diff --git a/.gitignore b/.gitignore
index 7be8236..396e1d4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -16,6 +16,11 @@ _output/
 
 /plugins/
 
+/3rdparty/opencv/
+/pkginfo.sh
+/*.nsi
+/*.exe
+
 # ros
 
 /wrappers/ros/build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ffd7c78..04c4104 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,10 @@ project(mynteye VERSION 2.2.1 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
+if(NOT CMAKE_DEBUG_POSTFIX)
+  set(CMAKE_DEBUG_POSTFIX d)
+endif()
+
 # options
 
 include(cmake/Option.cmake)
@@ -79,6 +83,17 @@ configure_file(
   include/mynteye/mynteye.h @ONLY
 )
 
+configure_file(
+  cmake/templates/pkginfo.sh.in
+  ${CMAKE_CURRENT_SOURCE_DIR}/pkginfo.sh @ONLY
+)
+if(OS_WIN)
+  configure_file(
+    scripts/win/nsis/winpack.nsi.in
+    ${CMAKE_CURRENT_SOURCE_DIR}/winpack.nsi @ONLY
+  )
+endif()
+
 # targets
 
 add_definitions(-DMYNTEYE_EXPORTS)
diff --git a/CommonDefs.mk b/CommonDefs.mk
index 378b7ff..1df3a94 100644
--- a/CommonDefs.mk
+++ b/CommonDefs.mk
@@ -26,6 +26,16 @@ SINGLE_QUOTE := '
 OPEN_PAREN := (
 CLOSE_PAREN := )
 
+# Options
+#
+#   VS_CODE: ignore to auto detect, otherwise specify the version
+#            15|2017, 14|2015, 12|2013, 11|2012, 10|2010, 9|2008, 8|2005
+#   BUILD_TYPE: Debug|Release
+#
+# e.g. make [TARGET] VS_CODE=2017 BUILD_TYPE=Debug
+
+BUILD_TYPE ?= Release
+
 # Host detection
 
 ifeq ($(OS),Windows_NT)
@@ -124,7 +134,7 @@ ifeq ($(HOST_OS),Win)
     CC := cl
     CXX := cl
     MAKE := make
-    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
+    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=$(BUILD_TYPE)
   endif
 else
   # mac & linux
@@ -144,8 +154,7 @@ endif
 # CMake
 
 CMAKE := cmake
-# CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Debug
-CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Release
+CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 ifneq ($(CC),)
   CMAKE := $(CMAKE) -DCMAKE_C_COMPILER=$(CC)
 endif
@@ -202,6 +211,15 @@ endif
 
 endif
 
+# Package
+
+PKGVERSION := $(shell ./scripts/version.sh)
+PKGNAME := mynteye-s-$(PKGVERSION)-$(HOST_OS)-$(HOST_ARCH)
+ifeq ($(HOST_OS),Linux)
+  PKGNAME := $(PKGNAME)-gcc$(shell gcc -dumpversion | cut -c 1-1)
+endif
+PKGNAME := $(call lower,$(PKGNAME))
+
 # Shell
 
 # `sh` is not possible to export a function
diff --git a/Makefile b/Makefile
index 479c994..2536152 100644
--- a/Makefile
+++ b/Makefile
@@ -37,6 +37,7 @@ help:
 	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
+	@echo "  make pkg             package sdk"
 	@echo "  make ros             build ros wrapper"
 	@echo "  make py              build python wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
@@ -162,14 +163,30 @@ tools: install
 
 .PHONY: tools
 
+# pkg
+
+pkg: clean
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
+	@$(SH) ./scripts/win/winpack.sh "$(PKGNAME)"
+else
+	$(error "Can't make pkg on $(HOST_OS)")
+endif
+
+cleanpkg:
+	@$(call echo,Make $@)
+	@$(call rm_f,$(PKGNAME)*)
+
+.PHONY: pkg cleanpkg
+
 # ros
 
 ros: install
 	@$(call echo,Make $@)
-ifeq ($(HOST_OS),Win)
-	$(error "Can't make ros on win")
-else
+ifeq ($(HOST_OS),Linux)
 	@cd ./wrappers/ros && catkin_make
+else
+	$(error "Can't make ros on $(HOST_OS)")
 endif
 
 .PHONY: ros
@@ -278,6 +295,7 @@ host:
 	@echo BUILD: $(BUILD)
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
+	@echo PKGNAME: $(PKGNAME)
 
 .PHONY: host
 
diff --git a/cmake/templates/pkginfo.sh.in b/cmake/templates/pkginfo.sh.in
new file mode 100644
index 0000000..8778d4e
--- /dev/null
+++ b/cmake/templates/pkginfo.sh.in
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+OpenCV_VERSION=@OpenCV_VERSION@
+OpenCV_VERSION_MAJOR=@OpenCV_VERSION_MAJOR@
+OpenCV_VERSION_MINOR=@OpenCV_VERSION_MINOR@
+OpenCV_VERSION_PATCH=@OpenCV_VERSION_PATCH@
+OpenCV_VERSION_STATUS=@OpenCV_VERSION_STATUS@
+
+_contains() {
+  [ `echo $1 | grep -c "$2"` -gt 0 ]
+}
+
+if _contains "@OpenCV_INCLUDE_DIRS@" "/ros/"; then
+  ROS_VERSION=$(rosversion -d)
+  OpenCV_VERSION=ros-$ROS_VERSION
+fi
diff --git a/include/mynteye/device/device.h b/include/mynteye/device/device.h
index 2d81632..11ee2fb 100644
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -15,7 +15,6 @@
 #define MYNTEYE_DEVICE_DEVICE_H_
 #pragma once
 
-#include <limits>
 #include <map>
 #include <memory>
 #include <mutex>
@@ -245,8 +244,11 @@ class MYNTEYE_API Device {
   /**
    * Enable cache motion datas.
    */
-  void EnableMotionDatas(
-      std::size_t max_size = std::numeric_limits<std::size_t>::max());
+  void EnableMotionDatas();
+  /**
+   * Enable cache motion datas.
+   */
+  void EnableMotionDatas(std::size_t max_size);
   /**
    * Get the motion datas.
    */
diff --git a/scripts/common/echo.sh b/scripts/common/echo.sh
index 4d9369f..abb90b2 100644
--- a/scripts/common/echo.sh
+++ b/scripts/common/echo.sh
@@ -27,11 +27,13 @@ ECHO="echo -e"
 # task colors
 COLOR_STRONG="1;35"  # Magenta
 COLOR_INFO="1;34"    # Blue
+COLOR_WARN="1;33"    # Yellow
 COLOR_DONE="1;32"    # Green
 COLOR_ERROR="1;31"   # Red
 # action colors
 COLOR_STRONG_NORMAL="35"
 COLOR_INFO_NORMAL="34"
+COLOR_WARN_NORMAL="33"
 COLOR_DONE_NORMAL="32"
 COLOR_ERROR_NORMAL="31"
 
@@ -59,6 +61,10 @@ _echo_i() {
   _echo_ "$1" "$COLOR_INFO"
 }
 
+_echo_w() {
+  _echo_ "$1" "$COLOR_WARN"
+}
+
 _echo_d() {
   _echo_ "$1" "$COLOR_DONE"
 }
@@ -75,6 +81,10 @@ _echo_in() {
   _echo_ "$1" "$COLOR_INFO_NORMAL"
 }
 
+_echo_wn() {
+  _echo_ "$1" "$COLOR_WARN_NORMAL"
+}
+
 _echo_dn() {
   _echo_ "$1" "$COLOR_DONE_NORMAL"
 }
diff --git a/scripts/version.sh b/scripts/version.sh
new file mode 100644
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/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 $0
+
+FunctionEnd
+
+!macroend   ; EnvVarUpdate UN
+!insertmacro EnvVarUpdate ""
+!insertmacro EnvVarUpdate "un."
+;----------------------------------- EnvVarUpdate end----------------------------------------
+
+!verbose pop
+!endif
diff --git a/scripts/win/nsis/mynt.ico b/scripts/win/nsis/mynt.ico
new file mode 100644
index 0000000..f4d3c39
Binary files /dev/null and b/scripts/win/nsis/mynt.ico differ
diff --git a/scripts/win/nsis/winpack.nsi.in b/scripts/win/nsis/winpack.nsi.in
new file mode 100644
index 0000000..440a7ab
--- /dev/null
+++ b/scripts/win/nsis/winpack.nsi.in
@@ -0,0 +1,197 @@
+; winpack.nsi
+
+!addincludedir scripts\win\nsis\Include
+!include EnvVarUpdate.nsh
+
+!addplugindir scripts\win\nsis\Plugins
+
+!include WinMessages.nsh
+
+!define VERSION "@mynteye_VERSION@"
+!define OpenCV_VERSION "@OpenCV_VERSION@"
+
+!define DSETDIR "$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 README" \
+  ;  "cmd.exe /c start /max notepad.exe $INSTDIR\README"
+
+  MessageBox MB_OKCANCEL "Reboot your system now?" /SD IDOK IDCANCEL NoReboot
+    Reboot
+  NoReboot:
+
+FunctionEnd
+
+Function .onInstFailed
+  MessageBox MB_OK "Install failed."
+FunctionEnd
+
+;--------------------------------
+
+; Uninstaller
+
+Section "Uninstall"
+
+  ; Remove registry keys
+  DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK"
+  DeleteRegKey HKLM "SOFTWARE\MYNTEYESSDK"
+
+  ; Remove install stuff
+  RMDir /r "$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 $R0
+FunctionEnd
+
+;--------------------------------
+
+; Path Manipulation
+;   http://nsis.sourceforge.net/Path_Manipulation
+; Environmental Variables: append, prepend, and remove entries
+;   http://nsis.sourceforge.net/Environmental_Variables:_append%2C_prepend%2C_and_remove_entries
+; Setting Environment Variables
+;   http://nsis.sourceforge.net/Setting_Environment_Variables
+; Setting Environment Variables to Active Installer Process
+;   http://nsis.sourceforge.net/Setting_Environment_Variables_to_Active_Installer_Process
+
+; Delete files and subdirectories
+;   http://nsis.sourceforge.net/Delete_files_and_subdirectories
+; Delete dir only if empty
+;   http://nsis.sourceforge.net/Delete_dir_only_if_empty
+
+;https://gist.github.com/azalea/deb3c1ed2a984eadf96be77b81dd49b1
+;!include ProcessEnvPrependPath.nsh
diff --git a/scripts/win/winpack.sh b/scripts/win/winpack.sh
new file mode 100644
index 0000000..b186993
--- /dev/null
+++ b/scripts/win/winpack.sh
@@ -0,0 +1,99 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+BASE_DIR=$(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_in "RM: $1")
+}
+
+_md() {
+  [ ! -d "$1" ] && (mkdir -p "$1" && _echo_in "MD: $1")
+}
+
+################################################################################
+# build release
+
+make install
+
+################################################################################
+# build debug
+
+rm -r "$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" "$ROOT_DIR/_install/lib/mynteyed.lib"
+
+################################################################################
+# copy to _install
+
+cp -f "$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" "$ROOT_DIR/_install/lib/cmake/mynteye/"
+
+################################################################################
+# move to _install
+
+# 3rdparty/opencv
+_md "$ROOT_DIR/_install/3rdparty"
+mv "$ROOT_DIR/3rdparty/opencv" "$ROOT_DIR/_install/3rdparty/opencv"
+
+################################################################################
+# archive exe
+
+source "$ROOT_DIR/pkginfo.sh"
+_pkgname=$1-opencv-$OpenCV_VERSION
+mv "$ROOT_DIR/_install" "$ROOT_DIR/$_pkgname"
+
+makensis "$ROOT_DIR/winpack.nsi"
+
+mv "$ROOT_DIR/$_pkgname" "$ROOT_DIR/_install"
+
+################################################################################
+# move back from _install
+
+# 3rdparty/opencv
+mv "$ROOT_DIR/_install/3rdparty/opencv" "$ROOT_DIR/3rdparty/opencv"
+
+################################################################################
+# clean build
+
+_rm "$ROOT_DIR/_build"
+_rm "$ROOT_DIR/_output"
+
+
+_echo_d "Win pack success"
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index 32c79ed..3a0e1aa 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -15,6 +15,7 @@
 
 #include <algorithm>
 #include <iterator>
+#include <limits>
 #include <stdexcept>
 #include <utility>
 
@@ -415,6 +416,10 @@ device::StreamData Device::GetLatestStreamData(const Stream &stream) {
   return streams_->GetLatestStreamData(stream);
 }
 
+void Device::EnableMotionDatas() {
+  EnableMotionDatas(std::numeric_limits<std::size_t>::max());
+}
+
 void Device::EnableMotionDatas(std::size_t max_size) {
   CHECK_NOTNULL(motions_);
   motions_->EnableMotionDatas(max_size);