From dacad9483e4892429ccf600cb4d353a1dedb95f4 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Fri, 15 Mar 2019 14:55:46 +0800
Subject: [PATCH 1/3] fix(api): samples issues

---
 samples/tutorials/data/get_imu.cc                | 2 +-
 samples/tutorials/data/get_imu_correspondence.cc | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/samples/tutorials/data/get_imu.cc b/samples/tutorials/data/get_imu.cc
index eca5b3d..99ea685 100644
--- a/samples/tutorials/data/get_imu.cc
+++ b/samples/tutorials/data/get_imu.cc
@@ -64,7 +64,7 @@ int main(int argc, char *argv[]) {
       */
 
       painter.DrawImgData(img, *left_data.img);
-      if (!motion_datas.empty()) {
+      if (!motion_datas.empty() && motion_datas.size() > 0) {
         painter.DrawImuData(img, *motion_datas[0].imu);
       }
 
diff --git a/samples/tutorials/data/get_imu_correspondence.cc b/samples/tutorials/data/get_imu_correspondence.cc
index 7faef67..3a2e184 100644
--- a/samples/tutorials/data/get_imu_correspondence.cc
+++ b/samples/tutorials/data/get_imu_correspondence.cc
@@ -119,7 +119,7 @@ int main(int argc, char *argv[]) {
 
       /*
       painter.DrawImgData(img, *left_data.img);
-      if (!motion_datas.empty()) {
+      if (!motion_datas.empty() && motion_datas.size() > 0) {
         painter.DrawImuData(img, *motion_datas[0].imu);
       }
       */

From e91a2663e211b3c60fe14d321bfa05ba3992ebb7 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Fri, 15 Mar 2019 15:05:22 +0800
Subject: [PATCH 2/3] fix use disparity_normalized as sample

---
 samples/tutorials/data/get_disparity.cc | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/samples/tutorials/data/get_disparity.cc b/samples/tutorials/data/get_disparity.cc
index ff9ae4a..b5f1fd5 100644
--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@@ -34,8 +34,8 @@ int main(int argc, char *argv[]) {
   api->Start(Source::VIDEO_STREAMING);
 
   cv::namedWindow("frame");
-  cv::namedWindow("disparity");
-  // cv::namedWindow("disparity_normalized");
+  // cv::namedWindow("disparity");
+  cv::namedWindow("disparity_normalized");
 
   while (true) {
     api->WaitForStreams();
@@ -49,16 +49,16 @@ int main(int argc, char *argv[]) {
       cv::imshow("frame", img);
     }
 
-    auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
-    if (!disp_data.frame.empty()) {
-      cv::imshow("disparity", disp_data.frame);
-    }
-
-    // auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
-    // if (!disp_norm_data.frame.empty()) {
-    //   cv::imshow("disparity_normalized", disp_norm_data.frame);  // CV_8UC1
+    // auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
+    // if (!disp_data.frame.empty()) {
+    //   cv::imshow("disparity", disp_data.frame);
     // }
 
+    auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
+    if (!disp_norm_data.frame.empty()) {
+      cv::imshow("disparity_normalized", disp_norm_data.frame);  // CV_8UC1
+    }
+
     char key = static_cast<char>(cv::waitKey(1));
     if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
       break;

From edb18a90b8bbfdf460b60cf775e79693e6283a23 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Fri, 15 Mar 2019 16:27:29 +0800
Subject: [PATCH 3/3] fix: points quality

---
 samples/tutorials/data/get_points.cc                   | 1 -
 samples/tutorials/intermediate/get_depth_and_points.cc | 1 -
 2 files changed, 2 deletions(-)

diff --git a/samples/tutorials/data/get_points.cc b/samples/tutorials/data/get_points.cc
index b51c966..0ac59d7 100644
--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@@ -27,7 +27,6 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
-  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->EnableStreamData(Stream::POINTS);
 
diff --git a/samples/tutorials/intermediate/get_depth_and_points.cc b/samples/tutorials/intermediate/get_depth_and_points.cc
index 63692d1..349a767 100644
--- a/samples/tutorials/intermediate/get_depth_and_points.cc
+++ b/samples/tutorials/intermediate/get_depth_and_points.cc
@@ -154,7 +154,6 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
-  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->SetOptionValue(Option::IR_CONTROL, 80);