feat(api) sdk/firmware version check
  feat(api): version check
  fix(wrapper): fix camera info repeat bug
  build(makefile): ensure uninstall before install
  fix(correspondence): also wait stream matched ready
  fix(record): shield diable logic temporarily
  chore(readme): chore(readme): update readme
  chore(readme): update readme
  chore(doc): update version
  fix(samples): delete useless comment
  fix(ros): fix camera info bug
  fix(correspondence): improve warning if not start motion tracking
  fix(correspondence): fix include header
  fix(ros): record close bug
  ...

include/mynteye/api/api.h

@@ -30,6 +30,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 struct DeviceInfo;
 
+class Correspondence;
 class Device;
 class Synthetic;
 
@@ -91,6 +92,8 @@ class MYNTEYE_API API {
   using stream_callback_t = std::function<void(const api::StreamData &data)>;
   /** The api::MotionData callback. */
   using motion_callback_t = std::function<void(const api::MotionData &data)>;
+  /** The enable/disable switch callback. */
+  using stream_switch_callback_t = std::function<void(const Stream &stream)>;
 
   explicit API(std::shared_ptr<Device> device, CalibrationModel calib_model);
   virtual ~API();
@@ -280,11 +283,31 @@ class MYNTEYE_API API {
    * still support this stream.
    */
   void EnableStreamData(const Stream &stream);
+
+  /**
+   * Enable the data of stream.
+   * callback function will call before the father processor enable.
+   * when try_tag is true, the function will do nothing except callback. 
+   */
+  void EnableStreamData(
+      const Stream &stream,
+      stream_switch_callback_t callback,
+      bool try_tag = false);
   /**
    * Disable the data of stream.
    */
   void DisableStreamData(const Stream &stream);
 
+  /**
+   * Disable the data of stream.
+   * callback function will call before the children processor disable.
+   * when try_tag is true, the function will do nothing except callback. 
+   */
+  void DisableStreamData(
+      const Stream &stream,
+      stream_switch_callback_t callback,
+      bool try_tag = false);
+
   /**
    * Get the latest data of stream.
    */
@@ -305,6 +328,11 @@ class MYNTEYE_API API {
    */
   std::vector<api::MotionData> GetMotionDatas();
 
+  /**
+   * Enable motion datas with timestamp correspondence of some stream.
+   */
+  void EnableTimestampCorrespondence(const Stream &stream);
+
   /**
    * Enable the plugin.
    */
@@ -317,6 +345,10 @@ class MYNTEYE_API API {
 
   std::unique_ptr<Synthetic> synthetic_;
 
+  std::unique_ptr<Correspondence> correspondence_;
+
+  motion_callback_t callback_;
+
   void CheckImageParams();
 };
 

include/mynteye/device/device.h

@@ -278,6 +278,10 @@ class MYNTEYE_API Device {
    */
   std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
 
+  /**
+   * Disable cache motion datas.
+   */
+  void DisableMotionDatas();
   /**
    * Enable cache motion datas.
    */

include/mynteye/device/types.h

@@ -162,6 +162,8 @@ struct MYNTEYE_API DeviceInfo {
   Type lens_type;
   Type imu_type;
   std::uint16_t nominal_baseline;
+  Version auxiliary_chip_version;
+  Version isp_version;
 };
 
 #undef MYNTEYE_PROPERTY

include/mynteye/types.h

@@ -122,6 +122,12 @@ enum class Info : std::uint8_t {
   IMU_TYPE,
   /** Nominal baseline */
   NOMINAL_BASELINE,
+  /** Auxiliary chip version */
+  AUXILIARY_CHIP_VERSION,
+  /** Isp version */
+  ISP_VERSION,
+  /** SDK version*/
+  SDK_VERSION,
   /** Last guard */
   LAST
 };