Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

2019-03-05 13:46:12 +08:00 · 2019-03-05 13:46:12 +08:00 · ad64476ee6
commit ad64476ee6
parent 3c687d43ca be15d6a6d9
164 changed files with 15284 additions and 17 deletions
--- a/include/mynteye/logger.h
+++ b/include/mynteye/logger.h
@ -77,6 +77,7 @@ struct glog_init {
 #include "mynteye/mynteye.h"

 #define MYNTEYE_MAX_LOG_LEVEL google::INFO
+// #define MYNTEYE_MAX_LOG_LEVEL 2

 #include "mynteye/miniglog.h"

--- a/include/mynteye/miniglog.h
+++ b/include/mynteye/miniglog.h
@ -157,9 +157,6 @@ class MYNTEYE_API LogSink {
 // 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.
 }
@ -315,9 +312,8 @@ class MYNTEYE_API LoggerVoidify {

 // 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()
+  !(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))
--- a/include/mynteye/mynteye.h.in
+++ b/include/mynteye/mynteye.h.in
@ -27,9 +27,9 @@
 # endif
 #endif

-#define MYNTEYE_API_VERSION_MAJOR @PROJECT_VERSION_MAJOR@
-#define MYNTEYE_API_VERSION_MINOR @PROJECT_VERSION_MINOR@
-#define MYNTEYE_API_VERSION_PATCH @PROJECT_VERSION_PATCH@
+#define MYNTEYE_API_VERSION_MAJOR @mynteye_VERSION_MAJOR@
+#define MYNTEYE_API_VERSION_MINOR @mynteye_VERSION_MINOR@
+#define MYNTEYE_API_VERSION_PATCH @mynteye_VERSION_PATCH@

 /* MYNTEYE_API_VERSION is (major << 16) + (minor << 8) + patch */
 #define MYNTEYE_API_VERSION \
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@ -617,8 +617,8 @@ void Device::ReadAllInfos() {
      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) << "Intrinsics left: {" << *GetIntrinsics(Stream::LEFT) << "}";
+      VLOG(2) << "Intrinsics right: {" << *GetIntrinsics(Stream::RIGHT) << "}";
      VLOG(2) << "Extrinsics left to right: {"
              << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
      break;
@ -662,8 +662,8 @@ void Device::UpdateStreamIntrinsics(
      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) << "Intrinsics left: {" << *GetIntrinsics(Stream::LEFT) << "}";
+      VLOG(2) << "Intrinsics right: {" << *GetIntrinsics(Stream::RIGHT) << "}";
      VLOG(2) << "Extrinsics left to right: {"
              << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
      break;
--- a/src/mynteye/device/standard2/streams_adapter_s2.cc
+++ b/src/mynteye/device/standard2/streams_adapter_s2.cc
@ -120,12 +120,12 @@ bool unpack_stereo_img_data(
            << 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')
--- a/src/mynteye/miniglog.cc
+++ b/src/mynteye/miniglog.cc
@ -36,6 +36,4 @@ namespace google {
 // 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
--- a/src/mynteye/types.cc
+++ b/src/mynteye/types.cc
@ -166,6 +166,7 @@ const char *to_string(const Format &value) {
    CASE(GREY)
    CASE(YUYV)
    CASE(BGR888)
+    CASE(RGB888)
    default:
      return "Format::UNKNOWN";
  }
--- a/wrappers/android/mynteye/.gitignore
+++ b/wrappers/android/mynteye/.gitignore
@ -0,0 +1,8 @@
+*.iml
+.gradle
+/local.properties
+/.idea/
+.DS_Store
+/build
+/captures
+.externalNativeBuild
--- a/wrappers/android/mynteye/README.md
+++ b/wrappers/android/mynteye/README.md
@ -0,0 +1,11 @@
+# MYNT® EYE Android Wrapper
+
+## Prerequisites
+
+Android device need be rooted and support [USB3 OTG](https://en.wikipedia.org/wiki/USB_On-The-Go) feature.
+
+## Build & Run
+
+1. Download and install [Android Studio](https://developer.android.com/studio/index.html)
+2. Start Android Studio and [download the NDK and build tools](https://developer.android.com/studio/projects/add-native-code)
+3. Open this project using `Open an existing Android Studio project`
--- a/wrappers/android/mynteye/app/.gitignore
+++ b/wrappers/android/mynteye/app/.gitignore
@ -0,0 +1 @@
+/build
--- a/wrappers/android/mynteye/app/build.gradle
+++ b/wrappers/android/mynteye/app/build.gradle
@ -0,0 +1,45 @@
+apply plugin: 'com.android.application'
+
+android {
+  compileSdkVersion xversions.compileSdk
+  defaultConfig {
+    applicationId "com.slightech.mynteye.demo"
+    minSdkVersion xversions.minSdk
+    targetSdkVersion xversions.targetSdk
+    versionCode 1
+    versionName "1.0"
+    testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+    ndk {
+      abiFilters xabis
+    }
+  }
+  buildTypes {
+    release {
+      minifyEnabled false
+      proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+    }
+  }
+  compileOptions {
+    sourceCompatibility JavaVersion.VERSION_1_8
+    targetCompatibility JavaVersion.VERSION_1_8
+  }
+}
+
+dependencies {
+  implementation fileTree(dir: 'libs', include: ['*.jar'])
+
+  implementation 'androidx.appcompat:appcompat:1.1.0-alpha01'
+  implementation 'androidx.constraintlayout:constraintlayout:2.0.0-alpha3'
+
+  implementation 'com.jakewharton.timber:timber:4.7.1'
+
+  implementation 'com.jakewharton:butterknife:10.0.0'
+  annotationProcessor 'com.jakewharton:butterknife-compiler:10.0.0'
+
+  implementation project(':libmynteye')
+  implementation project(':libshell')
+
+  testImplementation 'junit:junit:4.12'
+  androidTestImplementation 'androidx.test:runner:1.1.1'
+  androidTestImplementation 'androidx.test.espresso:espresso-core:3.1.1'
+}
--- a/wrappers/android/mynteye/app/proguard-rules.pro
+++ b/wrappers/android/mynteye/app/proguard-rules.pro
@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
--- a/wrappers/android/mynteye/app/src/androidTest/java/com/slightech/mynteye/demo/ExampleInstrumentedTest.java
+++ b/wrappers/android/mynteye/app/src/androidTest/java/com/slightech/mynteye/demo/ExampleInstrumentedTest.java
@ -0,0 +1,26 @@
+package com.slightech.mynteye.demo;
+
+import android.content.Context;
+import androidx.test.InstrumentationRegistry;
+import androidx.test.runner.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+  @Test
+  public void useAppContext() {
+    // Context of the app under test.
+    Context appContext = InstrumentationRegistry.getTargetContext();
+
+    assertEquals("com.slightech.mynteye.demo", appContext.getPackageName());
+  }
+}
--- a/wrappers/android/mynteye/app/src/main/AndroidManifest.xml
+++ b/wrappers/android/mynteye/app/src/main/AndroidManifest.xml
@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    package="com.slightech.mynteye.demo">
+
+  <uses-permission android:name="android.permission.CAMERA" />
+  <uses-permission android:name="android.permission.INTERNET" />
+  <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
+
+  <application
+      android:allowBackup="false"
+      android:label="@string/app_name"
+      android:name=".MyApplication"
+      android:supportsRtl="true"
+      android:theme="@style/AppTheme"
+      tools:ignore="GoogleAppIndexingWarning">
+    <activity android:name=".ui.MainActivity"
+        android:screenOrientation="landscape">
+      <intent-filter>
+        <action android:name="android.intent.action.MAIN"/>
+        <category android:name="android.intent.category.LAUNCHER"/>
+      </intent-filter>
+    </activity>
+  </application>
+
+</manifest>
--- a/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/MyApplication.java
+++ b/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/MyApplication.java
@ -0,0 +1,35 @@
+package com.slightech.mynteye.demo;
+
+import android.app.Application;
+import timber.log.Timber;
+
+//import com.stericson.RootShell.RootShell;
+
+public class MyApplication extends Application {
+
+  static {
+    try {
+      System.loadLibrary("mynteye_jni");
+    } catch (UnsatisfiedLinkError e) {
+      System.err.println("mynteye_jni library failed to load.\n" + e);
+    }
+  }
+
+  @Override public void onCreate() {
+    super.onCreate();
+    Timber.plant(new Timber.DebugTree());
+    //RootShell.debugMode = true;
+  }
+
+  @Override public void onLowMemory() {
+    super.onLowMemory();
+  }
+
+  @Override public void onTrimMemory(int level) {
+    super.onTrimMemory(level);
+  }
+
+  @Override public void onTerminate() {
+    super.onTerminate();
+  }
+}
--- a/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/camera/Mynteye.java
+++ b/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/camera/Mynteye.java
@ -0,0 +1,213 @@
+package com.slightech.mynteye.demo.camera;
+
+import android.os.Handler;
+import android.os.HandlerThread;
+import com.slightech.mynteye.Device;
+import com.slightech.mynteye.DeviceUsbInfo;
+import com.slightech.mynteye.Info;
+import com.slightech.mynteye.MotionData;
+import com.slightech.mynteye.MotionIntrinsics;
+import com.slightech.mynteye.Option;
+import com.slightech.mynteye.Source;
+import com.slightech.mynteye.Stream;
+import com.slightech.mynteye.StreamData;
+import com.slightech.mynteye.StreamRequest;
+import java.util.ArrayList;
+import java.util.Map;
+import timber.log.Timber;
+
+public final class Mynteye implements Runnable {
+
+  private Device mDevice;
+
+  private HandlerThread mBackgroundThread;
+  private Handler mBackgroundHandler;
+
+  private boolean mOpened;
+  private boolean mImuEnabled;
+
+  public interface OnStreamDataReceiveListener {
+    void onStreamDataReceive(Stream stream, StreamData data, Handler handler);
+    void onStreamLeftReceive(StreamData data, Handler handler);
+    void onStreamRightReceive(StreamData data, Handler handler);
+  }
+
+  public interface OnMotionDataReceiveListener {
+    void onMotionDataReceive(ArrayList<MotionData> datas, Handler handler);
+  }
+
+  private OnStreamDataReceiveListener mOnStreamDataReceiveListener;
+  private OnMotionDataReceiveListener mOnMotionDataReceiveListener;
+
+  private StreamRequest mStreamRequest;
+
+  public Mynteye(DeviceUsbInfo info) {
+    mDevice = Device.create(info);
+    mOpened = false;
+    mImuEnabled = false;
+  }
+
+  public void setOnStreamDataReceiveListener(OnStreamDataReceiveListener l) {
+    mOnStreamDataReceiveListener = l;
+  }
+
+  public void setOnMotionDataReceiveListener(OnMotionDataReceiveListener l) {
+    mOnMotionDataReceiveListener = l;
+  }
+
+  public ArrayList<StreamRequest> getStreamRequests() {
+    return mDevice.getStreamRequests();
+  }
+
+  public String getDeviceInfos() {
+    StringBuffer sb = new StringBuffer();
+    for (Info info : Info.values()) {
+      sb.append(info.toString());
+      sb.append(": ");
+      sb.append(mDevice.getInfo(info));
+      sb.append('\n');
+    }
+    return sb.toString();
+  }
+
+  public String getImageParams() {
+    StringBuffer sb = new StringBuffer();
+    sb.append(Stream.LEFT).append('\n').append(mDevice.getIntrinsics(Stream.LEFT));
+    sb.append("\n\n");
+    sb.append(Stream.RIGHT).append('\n').append(mDevice.getIntrinsics(Stream.RIGHT));
+    sb.append("\n\n");
+    sb.append(Stream.LEFT).append(" > ").append(Stream.RIGHT);
+    sb.append('\n');
+    sb.append(mDevice.getExtrinsics(Stream.LEFT, Stream.RIGHT));
+    return sb.toString();
+  }
+
+  public String getImuParams() {
+    StringBuffer sb = new StringBuffer();
+    MotionIntrinsics in = mDevice.getMotionIntrinsics();
+    sb.append("Accel\n").append(in.getAccel());
+    sb.append("\n\n");
+    sb.append("Gyro\n").append(in.getGyro());
+    sb.append("\n\n");
+    sb.append("Imu > ").append(Stream.LEFT).append('\n')
+        .append(mDevice.getMotionExtrinsics(Stream.LEFT));
+    return sb.toString();
+  }
+
+  public String getOptionInfos() {
+    StringBuffer sb = new StringBuffer();
+    for (Option op : Option.values()) {
+      if (!mDevice.supportsOption(op)) {
+        continue;
+      }
+      sb.append(op.toString());
+      sb.append(": ");
+      sb.append(mDevice.getOptionValue(op));
+      sb.append("\n  ");
+      sb.append(mDevice.getOptionInfo(op));
+      sb.append('\n');
+    }
+    return sb.toString();
+  }
+
+  public boolean isOpened() {
+    return mOpened;
+  }
+
+  public boolean isImuEnabled() {
+    return mImuEnabled;
+  }
+
+  public void setImuEnabled(boolean enabled) {
+    mImuEnabled = enabled;
+    if (mOpened) {
+      Timber.w("Will enable imu when open next time");
+    }
+  }
+
+  public void open() {
+    if (mOpened) return;
+    if (mStreamRequest == null) {
+      Timber.w("Should open with stream request");
+      return;
+    }
+    open(mStreamRequest);
+  }
+
+  public void open(StreamRequest request) {
+    if (mOpened) return;
+    mOpened = true;
+    mStreamRequest = request;
+
+    startBackgroundThread();
+
+    mDevice.configStreamRequest(request);
+    if (mImuEnabled) {
+      mDevice.enableMotionDatas(Integer.MAX_VALUE);
+      mDevice.start(Source.ALL);
+    } else {
+      mDevice.start(Source.VIDEO_STREAMING);
+    }
+
+    mBackgroundHandler.post(this);
+  }
+
+  public void close() {
+    if (!mOpened) return;
+    mOpened = false;
+    stopBackgroundThread();
+    mDevice.stop(Source.ALL);
+  }
+
+  @Override
+  public void run() {
+    //Timber.i("wait streams");
+    mDevice.waitForStreams();
+
+    //Timber.i("get streams");
+    {
+      StreamData data = mDevice.getStreamData(Stream.LEFT);
+      if (mOnStreamDataReceiveListener != null) {
+        mOnStreamDataReceiveListener.onStreamDataReceive(Stream.LEFT, data, mBackgroundHandler);
+        mOnStreamDataReceiveListener.onStreamLeftReceive(data, mBackgroundHandler);
+      }
+    }
+    {
+      StreamData data = mDevice.getStreamData(Stream.RIGHT);
+      if (mOnStreamDataReceiveListener != null) {
+        mOnStreamDataReceiveListener.onStreamDataReceive(Stream.RIGHT, data, mBackgroundHandler);
+        mOnStreamDataReceiveListener.onStreamRightReceive(data, mBackgroundHandler);
+      }
+    }
+
+    //Timber.i("get motions");
+    if (mImuEnabled) {
+      ArrayList<MotionData> datas = mDevice.getMotionDatas();
+      if (mOnMotionDataReceiveListener != null) {
+        mOnMotionDataReceiveListener.onMotionDataReceive(datas, mBackgroundHandler);
+      }
+    }
+
+    if (mOpened) mBackgroundHandler.post(this);
+  }
+
+  private void startBackgroundThread() {
+    mBackgroundThread = new HandlerThread("MynteyeBackground");
+    mBackgroundThread.start();
+    mBackgroundHandler = new Handler(mBackgroundThread.getLooper());
+  }
+
+  private void stopBackgroundThread() {
+    mBackgroundThread.quitSafely();
+    //mBackgroundThread.interrupt();
+    try {
+      mBackgroundHandler.removeCallbacksAndMessages(null);
+      mBackgroundThread.join();
+      mBackgroundThread = null;
+      mBackgroundHandler = null;
+    } catch (InterruptedException e) {
+      e.printStackTrace();
+    }
+  }
+
+}
--- a/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/ui/BaseActivity.java
+++ b/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/ui/BaseActivity.java
@ -0,0 +1,63 @@
+package com.slightech.mynteye.demo.ui;
+
+import android.annotation.SuppressLint;
+import android.content.pm.PackageManager;
+import android.os.Bundle;
+import android.widget.Toast;
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.appcompat.app.AppCompatActivity;
+import androidx.core.app.ActivityCompat;
+import androidx.core.content.ContextCompat;
+
+import static android.Manifest.permission.CAMERA;
+import static android.Manifest.permission.WRITE_EXTERNAL_STORAGE;
+
+@SuppressLint("Registered")
+public class BaseActivity extends AppCompatActivity {
+
+  private final int REQ_PERMISSIONS = 1;
+
+  @Override
+  protected void onCreate(@Nullable Bundle savedInstanceState) {
+    super.onCreate(savedInstanceState);
+    requestPermissions();
+  }
+
+  private void requestPermissions() {
+    final String[] permissions = new String[]{WRITE_EXTERNAL_STORAGE, CAMERA};
+
+    boolean granted = true;
+    for (String permission : permissions) {
+      if (ContextCompat.checkSelfPermission(this, permission)
+          != PackageManager.PERMISSION_GRANTED) {
+        granted = false;
+      }
+    }
+    if (granted) return;
+
+    ActivityCompat.requestPermissions(this, permissions, REQ_PERMISSIONS);
+  }
+
+  @Override
+  public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions,
+      @NonNull int[] grantResults) {
+    if (requestCode == REQ_PERMISSIONS) {
+      boolean granted = true;
+      if (grantResults.length < 1) {
+        granted = false;
+      } else {
+        for (int result : grantResults) {
+          if (result != PackageManager.PERMISSION_GRANTED) {
+            granted = false;
+          }
+        }
+      }
+      if (!granted) {
+        Toast.makeText(this, "Permission denied :(", Toast.LENGTH_LONG).show();
+      }
+    } else {
+      super.onRequestPermissionsResult(requestCode, permissions, grantResults);
+    }
+  }
+}
--- a/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/ui/MainActivity.java
+++ b/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/ui/MainActivity.java
@ -0,0 +1,323 @@
+package com.slightech.mynteye.demo.ui;
+
+import android.graphics.Bitmap;
+import android.hardware.usb.UsbDevice;
+import android.os.Bundle;
+import android.os.Handler;
+import android.text.TextUtils;
+import android.view.Menu;
+import android.view.MenuItem;
+import android.widget.ArrayAdapter;
+import android.widget.ImageView;
+import android.widget.ListView;
+import android.widget.TextView;
+import android.widget.Toast;
+import androidx.appcompat.app.AlertDialog;
+import butterknife.BindView;
+import butterknife.ButterKnife;
+import com.slightech.mynteye.DeviceUsbInfo;
+import com.slightech.mynteye.Frame;
+import com.slightech.mynteye.ImuData;
+import com.slightech.mynteye.MotionData;
+import com.slightech.mynteye.Stream;
+import com.slightech.mynteye.StreamData;
+import com.slightech.mynteye.StreamRequest;
+import com.slightech.mynteye.demo.R;
+import com.slightech.mynteye.demo.camera.Mynteye;
+import com.slightech.mynteye.usb.CameraDialog;
+import com.slightech.mynteye.usb.USBMonitor;
+import com.slightech.mynteye.usb.USBMonitor.OnDeviceConnectListener;
+import com.slightech.mynteye.usb.USBMonitor.UsbControlBlock;
+import com.slightech.mynteye.util.BitmapUtils;
+import java.util.ArrayList;
+import java.util.Locale;
+import timber.log.Timber;
+
+public class MainActivity extends BaseActivity implements CameraDialog.CameraDialogParent,
+    Mynteye.OnStreamDataReceiveListener, Mynteye.OnMotionDataReceiveListener {
+
+  @BindView(R.id.text) TextView mTextView;
+  @BindView(R.id.image_left) ImageView mLeftImageView;
+  @BindView(R.id.image_right) ImageView mRightImageView;
+
+  private USBMonitor mUSBMonitor;
+
+  private Mynteye mMynteye;
+  private Bitmap mLeftBitmap, mRightBitmap;
+
+  private boolean mImuEnabled;
+
+  @Override
+  protected void onCreate(Bundle savedInstanceState) {
+    super.onCreate(savedInstanceState);
+    setContentView(R.layout.activity_main);
+    ButterKnife.bind(this);
+    mUSBMonitor = new USBMonitor(this, mOnDeviceConnectListener);
+  }
+
+  @Override
+  protected void onStart() {
+    super.onStart();
+    mUSBMonitor.register();
+    if (mMynteye == null) {
+      //actionOpen();
+    }
+  }
+
+  @Override
+  protected void onStop() {
+    super.onStop();
+    if (mUSBMonitor != null) {
+      mUSBMonitor.unregister();
+    }
+  }
+
+  @Override
+  protected void onDestroy() {
+    if (mMynteye != null) {
+      mMynteye.close();
+      mMynteye = null;
+    }
+    if (mUSBMonitor != null) {
+      mUSBMonitor.destroy();
+      mUSBMonitor = null;
+    }
+    super.onDestroy();
+  }
+
+  private final OnDeviceConnectListener mOnDeviceConnectListener = new OnDeviceConnectListener() {
+
+    @Override
+    public void onAttach(final UsbDevice device) {
+      toast("USB_DEVICE_ATTACHED");
+    }
+
+    @Override
+    public void onConnect(final UsbDevice device, final UsbControlBlock ctrlBlock, final boolean createNew) {
+      toast(String.format(Locale.getDefault(), "CONNECT, %s: %s", ctrlBlock.getProductName(), ctrlBlock.getSerial()));
+      openDevice(new DeviceUsbInfo(
+          ctrlBlock.getVenderId(),
+          ctrlBlock.getProductId(),
+          ctrlBlock.getFileDescriptor(),
+          ctrlBlock.getBusNum(),
+          ctrlBlock.getDevNum(),
+          getUSBFSName(ctrlBlock),
+          ctrlBlock.getProductName(),
+          ctrlBlock.getSerial()));
+    }
+
+    @Override
+    public void onDisconnect(final UsbDevice device, final UsbControlBlock ctrlBlock) {
+      toast(String.format(Locale.getDefault(), "DISCONNECT, %s: %s", ctrlBlock.getProductName(), ctrlBlock.getSerial()));
+    }
+
+    @Override
+    public void onDetach(final UsbDevice device) {
+      toast("USB_DEVICE_DETACHED");
+    }
+
+    @Override
+    public void onCancel(final UsbDevice device) {
+    }
+
+    private static final String DEFAULT_USBFS = "/dev/bus/usb";
+
+    private final String getUSBFSName(final UsbControlBlock ctrlBlock) {
+      String result = null;
+      final String name = ctrlBlock.getDeviceName();
+      final String[] v = !TextUtils.isEmpty(name) ? name.split("/") : null;
+      if ((v != null) && (v.length > 2)) {
+        final StringBuilder sb = new StringBuilder(v[0]);
+        for (int i = 1; i < v.length - 2; i++)
+          sb.append("/").append(v[i]);
+        result = sb.toString();
+      }
+      if (TextUtils.isEmpty(result)) {
+        Timber.w("failed to get USBFS path, try to use default path: %s", name);
+        result = DEFAULT_USBFS;
+      }
+      return result;
+    }
+  };
+
+  @Override
+  public boolean onCreateOptionsMenu(Menu menu) {
+    getMenuInflater().inflate(R.menu.menu_main, menu);
+    return true;
+  }
+
+  @Override
+  public boolean onPrepareOptionsMenu(Menu menu) {
+    if (mMynteye == null) {
+      menu.findItem(R.id.action_open).setVisible(true);
+      menu.findItem(R.id.action_close).setVisible(false);
+    } else {
+      menu.findItem(R.id.action_open).setVisible(!mMynteye.isOpened());
+      menu.findItem(R.id.action_close).setVisible(mMynteye.isOpened());
+    }
+    menu.findItem(R.id.check_imu_data).setChecked(mImuEnabled);
+    boolean featuresUsable = mMynteye != null && mMynteye.isOpened();
+    menu.findItem(R.id.show_device_infos).setEnabled(featuresUsable);
+    menu.findItem(R.id.show_image_params).setEnabled(featuresUsable);
+    menu.findItem(R.id.show_imu_params).setEnabled(featuresUsable);
+    menu.findItem(R.id.show_option_infos).setEnabled(featuresUsable);
+    return super.onPrepareOptionsMenu(menu);
+  }
+
+  @Override
+  public boolean onOptionsItemSelected(MenuItem item) {
+    switch (item.getItemId()) {
+      case R.id.action_open:
+        actionOpen();
+        return true;
+      case R.id.action_close:
+        actionClose();
+        return true;
+      case R.id.check_imu_data:
+        mImuEnabled = !mImuEnabled;
+        item.setChecked(mImuEnabled);
+        return true;
+      case R.id.show_device_infos:
+        alert(R.string.device_infos, mMynteye.getDeviceInfos());
+        return true;
+      case R.id.show_image_params:
+        alert(R.string.image_params, mMynteye.getImageParams());
+        return true;
+      case R.id.show_imu_params:
+        alert(R.string.imu_params, mMynteye.getImuParams());
+        return true;
+      case R.id.show_option_infos:
+        alert(R.string.option_infos, mMynteye.getOptionInfos());
+        return true;
+      default:
+        return super.onOptionsItemSelected(item);
+    }
+  }
+
+  private void actionOpen() {
+    mTextView.setText("");
+    if (mMynteye == null) {
+      CameraDialog.showDialog(this);
+    } else {
+      mMynteye.setImuEnabled(mImuEnabled);
+      mMynteye.open();
+    }
+  }
+
+  private void actionClose() {
+    if (mMynteye != null) {
+      mMynteye.close();
+      mMynteye = null;
+    }
+    invalidateOptionsMenu();
+  }
+
+  private void openDevice(DeviceUsbInfo info) {
+    mMynteye = new Mynteye(info);
+    ArrayList<StreamRequest> requests = mMynteye.getStreamRequests();
+    if (requests.isEmpty()) {
+      alert("Warning", "There are no streams to request :(");
+      mMynteye = null;
+    } else {
+      ArrayList<String> items = new ArrayList<>();
+      for (StreamRequest req : requests) {
+        items.add(req.toString());
+      }
+
+      AlertDialog dialog = new AlertDialog.Builder(this)
+          .setTitle("StreamRequests")
+          .create();
+      ListView listView = new ListView(this);
+      listView.setAdapter(new ArrayAdapter<>(this, android.R.layout.simple_list_item_1, items));
+      listView.setOnItemClickListener((parent, view, position, id) -> {
+        dialog.dismiss();
+        mMynteye.setOnStreamDataReceiveListener(this);
+        mMynteye.setOnMotionDataReceiveListener(this);
+        mMynteye.setImuEnabled(mImuEnabled);
+        mMynteye.open(requests.get(position));
+        invalidateOptionsMenu();
+      });
+      dialog.setOnCancelListener(dlg -> {
+        mMynteye = null;
+      });
+      dialog.setView(listView);
+      dialog.show();
+    }
+  }
+
+  @Override
+  public USBMonitor getUSBMonitor() {
+    return mUSBMonitor;
+  }
+
+  @Override
+  public void onDialogResult(boolean canceled) {
+  }
+
+  @Override
+  public void onStreamDataReceive(Stream stream, StreamData data, Handler handler) {
+  }
+
+  @Override
+  public void onStreamLeftReceive(StreamData data, Handler handler) {
+    //Timber.i("onStreamLeftReceive");
+    Frame frame = data.frame();
+    if (mLeftBitmap == null) {
+      mLeftBitmap = Bitmap.createBitmap(frame.width(), frame.height(), Bitmap.Config.ARGB_8888);
+    }
+    BitmapUtils.copyPixels(frame, mLeftBitmap);
+    mLeftImageView.post(() -> mLeftImageView.setImageBitmap(mLeftBitmap));
+  }
+
+  @Override
+  public void onStreamRightReceive(StreamData data, Handler handler) {
+    //Timber.i("onStreamRightReceive");
+    Frame frame = data.frame();
+    if (mRightBitmap == null) {
+      mRightBitmap = Bitmap.createBitmap(frame.width(), frame.height(), Bitmap.Config.ARGB_8888);
+    }
+    BitmapUtils.copyPixels(frame, mRightBitmap);
+    mRightImageView.post(() -> mRightImageView.setImageBitmap(mRightBitmap));
+  }
+
+  @Override
+  public void onMotionDataReceive(ArrayList<MotionData> datas, Handler handler) {
+    if (datas.isEmpty()) return;
+    ImuData data = datas.get(0).imu();
+    mTextView.post(() -> {
+      StringBuffer sb = new StringBuffer();
+      final int flag = data.getFlag();
+      if (flag == 0) {  // accel & gyro
+        sb.append("Accel: ").append(data.getAccel());
+        sb.append("\nGyro: ").append(data.getGyro());
+      } else if (flag == 1) {  // accel
+        sb.append("Accel: ").append(data.getAccel());
+        sb.append("\nGyro: -");
+      } else if (flag == 2) {  // gyro
+        sb.append("Accel: -");
+        sb.append("\nGyro: ").append(data.getGyro());
+      }
+      mTextView.setText(sb.toString());
+    });
+  }
+
+  private void toast(int textId) {
+    toast(getString(textId));
+  }
+
+  private void toast(CharSequence text) {
+    Toast.makeText(this, text, Toast.LENGTH_LONG).show();
+  }
+
+  private void alert(int titleId, CharSequence message) {
+    alert(getString(titleId), message);
+  }
+
+  private void alert(CharSequence title, CharSequence message) {
+    new AlertDialog.Builder(this)
+        .setTitle(title)
+        .setMessage(message)
+        .setPositiveButton(android.R.string.ok, null)
+        .show();
+  }
+}
--- a/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/util/RootUtils.java
+++ b/wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/util/RootUtils.java
@ -0,0 +1,76 @@
+package com.slightech.mynteye.demo.util;
+
+import com.stericson.RootShell.RootShell;
+import com.stericson.RootShell.exceptions.RootDeniedException;
+import com.stericson.RootShell.execution.Command;
+import com.stericson.RootShell.execution.Shell;
+import java.io.IOException;
+import java.util.concurrent.TimeoutException;
+import timber.log.Timber;
+
+public final class RootUtils {
+
+  public interface OnRequestAccessibleListener {
+    void onRequestAccessible(boolean ok);
+  }
+
+  public static boolean isRooted() {
+    if (!RootShell.isRootAvailable()) {
+      Timber.e("Root not found");
+      return false;
+    }
+
+    try {
+      RootShell.getShell(true);
+    } catch (IOException e) {
+      e.printStackTrace();
+      return false;
+    } catch (TimeoutException e) {
+      Timber.e("TIMEOUT EXCEPTION!");
+      e.printStackTrace();
+      return false;
+    } catch (RootDeniedException e) {
+      Timber.e("ROOT DENIED EXCEPTION!");
+      e.printStackTrace();
+      return false;
+    }
+
+    try {
+      if (!RootShell.isAccessGiven()) {
+        Timber.e("ERROR: No root access to this device.");
+        return false;
+      }
+    } catch (Exception e) {
+      Timber.e("ERROR: could not determine root access to this device.");
+      return false;
+    }
+
+    return true;
+  }
+
+  public static void requestAccessible(OnRequestAccessibleListener l) {
+    try {
+      Shell sh = RootShell.getShell(true);
+      sh.add(new Command(1, "chmod 666 /dev/video*") {
+        @Override
+        public void commandOutput(int id, String line) {
+          Timber.d("commandOutput: %s", line);
+          super.commandOutput(id, line);
+        }
+        @Override
+        public void commandTerminated(int id, String reason) {
+          Timber.d("commandTerminated: %s", reason);
+        }
+        @Override
+        public void commandCompleted(int id, int exitcode) {
+          Timber.d("commandCompleted: %s", ((exitcode == 0) ? "ok" : "fail"));
+          if (l != null) l.onRequestAccessible(exitcode == 0);
+        }
+      });
+      sh.close();
+    } catch (Exception e) {
+      e.printStackTrace();
+    }
+  }
+
+}
--- a/wrappers/android/mynteye/app/src/main/res/layout/activity_main.xml
+++ b/wrappers/android/mynteye/app/src/main/res/layout/activity_main.xml
@ -0,0 +1,58 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="horizontal"
+    tools:context=".ui.MainActivity"
+    >
+
+  <TextView
+      android:id="@+id/text"
+      android:layout_width="match_parent"
+      android:layout_height="wrap_content"
+      android:layout_marginEnd="8dp"
+      android:layout_marginStart="8dp"
+      android:text="@string/tip_open"
+      app:layout_constraintEnd_toEndOf="parent"
+      app:layout_constraintStart_toStartOf="parent"
+      app:layout_constraintTop_toTopOf="parent"
+      />
+
+  <androidx.constraintlayout.widget.ConstraintLayout
+      android:id="@+id/layout_image"
+      android:layout_width="0dp"
+      android:layout_height="0dp"
+      app:layout_constraintBottom_toBottomOf="parent"
+      app:layout_constraintEnd_toEndOf="parent"
+      app:layout_constraintStart_toStartOf="parent"
+      app:layout_constraintTop_toTopOf="parent"
+      >
+
+    <ImageView
+        android:id="@+id/image_left"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toStartOf="@id/image_right"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintVertical_weight="1"
+        />
+
+    <ImageView
+        android:id="@+id/image_right"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toEndOf="@id/image_left"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintVertical_weight="1"
+        />
+
+  </androidx.constraintlayout.widget.ConstraintLayout>
+
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/wrappers/android/mynteye/app/src/main/res/menu/menu_main.xml
+++ b/wrappers/android/mynteye/app/src/main/res/menu/menu_main.xml
@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="utf-8"?>
+<menu xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+  <item
+      android:id="@+id/action_open"
+      android:title="@string/open"
+      app:showAsAction="ifRoom|withText" />
+  <item
+      android:id="@+id/action_close"
+      android:title="@string/close"
+      app:showAsAction="ifRoom|withText" />
+
+  <item
+      android:id="@+id/check_imu_data"
+      android:title="@string/imu_data"
+      android:checkable="true"
+      android:checked="false"
+      app:showAsAction="never" />
+
+  <item
+      android:id="@+id/show_device_infos"
+      android:title="@string/device_infos"
+      app:showAsAction="never" />
+  <item
+      android:id="@+id/show_image_params"
+      android:title="@string/image_params"
+      app:showAsAction="never" />
+  <item
+      android:id="@+id/show_imu_params"
+      android:title="@string/imu_params"
+      app:showAsAction="never" />
+  <item
+      android:id="@+id/show_option_infos"
+      android:title="@string/option_infos"
+      app:showAsAction="never" />
+</menu>
--- a/wrappers/android/mynteye/app/src/main/res/values/colors.xml
+++ b/wrappers/android/mynteye/app/src/main/res/values/colors.xml
@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+  <color name="colorPrimary">#008577</color>
+  <color name="colorPrimaryDark">#00574B</color>
+  <color name="colorAccent">#D81B60</color>
+</resources>
--- a/wrappers/android/mynteye/app/src/main/res/values/strings.xml
+++ b/wrappers/android/mynteye/app/src/main/res/values/strings.xml
@ -0,0 +1,15 @@
+<resources>
+  <string name="app_name">MYNTEYE-S SDK Sample</string>
+
+  <string name="tip_open">Please \"Open\" the camera!</string>
+
+  <string name="open">Open</string>
+  <string name="close">Close</string>
+
+  <string name="imu_data">Imu Data</string>
+
+  <string name="device_infos">Device Infos</string>
+  <string name="image_params">Image Params</string>
+  <string name="imu_params">Imu Params</string>
+  <string name="option_infos">Option Infos</string>
+</resources>
--- a/wrappers/android/mynteye/app/src/main/res/values/styles.xml
+++ b/wrappers/android/mynteye/app/src/main/res/values/styles.xml
@ -0,0 +1,11 @@
+<resources>
+
+  <!-- Base application theme. -->
+  <style name="AppTheme" parent="Theme.AppCompat.Light.DarkActionBar">
+    <!-- Customize your theme here. -->
+    <item name="colorPrimary">@color/colorPrimary</item>
+    <item name="colorPrimaryDark">@color/colorPrimaryDark</item>
+    <item name="colorAccent">@color/colorAccent</item>
+  </style>
+
+</resources>
--- a/wrappers/android/mynteye/app/src/test/java/com/slightech/mynteye/demo/ExampleUnitTest.java
+++ b/wrappers/android/mynteye/app/src/test/java/com/slightech/mynteye/demo/ExampleUnitTest.java
@ -0,0 +1,17 @@
+package com.slightech.mynteye.demo;
+
+import org.junit.Test;
+
+import static org.junit.Assert.*;
+
+/**
+ * Example local unit test, which will execute on the development machine (host).
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+public class ExampleUnitTest {
+  @Test
+  public void addition_isCorrect() {
+    assertEquals(4, 2 + 2);
+  }
+}
--- a/wrappers/android/mynteye/build.gradle
+++ b/wrappers/android/mynteye/build.gradle
@ -0,0 +1,27 @@
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+
+buildscript {
+  apply from: rootProject.file('gradle/dependencies.gradle')
+
+  repositories {
+    google()
+    jcenter()
+  }
+  dependencies {
+    classpath 'com.android.tools.build:gradle:3.3.1'
+
+    // NOTE: Do not place your application dependencies here; they belong
+    // in the individual module build.gradle files
+  }
+}
+
+allprojects {
+  repositories {
+    google()
+    jcenter()
+  }
+}
+
+task clean(type: Delete) {
+  delete rootProject.buildDir
+}
--- a/wrappers/android/mynteye/gradle.properties
+++ b/wrappers/android/mynteye/gradle.properties
@ -0,0 +1,17 @@
+# Project-wide Gradle settings.
+# IDE (e.g. Android Studio) users:
+# Gradle settings configured through the IDE *will override*
+# any settings specified in this file.
+# For more details on how to configure your build environment visit
+# http://www.gradle.org/docs/current/userguide/build_environment.html
+# Specifies the JVM arguments used for the daemon process.
+# The setting is particularly useful for tweaking memory settings.
+android.enableJetifier=true
+android.useAndroidX=true
+org.gradle.jvmargs=-Xmx1536m
+# When configured, Gradle will run in incubating parallel mode.
+# This option should only be used with decoupled projects. More details, visit
+# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
+# org.gradle.parallel=true
+
+
--- a/wrappers/android/mynteye/gradle/dependencies.gradle
+++ b/wrappers/android/mynteye/gradle/dependencies.gradle
@ -0,0 +1,10 @@
+ext {
+  xversions = [
+    'compileSdk': 28,
+    'minSdk': 24,
+    'targetSdk': 28,
+  ]
+
+  xabis = ['arm64-v8a', 'armeabi-v7a'] as String[]
+  //xabis = ['arm64-v8a', 'armeabi-v7a', 'x86', 'x86_64'] as String[]
+}
--- a/wrappers/android/mynteye/gradle/wrapper/gradle-wrapper.jar
+++ b/wrappers/android/mynteye/gradle/wrapper/gradle-wrapper.jar
--- a/wrappers/android/mynteye/gradle/wrapper/gradle-wrapper.properties
+++ b/wrappers/android/mynteye/gradle/wrapper/gradle-wrapper.properties
@ -0,0 +1,6 @@
+#Tue Jan 15 14:54:17 CST 2019
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.10.1-all.zip
--- a/wrappers/android/mynteye/gradlew
+++ b/wrappers/android/mynteye/gradlew
@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"
--- a/wrappers/android/mynteye/gradlew.bat
+++ b/wrappers/android/mynteye/gradlew.bat
@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
--- a/wrappers/android/mynteye/libmynteye/.gitignore
+++ b/wrappers/android/mynteye/libmynteye/.gitignore
@ -0,0 +1 @@
+/build
--- a/wrappers/android/mynteye/libmynteye/CMakeLists.txt
+++ b/wrappers/android/mynteye/libmynteye/CMakeLists.txt
@ -0,0 +1,122 @@
+# For more information about using CMake with Android Studio, read the
+# documentation: https://d.android.com/studio/projects/add-native-code.html
+
+# Sets the minimum version of CMake required to build the native library.
+
+cmake_minimum_required(VERSION 3.4.1)
+
+get_filename_component(MYNTETE_ROOT "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
+message(STATUS "MYNTETE_ROOT: ${MYNTETE_ROOT}")
+
+get_filename_component(PRO_ROOT "${PROJECT_SOURCE_DIR}/.." ABSOLUTE)
+message(STATUS "PRO_ROOT: ${PRO_ROOT}")
+
+set(LIB_ROOT "${PROJECT_SOURCE_DIR}")
+message(STATUS "LIB_ROOT: ${LIB_ROOT}")
+
+if(NOT DJINNI_DIR)
+  if(DEFINED ENV{DJINNI_DIR})
+    set(DJINNI_DIR $ENV{DJINNI_DIR})
+  else()
+    set(DJINNI_DIR "${PRO_ROOT}/third_party/djinni")
+  endif()
+endif()
+
+# libs
+
+## log
+
+find_library(log-lib log)
+
+## jnigraphics
+
+find_library(jnigraphics-lib jnigraphics)
+
+## djinni_jni
+
+include_directories(
+  ${DJINNI_DIR}/support-lib/jni
+)
+add_library(djinni_jni STATIC
+  ${DJINNI_DIR}/support-lib/jni/djinni_support.cpp
+)
+
+## mynteye_internal
+
+add_library(mynteye_internal SHARED IMPORTED)
+set_target_properties(mynteye_internal PROPERTIES
+  IMPORTED_LOCATION "${LIB_ROOT}/src/main/jniLibs/${ANDROID_ABI}/libmynteye_internal.so"
+)
+
+# targets
+
+## libmynteye
+
+add_definitions(-DMYNTEYE_EXPORTS)
+
+set(MYNTEYE_NAMESPACE "mynteye")
+#message(STATUS "Namespace: ${MYNTEYE_NAMESPACE}")
+
+configure_file(
+  ${MYNTETE_ROOT}/include/mynteye/mynteye.h.in
+  include/mynteye/mynteye.h @ONLY
+)
+
+set(MYNTEYE_SRCS
+  #${MYNTETE_ROOT}/src/mynteye/uvc/linux/uvc-v4l2.cc
+  ${MYNTETE_ROOT}/src/mynteye/types.cc
+  ${MYNTETE_ROOT}/src/mynteye/util/files.cc
+  ${MYNTETE_ROOT}/src/mynteye/util/strings.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/channel/bytes.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/channel/channels.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/channel/file_channel.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/config.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/context.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/device.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/motions.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard/channels_adapter_s.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard/device_s.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard/streams_adapter_s.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard2/channels_adapter_s2.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard2/device_s2.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/standard2/streams_adapter_s2.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/streams.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/types.cc
+  ${MYNTETE_ROOT}/src/mynteye/device/utils.cc
+)
+
+list(APPEND MYNTEYE_SRCS ${MYNTETE_ROOT}/src/mynteye/miniglog.cc)
+
+add_library(mynteye STATIC ${MYNTEYE_SRCS})
+target_link_libraries(mynteye ${log-lib})
+
+target_include_directories(mynteye PUBLIC
+  "$<BUILD_INTERFACE:${MYNTETE_ROOT}/include>"
+  "$<BUILD_INTERFACE:${MYNTETE_ROOT}/src>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>"
+)
+
+## libmynteye_jni
+
+set(CPP_DIR "${PROJECT_SOURCE_DIR}/src/main/cpp")
+
+include_directories(
+  ${CPP_DIR}/mynteye/cpp
+  ${CPP_DIR}/mynteye/impl
+  ${CPP_DIR}/mynteye/jni
+)
+
+set(MYNTEYE_JNI_SRCS "")
+foreach(__dir cpp impl jni)
+  file(GLOB __srcs "${CPP_DIR}/mynteye/${__dir}/*.cpp")
+  list(APPEND MYNTEYE_JNI_SRCS ${__srcs})
+endforeach()
+#message(STATUS "MYNTEYE_JNI_SRCS: ${MYNTEYE_JNI_SRCS}")
+
+add_library(mynteye_jni SHARED
+  ${DJINNI_DIR}/support-lib/jni/djinni_main.cpp
+  ${CPP_DIR}/mynteye/impl/util/jni_util.cpp
+  ${MYNTEYE_JNI_SRCS}
+)
+target_link_libraries(mynteye_jni ${log-lib} ${jnigraphics-lib} djinni_jni mynteye mynteye_internal)
--- a/wrappers/android/mynteye/libmynteye/build.gradle
+++ b/wrappers/android/mynteye/libmynteye/build.gradle
@ -0,0 +1,53 @@
+apply plugin: 'com.android.library'
+
+android {
+  compileSdkVersion xversions.compileSdk
+
+  defaultConfig {
+    minSdkVersion xversions.minSdk
+    targetSdkVersion xversions.targetSdk
+    versionCode 1
+    versionName "1.0"
+
+    testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+
+    externalNativeBuild {
+      // https://developer.android.com/ndk/guides/cmake
+      cmake {
+        cppFlags "-std=c++11 -frtti -fexceptions"
+      }
+    }
+
+    ndk {
+      abiFilters xabis
+    }
+  }
+
+  buildTypes {
+    release {
+      minifyEnabled false
+      proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+    }
+  }
+
+  externalNativeBuild {
+    cmake {
+      path "CMakeLists.txt"
+    }
+  }
+
+  compileOptions {
+    sourceCompatibility JavaVersion.VERSION_1_8
+    targetCompatibility JavaVersion.VERSION_1_8
+  }
+}
+
+dependencies {
+  implementation fileTree(dir: 'libs', include: ['*.jar'])
+
+  implementation 'androidx.annotation:annotation:1.0.1'
+
+  testImplementation 'junit:junit:4.12'
+  androidTestImplementation 'androidx.test:runner:1.1.1'
+  androidTestImplementation 'androidx.test.espresso:espresso-core:3.1.1'
+}
--- a/wrappers/android/mynteye/libmynteye/proguard-rules.pro
+++ b/wrappers/android/mynteye/libmynteye/proguard-rules.pro
@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
--- a/wrappers/android/mynteye/libmynteye/src/androidTest/java/com/slightech/mynteye/ExampleInstrumentedTest.java
+++ b/wrappers/android/mynteye/libmynteye/src/androidTest/java/com/slightech/mynteye/ExampleInstrumentedTest.java
@ -0,0 +1,26 @@
+package com.slightech.mynteye;
+
+import android.content.Context;
+import androidx.test.InstrumentationRegistry;
+import androidx.test.runner.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+  @Test
+  public void useAppContext() {
+    // Context of the app under test.
+    Context appContext = InstrumentationRegistry.getTargetContext();
+
+    assertEquals("com.slightech.mynteye.test", appContext.getPackageName());
+  }
+}
--- a/wrappers/android/mynteye/libmynteye/src/main/AndroidManifest.xml
+++ b/wrappers/android/mynteye/libmynteye/src/main/AndroidManifest.xml
@ -0,0 +1,2 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.slightech.mynteye"/>
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/addon.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/addon.hpp
@ -0,0 +1,28 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Addon : int {
+    /** Infrared */
+    INFRARED,
+    /** Second infrared */
+    INFRARED2,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Addon> {
+    size_t operator()(::mynteye_jni::Addon type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/calibration_model.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/calibration_model.hpp
@ -0,0 +1,30 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class CalibrationModel : int {
+    /** Pinhole */
+    PINHOLE,
+    /** Equidistant: KANNALA_BRANDT */
+    KANNALA_BRANDT,
+    /** Unknow */
+    UNKNOW,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::CalibrationModel> {
+    size_t operator()(::mynteye_jni::CalibrationModel type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/capability.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/capability.hpp
@ -0,0 +1,42 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Capability : int {
+    /** Provides stereo stream */
+    STEREO,
+    /** Provide stereo color stream */
+    STEREO_COLOR,
+    /** Provides color stream */
+    COLOR,
+    /** Provides depth stream */
+    DEPTH,
+    /** Provides point cloud stream */
+    POINTS,
+    /** Provides fisheye stream */
+    FISHEYE,
+    /** Provides infrared stream */
+    INFRARED,
+    /** Provides second infrared stream */
+    INFRARED2,
+    /** Provides IMU (accelerometer, gyroscope) data */
+    IMU,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Capability> {
+    size_t operator()(::mynteye_jni::Capability type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/device.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/device.hpp
@ -0,0 +1,106 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye.djinni
+
+#pragma once
+
+#include "addon.hpp"
+#include "capability.hpp"
+#include "device_usb_info.hpp"
+#include "extrinsics.hpp"
+#include "info.hpp"
+#include "intrinsics.hpp"
+#include "model.hpp"
+#include "motion_data.hpp"
+#include "motion_intrinsics.hpp"
+#include "option.hpp"
+#include "option_info.hpp"
+#include "source.hpp"
+#include "stream.hpp"
+#include "stream_data.hpp"
+#include "stream_request.hpp"
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** Device class to communicate with MYNT® EYE device */
+class Device {
+public:
+    virtual ~Device() {}
+
+    /** Create the device instance */
+    static std::shared_ptr<Device> Create(const ::mynteye_jni::DeviceUsbInfo & info);
+
+    /** Get the model */
+    virtual ::mynteye_jni::Model GetModel() = 0;
+
+    /** Supports the stream or not */
+    virtual bool SupportsStream(::mynteye_jni::Stream stream) = 0;
+
+    /** Supports the capability or not */
+    virtual bool SupportsCapability(::mynteye_jni::Capability capabilities) = 0;
+
+    /** Supports the option or not */
+    virtual bool SupportsOption(::mynteye_jni::Option option) = 0;
+
+    /** Supports the addon or not */
+    virtual bool SupportsAddon(::mynteye_jni::Addon addon) = 0;
+
+    /** Get all stream requests */
+    virtual std::vector<::mynteye_jni::StreamRequest> GetStreamRequests() = 0;
+
+    /** Config the stream request */
+    virtual void ConfigStreamRequest(const ::mynteye_jni::StreamRequest & request) = 0;
+
+    /** Get the device info */
+    virtual std::string GetInfo(::mynteye_jni::Info info) = 0;
+
+    /** Get the intrinsics of stream */
+    virtual ::mynteye_jni::Intrinsics GetIntrinsics(::mynteye_jni::Stream stream) = 0;
+
+    /** Get the extrinsics of stream */
+    virtual ::mynteye_jni::Extrinsics GetExtrinsics(::mynteye_jni::Stream from, ::mynteye_jni::Stream to) = 0;
+
+    /** Get the intrinsics of motion */
+    virtual ::mynteye_jni::MotionIntrinsics GetMotionIntrinsics() = 0;
+
+    /** Get the extrinsics from one stream to motion */
+    virtual ::mynteye_jni::Extrinsics GetMotionExtrinsics(::mynteye_jni::Stream from) = 0;
+
+    /** Get the option info */
+    virtual ::mynteye_jni::OptionInfo GetOptionInfo(::mynteye_jni::Option option) = 0;
+
+    /** Get the option value */
+    virtual int32_t GetOptionValue(::mynteye_jni::Option option) = 0;
+
+    /** Set the option value */
+    virtual void SetOptionValue(::mynteye_jni::Option option, int32_t value) = 0;
+
+    /** Run the option value */
+    virtual bool RunOptionAction(::mynteye_jni::Option option) = 0;
+
+    /** Start capturing the source */
+    virtual void Start(::mynteye_jni::Source source) = 0;
+
+    /** Stop capturing the source */
+    virtual void Stop(::mynteye_jni::Source source) = 0;
+
+    /** Wait the streams are ready */
+    virtual void WaitForStreams() = 0;
+
+    /** Get the latest data of stream */
+    virtual std::shared_ptr<::mynteye_jni::StreamData> GetStreamData(::mynteye_jni::Stream stream) = 0;
+
+    /** Get the datas of stream */
+    virtual std::vector<std::shared_ptr<::mynteye_jni::StreamData>> GetStreamDatas(::mynteye_jni::Stream stream) = 0;
+
+    /** Enable cache motion datas until get them, otherwise using callback instead */
+    virtual void EnableMotionDatas(int32_t max_size) = 0;
+
+    /** Get the motion datas */
+    virtual std::vector<std::shared_ptr<::mynteye_jni::MotionData>> GetMotionDatas() = 0;
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/device_usb_info.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/device_usb_info.hpp
@ -0,0 +1,50 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <string>
+#include <utility>
+
+namespace mynteye_jni {
+
+/** Device USB information */
+struct DeviceUsbInfo final {
+    /** Vendor id */
+    int32_t vid;
+    /** Product id */
+    int32_t pid;
+    /** File descriptor */
+    int32_t fd;
+    /** Bus number */
+    int32_t bus_num;
+    /** Dev number */
+    int32_t dev_num;
+    /** Usb file system path */
+    std::string usb_fs;
+    /** Product name */
+    std::string name;
+    /** Serial number */
+    std::string serial;
+
+    DeviceUsbInfo(int32_t vid_,
+                  int32_t pid_,
+                  int32_t fd_,
+                  int32_t bus_num_,
+                  int32_t dev_num_,
+                  std::string usb_fs_,
+                  std::string name_,
+                  std::string serial_)
+    : vid(std::move(vid_))
+    , pid(std::move(pid_))
+    , fd(std::move(fd_))
+    , bus_num(std::move(bus_num_))
+    , dev_num(std::move(dev_num_))
+    , usb_fs(std::move(usb_fs_))
+    , name(std::move(name_))
+    , serial(std::move(serial_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/extrinsics.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/extrinsics.hpp
@ -0,0 +1,25 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <utility>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** Extrinsics, represent how the different datas are connected */
+struct Extrinsics final {
+    /** Rotation matrix, 3x3 */
+    std::vector<double> rotation;
+    /** Translation vector, 1x3 */
+    std::vector<double> translation;
+
+    Extrinsics(std::vector<double> rotation_,
+               std::vector<double> translation_)
+    : rotation(std::move(rotation_))
+    , translation(std::move(translation_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/format.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/format.hpp
@ -0,0 +1,32 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Format : int {
+    /** Greyscale, 8 bits per pixel */
+    GREY,
+    /** YUV 4:2:2, 16 bits per pixel */
+    YUYV,
+    /** BGR 8:8:8, 24 bits per pixel */
+    BGR888,
+    /** RGB 8:8:8, 24 bits per pixel */
+    RGB888,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Format> {
+    size_t operator()(::mynteye_jni::Format type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/frame.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/frame.hpp
@ -0,0 +1,34 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <vector>
+
+namespace mynteye_jni {
+
+enum class Format;
+
+/** Frame with raw data */
+class Frame {
+public:
+    virtual ~Frame() {}
+
+    /** Get the width */
+    virtual int32_t Width() = 0;
+
+    /** Get the height */
+    virtual int32_t Height() = 0;
+
+    /** Get the pixel format */
+    virtual ::mynteye_jni::Format Format() = 0;
+
+    /** Get the size */
+    virtual int32_t Size() = 0;
+
+    /** Get the data */
+    virtual std::vector<uint8_t> Data() = 0;
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/img_data.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/img_data.hpp
@ -0,0 +1,29 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <utility>
+
+namespace mynteye_jni {
+
+/** Image data */
+struct ImgData final {
+    /** Image frame id */
+    int64_t frame_id;
+    /** Image timestamp in 1us */
+    int64_t timestamp;
+    /** Image exposure time, virtual value in [1, 480] */
+    int64_t exposure_time;
+
+    ImgData(int64_t frame_id_,
+            int64_t timestamp_,
+            int64_t exposure_time_)
+    : frame_id(std::move(frame_id_))
+    , timestamp(std::move(timestamp_))
+    , exposure_time(std::move(exposure_time_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/imu_data.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/imu_data.hpp
@ -0,0 +1,47 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <utility>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** IMU data */
+struct ImuData final {
+    /** IMU frame id */
+    int64_t frame_id;
+    /**
+     * IMU accel or gyro flag
+     *   0: accel and gyro are both valid
+     *   1: accel is valid
+     *   2: gyro is valid
+     */
+    int32_t flag;
+    /** IMU timestamp in 1us */
+    int64_t timestamp;
+    /** IMU accelerometer data for 3-axis: X, Y, Z. */
+    std::vector<double> accel;
+    /** IMU gyroscope data for 3-axis: X, Y, Z. */
+    std::vector<double> gyro;
+    /** IMU temperature */
+    double temperature;
+
+    ImuData(int64_t frame_id_,
+            int32_t flag_,
+            int64_t timestamp_,
+            std::vector<double> accel_,
+            std::vector<double> gyro_,
+            double temperature_)
+    : frame_id(std::move(frame_id_))
+    , flag(std::move(flag_))
+    , timestamp(std::move(timestamp_))
+    , accel(std::move(accel_))
+    , gyro(std::move(gyro_))
+    , temperature(std::move(temperature_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/imu_intrinsics.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/imu_intrinsics.hpp
@ -0,0 +1,38 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <utility>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** IMU intrinsics: scale, drift and variances */
+struct ImuIntrinsics final {
+    /**
+     * Scale matrix 3x3
+     *  Scale X     cross axis  cross axis
+     *  cross axis  Scale Y     cross axis
+     *  cross axis  cross axis  Scale Z
+     */
+    std::vector<double> scale;
+    /** Zero-drift: X, Y, Z 1x3 */
+    std::vector<double> drift;
+    /** Noise density variances 1x3 */
+    std::vector<double> noise;
+    /** Random walk variances 1x3 */
+    std::vector<double> bias;
+
+    ImuIntrinsics(std::vector<double> scale_,
+                  std::vector<double> drift_,
+                  std::vector<double> noise_,
+                  std::vector<double> bias_)
+    : scale(std::move(scale_))
+    , drift(std::move(drift_))
+    , noise(std::move(noise_))
+    , bias(std::move(bias_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/info.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/info.hpp
@ -0,0 +1,40 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Info : int {
+    /** Device name */
+    DEVICE_NAME,
+    /** Serial number */
+    SERIAL_NUMBER,
+    /** Firmware version */
+    FIRMWARE_VERSION,
+    /** Hardware version */
+    HARDWARE_VERSION,
+    /** Spec version */
+    SPEC_VERSION,
+    /** Lens type */
+    LENS_TYPE,
+    /** IMU type */
+    IMU_TYPE,
+    /** Nominal baseline */
+    NOMINAL_BASELINE,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Info> {
+    size_t operator()(::mynteye_jni::Info type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/intrinsics.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/intrinsics.hpp
@ -0,0 +1,55 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "calibration_model.hpp"
+#include <cstdint>
+#include <utility>
+#include <vector>
+
+namespace mynteye_jni {
+
+/** Stream intrinsics */
+struct Intrinsics final {
+    /** The calibration model */
+    CalibrationModel calib_model;
+    /** The width of the image in pixels */
+    int32_t width;
+    /** The height of the image in pixels */
+    int32_t height;
+    /** The focal length of the image plane, as a multiple of pixel width (pinhole) */
+    double fx;
+    /** The focal length of the image plane, as a multiple of pixel height (pinhole) */
+    double fy;
+    /** The horizontal coordinate of the principal point of the image (pinhole) */
+    double cx;
+    /** The vertical coordinate of the principal point of the image (pinhole) */
+    double cy;
+    /**
+     * The distortion coefficients
+     *   pinhole: k1,k2,p1,p2,k3
+     *   kannala_brandt: k2,k3,k4,k5,mu,mv,u0,v0
+     */
+    std::vector<double> coeffs;
+
+    Intrinsics(CalibrationModel calib_model_,
+               int32_t width_,
+               int32_t height_,
+               double fx_,
+               double fy_,
+               double cx_,
+               double cy_,
+               std::vector<double> coeffs_)
+    : calib_model(std::move(calib_model_))
+    , width(std::move(width_))
+    , height(std::move(height_))
+    , fx(std::move(fx_))
+    , fy(std::move(fy_))
+    , cx(std::move(cx_))
+    , cy(std::move(cy_))
+    , coeffs(std::move(coeffs_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/model.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/model.hpp
@ -0,0 +1,30 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Model : int {
+    /** Standard */
+    STANDARD,
+    /** Standard 2 */
+    STANDARD2,
+    /** Standard 210a */
+    STANDARD210A,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Model> {
+    size_t operator()(::mynteye_jni::Model type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/motion_data.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/motion_data.hpp
@ -0,0 +1,18 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+namespace mynteye_jni {
+
+struct ImuData;
+
+/** Device motion data */
+class MotionData {
+public:
+    virtual ~MotionData() {}
+
+    virtual ImuData Imu() = 0;
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/motion_intrinsics.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/motion_intrinsics.hpp
@ -0,0 +1,25 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "imu_intrinsics.hpp"
+#include <utility>
+
+namespace mynteye_jni {
+
+/** Motion intrinsics, including accelerometer and gyroscope */
+struct MotionIntrinsics final {
+    /** Accelerometer intrinsics */
+    ImuIntrinsics accel;
+    /** Gyroscope intrinsics */
+    ImuIntrinsics gyro;
+
+    MotionIntrinsics(ImuIntrinsics accel_,
+                     ImuIntrinsics gyro_)
+    : accel(std::move(accel_))
+    , gyro(std::move(gyro_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option.hpp
@ -0,0 +1,115 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Option : int {
+    /**
+     * Image gain, valid if manual-exposure
+     *  range: [0,48], default: 24
+     */
+    GAIN,
+    /**
+     * Image brightness, valid if manual-exposure
+     *  range: [0,240], default: 120
+     */
+    BRIGHTNESS,
+    /**
+     * Image contrast, valid if manual-exposure
+     *  range: [0,255], default: 127
+     */
+    CONTRAST,
+    /**
+     * Image frame rate, must set IMU_FREQUENCY together
+     *  values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
+     */
+    FRAME_RATE,
+    /**
+     * IMU frequency, must set FRAME_RATE together
+     *  values: {100,200,250,333,500}, default: 200
+     */
+    IMU_FREQUENCY,
+    /**
+     * Exposure mode
+     *  0: enable auto-exposure
+     *  1: disable auto-exposure (manual-exposure)
+     */
+    EXPOSURE_MODE,
+    /**
+     * Max gain, valid if auto-exposure
+     *  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 of standard 1: [0,240], default: 240
+     *  range of standard 2: [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 of standard 1: [0,255], default: 192
+     *  range of standard 2: [1,255], default: 122
+     */
+    DESIRED_BRIGHTNESS,
+    /**
+     * IR control
+     *  range: [0,160], default: 0
+     */
+    IR_CONTROL,
+    /**
+     * HDR mode
+     *  0: 10-bit
+     *  1: 12-bit
+     */
+    HDR_MODE,
+    /**
+     * The range of accelerometer
+     *  value of standard 1: {4,8,16,32}, default: 8
+     *  value of standard 2: {6,12,24,48}, default: 12
+     */
+    ACCELEROMETER_RANGE,
+    /**
+     * The range of gyroscope
+     *  value of standard 1: {500,1000,2000,4000}, default: 1000
+     *  value of standard 2: {250,500,1000,2000,4000}, default: 1000
+     */
+    GYROSCOPE_RANGE,
+    /**
+     * The parameter of accelerometer low pass filter
+     *  values: {0,1,2}, default: 2
+     */
+    ACCELEROMETER_LOW_PASS_FILTER,
+    /**
+     * The parameter of gyroscope low pass filter
+     *  values: {23,64}, default: 64
+     */
+    GYROSCOPE_LOW_PASS_FILTER,
+    /** Zero drift calibration */
+    ZERO_DRIFT_CALIBRATION,
+    /** Erase chip */
+    ERASE_CHIP,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Option> {
+    size_t operator()(::mynteye_jni::Option type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option_info.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option_info.hpp
@ -0,0 +1,29 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <utility>
+
+namespace mynteye_jni {
+
+/** Option info */
+struct OptionInfo final {
+    /** Minimum value */
+    int32_t min;
+    /** Maximum value */
+    int32_t max;
+    /** Default value */
+    int32_t def;
+
+    OptionInfo(int32_t min_,
+               int32_t max_,
+               int32_t def_)
+    : min(std::move(min_))
+    , max(std::move(max_))
+    , def(std::move(def_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/source.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/source.hpp
@ -0,0 +1,30 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Source : int {
+    /** Video streaming of stereo, color, depth, etc. */
+    VIDEO_STREAMING,
+    /** Motion tracking of IMU (accelerometer, gyroscope) */
+    MOTION_TRACKING,
+    /** Enable everything together */
+    ALL,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Source> {
+    size_t operator()(::mynteye_jni::Source type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/stream.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/stream.hpp
@ -0,0 +1,28 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <functional>
+
+namespace mynteye_jni {
+
+enum class Stream : int {
+    /** Left stream */
+    LEFT,
+    /** Right stream */
+    RIGHT,
+};
+
+}  // namespace mynteye_jni
+
+namespace std {
+
+template <>
+struct hash<::mynteye_jni::Stream> {
+    size_t operator()(::mynteye_jni::Stream type) const {
+        return std::hash<int>()(static_cast<int>(type));
+    }
+};
+
+}  // namespace std
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/stream_data.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/stream_data.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include <cstdint>
+#include <memory>
+
+namespace mynteye_jni {
+
+class Frame;
+struct ImgData;
+
+/** Device stream data */
+class StreamData {
+public:
+    virtual ~StreamData() {}
+
+    virtual ImgData Img() = 0;
+
+    virtual std::shared_ptr<::mynteye_jni::Frame> Frame() = 0;
+
+    virtual int64_t FrameId() = 0;
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/stream_request.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/stream_request.hpp
@ -0,0 +1,38 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "format.hpp"
+#include <cstdint>
+#include <utility>
+
+namespace mynteye_jni {
+
+/** Stream request */
+struct StreamRequest final {
+    /** Stream index */
+    int32_t index;
+    /** Stream width in pixels */
+    int32_t width;
+    /** Stream height in pixels */
+    int32_t height;
+    /** Stream pixel format */
+    Format format;
+    /** Stream frames per second */
+    int32_t fps;
+
+    StreamRequest(int32_t index_,
+                  int32_t width_,
+                  int32_t height_,
+                  Format format_,
+                  int32_t fps_)
+    : index(std::move(index_))
+    , width(std::move(width_))
+    , height(std::move(height_))
+    , format(std::move(format_))
+    , fps(std::move(fps_))
+    {}
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/device_impl.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/device_impl.cpp
@ -0,0 +1,223 @@
+#include "device_impl.hpp"
+
+#include "mynteye/device/context.h"
+#include "mynteye/device/device.h"
+#include "mynteye/logger.h"
+
+#include "device_usb_info.hpp"
+#include "stream_request.hpp"
+#include "type_conversion.hpp"
+
+#include "frame_impl.hpp"
+#include "motion_data_impl.hpp"
+#include "stream_data_impl.hpp"
+
+#include "mynteye/uvc/uvc.h"
+#include "mynteye/util/strings.h"
+#include "internal/uvc_device.h"
+
+MYNTEYE_USE_NAMESPACE
+
+namespace mynteye_jni {
+
+/*
+std::vector<::mynteye_jni::DeviceUsbInfo> Device::Query() {
+  VLOG(2) << __func__;
+  std::vector<DeviceUsbInfo> infos;
+
+  Context context;
+  int32_t i = 0;
+  for (auto&& d : context.devices()) {
+    infos.emplace_back(i,
+      d->GetInfo(Info::DEVICE_NAME),
+      d->GetInfo(Info::SERIAL_NUMBER));
+    ++i;
+  }
+
+  return infos;
+}
+
+std::shared_ptr<Device> Device::Create(const ::mynteye_jni::DeviceUsbInfo & info) {
+  VLOG(2) << __func__;
+  Context context;
+  int32_t i = 0;
+  for (auto&& d : context.devices()) {
+    if (i == info.index) {
+      return std::make_shared<DeviceImpl>(d);
+    }
+    ++i;
+  }
+  return nullptr;
+}
+*/
+
+std::shared_ptr<Device> Device::Create(const ::mynteye_jni::DeviceUsbInfo & info) {
+  VLOG(2) << __func__;
+  auto device = uvc::create_device(from_jni(info));
+  auto name = uvc::get_name(*device);
+  auto vid = uvc::get_vendor_id(*device);
+  auto pid = uvc::get_product_id(*device);
+  VLOG(2) << "UVC device detected, name: " << name << ", vid: 0x" << std::hex
+          << vid << ", pid: 0x" << std::hex << pid;
+  return std::make_shared<DeviceImpl>(
+      MYNTEYE_NAMESPACE::Device::Create(name, device));
+}
+
+DeviceImpl::DeviceImpl(const device_t & device) : Device(), device_(device) {
+  VLOG(2) << __func__;
+}
+
+DeviceImpl::~DeviceImpl() {
+  VLOG(2) << __func__;
+}
+
+::mynteye_jni::Model DeviceImpl::GetModel() {
+  return to_jni(device_->GetModel());
+}
+
+bool DeviceImpl::SupportsStream(::mynteye_jni::Stream stream) {
+  return device_->Supports(from_jni(stream));
+}
+
+bool DeviceImpl::SupportsCapability(::mynteye_jni::Capability capabilities) {
+  return device_->Supports(from_jni(capabilities));
+}
+
+bool DeviceImpl::SupportsOption(::mynteye_jni::Option option) {
+  return device_->Supports(from_jni(option));
+}
+
+bool DeviceImpl::SupportsAddon(::mynteye_jni::Addon addon) {
+  return device_->Supports(from_jni(addon));
+}
+
+std::vector<::mynteye_jni::StreamRequest> DeviceImpl::GetStreamRequests() {
+  VLOG(2) << __func__;
+  std::vector<::mynteye_jni::StreamRequest> requests;
+
+  int32_t i = 0;
+  for (auto&& req : device_->GetStreamRequests()) {
+    requests.emplace_back(i,
+        req.width, req.height, to_jni(req.format), req.fps);
+    ++i;
+  }
+
+  return requests;
+}
+
+void DeviceImpl::ConfigStreamRequest(
+    const ::mynteye_jni::StreamRequest & request) {
+  VLOG(2) << __func__;
+  int32_t i = 0;
+  for (auto&& req : device_->GetStreamRequests()) {
+    if (i == request.index) {
+      device_->ConfigStreamRequest(req);
+      return;
+    }
+    ++i;
+  }
+}
+
+std::string DeviceImpl::GetInfo(::mynteye_jni::Info info)  {
+  return device_->GetInfo(from_jni(info));
+}
+
+::mynteye_jni::Intrinsics DeviceImpl::GetIntrinsics(
+    ::mynteye_jni::Stream stream) {
+  auto in = device_->GetIntrinsics(from_jni(stream));
+  if (in->calib_model() == MYNTEYE_NAMESPACE::CalibrationModel::PINHOLE) {
+    auto in_p = std::dynamic_pointer_cast<IntrinsicsPinhole>(in);
+    return {CalibrationModel::PINHOLE, in_p->width, in_p->height,
+        in_p->fx, in_p->fy, in_p->cx, in_p->cy,
+        to_vector<5>(in_p->coeffs)};
+  } else if (in->calib_model() == MYNTEYE_NAMESPACE::CalibrationModel::KANNALA_BRANDT) {
+    auto in_k = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in);
+    return {CalibrationModel::KANNALA_BRANDT, in_k->width, in_k->height,
+        0, 0, 0, 0, to_vector<8>(in_k->coeffs)};
+  } else {
+    LOG(WARNING) << "Unknown calibration model";
+    return {CalibrationModel::UNKNOW, 0, 0, 0, 0, 0, 0, {}};
+  }
+}
+
+::mynteye_jni::Extrinsics DeviceImpl::GetExtrinsics(
+    ::mynteye_jni::Stream from, ::mynteye_jni::Stream to) {
+  auto ex = device_->GetExtrinsics(from_jni(from), from_jni(to));
+  return {to_vector<3, 3>(ex.rotation), to_vector<3>(ex.translation)};
+}
+
+::mynteye_jni::MotionIntrinsics DeviceImpl::GetMotionIntrinsics() {
+  auto in = device_->GetMotionIntrinsics();
+  auto in_to_jni = [](MYNTEYE_NAMESPACE::ImuIntrinsics& in) {
+    return ImuIntrinsics{
+      to_vector<3, 3>(in.scale), to_vector<3>(in.drift),
+      to_vector<3>(in.noise), to_vector<3>(in.bias)
+    };
+  };
+  return {in_to_jni(in.accel), in_to_jni(in.gyro)};
+}
+
+::mynteye_jni::Extrinsics DeviceImpl::GetMotionExtrinsics(
+    ::mynteye_jni::Stream from) {
+  auto ex = device_->GetMotionExtrinsics(from_jni(from));
+  return {to_vector<3, 3>(ex.rotation), to_vector<3>(ex.translation)};
+}
+
+::mynteye_jni::OptionInfo DeviceImpl::GetOptionInfo(::mynteye_jni::Option option) {
+  auto info = device_->GetOptionInfo(from_jni(option));
+  return {info.min, info.max, info.def};
+}
+
+int32_t DeviceImpl::GetOptionValue(::mynteye_jni::Option option) {
+  return device_->GetOptionValue(from_jni(option));
+}
+
+void DeviceImpl::SetOptionValue(::mynteye_jni::Option option, int32_t value) {
+  return device_->SetOptionValue(from_jni(option), value);
+}
+
+bool DeviceImpl::RunOptionAction(::mynteye_jni::Option option) {
+  return device_->RunOptionAction(from_jni(option));
+}
+
+void DeviceImpl::Start(::mynteye_jni::Source source) {
+  device_->Start(from_jni(source));
+}
+
+void DeviceImpl::Stop(::mynteye_jni::Source source) {
+  device_->Stop(from_jni(source));
+}
+
+void DeviceImpl::WaitForStreams() {
+  device_->WaitForStreams();
+}
+
+std::shared_ptr<::mynteye_jni::StreamData> DeviceImpl::GetStreamData(
+    ::mynteye_jni::Stream stream) {
+  auto&& data = device_->GetStreamData(from_jni(stream));
+  return std::make_shared<StreamDataImpl>(data);
+}
+
+std::vector<std::shared_ptr<::mynteye_jni::StreamData>>
+DeviceImpl::GetStreamDatas(::mynteye_jni::Stream stream) {
+  std::vector<std::shared_ptr<::mynteye_jni::StreamData>> datas;
+  for (auto&& data : device_->GetStreamDatas(from_jni(stream))) {
+    datas.push_back(std::make_shared<StreamDataImpl>(data));
+  }
+  return datas;
+}
+
+void DeviceImpl::EnableMotionDatas(int32_t max_size) {
+  device_->EnableMotionDatas(max_size);
+}
+
+std::vector<std::shared_ptr<::mynteye_jni::MotionData>>
+DeviceImpl::GetMotionDatas() {
+  std::vector<std::shared_ptr<::mynteye_jni::MotionData>> datas;
+  for (auto&& data : device_->GetMotionDatas()) {
+    datas.push_back(std::make_shared<MotionDataImpl>(data));
+  }
+  return datas;
+}
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/device_impl.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/device_impl.hpp
@ -0,0 +1,92 @@
+#pragma once
+
+#include <vector>
+#include <memory>
+
+#include "mynteye/device/device.h"
+
+#include "device.hpp"
+
+namespace mynteye_jni {
+
+class DeviceImpl : public Device {
+ public:
+  using device_t = std::shared_ptr<MYNTEYE_NAMESPACE::Device>;
+
+  explicit DeviceImpl(const device_t & device);
+  ~DeviceImpl();
+
+  /** Get the model */
+  ::mynteye_jni::Model GetModel() override;
+
+  /** Supports the stream or not */
+  bool SupportsStream(::mynteye_jni::Stream stream) override;
+
+  /** Supports the capability or not */
+  bool SupportsCapability(::mynteye_jni::Capability capabilities) override;
+
+  /** Supports the option or not */
+  bool SupportsOption(::mynteye_jni::Option option) override;
+
+  /** Supports the addon or not */
+  bool SupportsAddon(::mynteye_jni::Addon addon) override;
+
+  /** Get all stream requests */
+  std::vector<::mynteye_jni::StreamRequest> GetStreamRequests() override;
+
+  /** Config the stream request */
+  void ConfigStreamRequest(const ::mynteye_jni::StreamRequest & request) override;
+
+  /** Get the device info */
+  std::string GetInfo(::mynteye_jni::Info info) override;
+
+  /** Get the intrinsics of stream */
+  ::mynteye_jni::Intrinsics GetIntrinsics(::mynteye_jni::Stream stream) override;
+
+  /** Get the extrinsics of stream */
+  ::mynteye_jni::Extrinsics GetExtrinsics(::mynteye_jni::Stream from, ::mynteye_jni::Stream to) override;
+
+  /** Get the intrinsics of motion */
+  ::mynteye_jni::MotionIntrinsics GetMotionIntrinsics() override;
+
+  /** Get the extrinsics from one stream to motion */
+  ::mynteye_jni::Extrinsics GetMotionExtrinsics(::mynteye_jni::Stream from) override;
+
+  /** Get the option info */
+  ::mynteye_jni::OptionInfo GetOptionInfo(::mynteye_jni::Option option) override;
+
+  /** Get the option value */
+  int32_t GetOptionValue(::mynteye_jni::Option option) override;
+
+  /** Set the option value */
+  void SetOptionValue(::mynteye_jni::Option option, int32_t value) override;
+
+  /** Run the option value */
+  bool RunOptionAction(::mynteye_jni::Option option) override;
+
+  /** Start capturing the source */
+  void Start(::mynteye_jni::Source source) override;
+
+  /** Stop capturing the source */
+  void Stop(::mynteye_jni::Source source) override;
+
+  /** Wait the streams are ready */
+  void WaitForStreams() override;
+
+  /** Get the latest data of stream */
+  std::shared_ptr<::mynteye_jni::StreamData> GetStreamData(::mynteye_jni::Stream stream) override;
+
+  /** Get the datas of stream */
+  std::vector<std::shared_ptr<::mynteye_jni::StreamData>> GetStreamDatas(::mynteye_jni::Stream stream) override;
+
+  /** Enable cache motion datas until get them, otherwise using callback instead */
+  void EnableMotionDatas(int32_t max_size) override;
+
+  /** Get the motion datas */
+  std::vector<std::shared_ptr<::mynteye_jni::MotionData>> GetMotionDatas() override;
+
+ private:
+  device_t device_;
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/frame_impl.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/frame_impl.hpp
@ -0,0 +1,50 @@
+#pragma once
+
+#include "mynteye/device/callbacks.h"
+
+#include "frame.hpp"
+#include "type_conversion.hpp"
+
+namespace mynteye_jni {
+
+class FrameImpl : public Frame {
+ public:
+  using frame_t = std::shared_ptr<MYNTEYE_NAMESPACE::device::Frame>;
+
+  explicit FrameImpl(const frame_t& frame) : frame_(frame) {}
+  ~FrameImpl() {}
+
+  /** Get the width */
+  int32_t Width() override {
+    return frame_->width();
+  }
+
+  /** Get the height */
+  int32_t Height() override {
+    return frame_->height();
+  }
+
+  /** Get the pixel format */
+  ::mynteye_jni::Format Format() override {
+    return to_jni(frame_->format());
+  }
+
+  /** Get the size */
+  int32_t Size() override {
+    return frame_->size();
+  }
+
+  /** Get the data */
+  std::vector<uint8_t> Data() override {
+    return std::vector<uint8_t>(frame_->data(), frame_->data() + frame_->size());
+  }
+
+  frame_t RawFrame() const {
+    return frame_;
+  }
+
+ private:
+  frame_t frame_;
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/internal/usb_info.h
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/internal/usb_info.h
@ -0,0 +1,24 @@
+#pragma once
+
+#include "mynteye/mynteye.h"
+
+#include <string>
+#include <vector>
+
+MYNTEYE_BEGIN_NAMESPACE
+
+struct MYNTEYE_API UsbInfo {
+  int vid;
+  int pid;
+  int fd;
+  int busnum;
+  int devaddr;
+  std::string usbfs;
+  std::string name;
+  std::string serial;
+};
+
+MYNTEYE_API void set_usb_infos(const std::vector<UsbInfo> &infos);
+MYNTEYE_API std::vector<UsbInfo> get_usb_infos();
+
+MYNTEYE_END_NAMESPACE
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/internal/uvc_device.h
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/internal/uvc_device.h
@ -0,0 +1,17 @@
+#pragma once
+
+#include "usb_info.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace uvc {
+
+struct device;
+
+MYNTEYE_API std::shared_ptr<device> create_device(UsbInfo info);
+
+MYNTEYE_API void set_bytes_per_packet(int bytes);
+
+}  // namespace uvc
+
+MYNTEYE_END_NAMESPACE
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/motion_data_impl.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/motion_data_impl.hpp
@ -0,0 +1,33 @@
+#pragma once
+
+#include "mynteye/device/callbacks.h"
+
+#include "imu_data.hpp"
+#include "motion_data.hpp"
+
+namespace mynteye_jni {
+
+class MotionDataImpl : public MotionData {
+ public:
+  using motion_data_t = MYNTEYE_NAMESPACE::device::MotionData;
+
+  explicit MotionDataImpl(const motion_data_t& data) : data_(data) {}
+  ~MotionDataImpl() {}
+
+  ImuData Imu() override {
+    auto&& imu = data_.imu;
+    return {
+      imu->frame_id,
+      imu->flag,
+      static_cast<int64_t>(imu->timestamp),
+      std::vector<double>(imu->accel, imu->accel + 3),
+      std::vector<double>(imu->gyro, imu->gyro + 3),
+      imu->temperature,
+    };
+  }
+
+ private:
+  motion_data_t data_;
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/stream_data_impl.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/stream_data_impl.hpp
@ -0,0 +1,39 @@
+#pragma once
+
+#include "mynteye/device/callbacks.h"
+
+#include "frame_impl.hpp"
+#include "img_data.hpp"
+#include "stream_data.hpp"
+
+namespace mynteye_jni {
+
+class StreamDataImpl : public StreamData {
+ public:
+  using stream_data_t = MYNTEYE_NAMESPACE::device::StreamData;
+
+  explicit StreamDataImpl(const stream_data_t& data) : data_(data) {}
+  ~StreamDataImpl() {}
+
+  ImgData Img() override {
+    auto&& img = data_.img;
+    return {
+      img->frame_id,
+      static_cast<int64_t>(img->timestamp),
+      img->exposure_time,
+    };
+  }
+
+  std::shared_ptr<::mynteye_jni::Frame> Frame() override {
+    return std::make_shared<::mynteye_jni::FrameImpl>(data_.frame);
+  }
+
+  int64_t FrameId() override {
+    return data_.frame_id;
+  }
+
+ private:
+  stream_data_t data_;
+};
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/type_conversion.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/type_conversion.hpp
@ -0,0 +1,413 @@
+#pragma once
+
+#include <memory>
+
+#include "mynteye/logger.h"
+#include "mynteye/types.h"
+
+#include "addon.hpp"
+#include "calibration_model.hpp"
+#include "capability.hpp"
+#include "device_usb_info.hpp"
+#include "format.hpp"
+#include "info.hpp"
+#include "model.hpp"
+#include "option.hpp"
+#include "source.hpp"
+#include "stream.hpp"
+
+#include "internal/usb_info.h"
+
+namespace mynteye_jni {
+
+// device_usb_info
+
+using RawUsbInfo = MYNTEYE_NAMESPACE::UsbInfo;
+using JniUsbInfo = mynteye_jni::DeviceUsbInfo;
+
+inline
+RawUsbInfo from_jni(const JniUsbInfo& info) {
+  RawUsbInfo raw;
+  raw.vid = info.vid;
+  raw.pid = info.pid;
+  raw.fd = info.fd;
+  raw.busnum = info.bus_num;
+  raw.devaddr = info.dev_num;
+  raw.usbfs = info.usb_fs;
+  raw.name = info.name;
+  raw.serial = info.serial;
+  return std::move(raw);
+}
+
+inline
+JniUsbInfo to_jni(const RawUsbInfo& info) {
+  return JniUsbInfo{
+    info.vid,
+    info.pid,
+    info.fd,
+    info.busnum,
+    info.devaddr,
+    info.usbfs,
+    info.name,
+    info.serial,
+  };
+}
+
+// model
+
+using RawModel = MYNTEYE_NAMESPACE::Model;
+using JniModel = mynteye_jni::Model;
+
+inline
+RawModel from_jni(const JniModel& model) {
+  switch (model) {
+    case JniModel::STANDARD: return RawModel::STANDARD;
+    case JniModel::STANDARD2: return RawModel::STANDARD2;
+    case JniModel::STANDARD210A: return RawModel::STANDARD210A;
+    default:
+      LOG(FATAL) << "Model is unknown";
+  }
+}
+
+inline
+JniModel to_jni(const RawModel& model) {
+  switch (model) {
+    case RawModel::STANDARD: return JniModel::STANDARD;
+    case RawModel::STANDARD2: return JniModel::STANDARD2;
+    case RawModel::STANDARD210A: return JniModel::STANDARD210A;
+    default:
+      LOG(FATAL) << "Model is unknown";
+  }
+}
+
+// format
+
+using RawFormat = MYNTEYE_NAMESPACE::Format;
+using JniFormat = mynteye_jni::Format;
+
+inline
+RawFormat from_jni(const JniFormat& format) {
+  switch (format) {
+    case JniFormat::GREY: return RawFormat::GREY;
+    case JniFormat::YUYV: return RawFormat::YUYV;
+    case JniFormat::BGR888: return RawFormat::BGR888;
+    case JniFormat::RGB888: return RawFormat::RGB888;
+    default:
+      LOG(FATAL) << "Format is unknown";
+  }
+}
+
+inline
+JniFormat to_jni(const RawFormat& format) {
+  switch (format) {
+    case RawFormat::GREY: return JniFormat::GREY;
+    case RawFormat::YUYV: return JniFormat::YUYV;
+    case RawFormat::BGR888: return JniFormat::BGR888;
+    case RawFormat::RGB888: return JniFormat::RGB888;
+    default:
+      LOG(FATAL) << "Format is unknown";
+  }
+}
+
+// source
+
+using RawSource = MYNTEYE_NAMESPACE::Source;
+using JniSource = mynteye_jni::Source;
+
+inline
+RawSource from_jni(const JniSource& source) {
+  switch (source) {
+    case JniSource::VIDEO_STREAMING: return RawSource::VIDEO_STREAMING;
+    case JniSource::MOTION_TRACKING: return RawSource::MOTION_TRACKING;
+    case JniSource::ALL: return RawSource::ALL;
+    default:
+      LOG(FATAL) << "Source is unknown";
+  }
+}
+
+inline
+JniSource to_jni(const RawSource& source) {
+  switch (source) {
+    case RawSource::VIDEO_STREAMING: return JniSource::VIDEO_STREAMING;
+    case RawSource::MOTION_TRACKING: return JniSource::MOTION_TRACKING;
+    case RawSource::ALL: return JniSource::ALL;
+    default:
+      LOG(FATAL) << "Source is unknown";
+  }
+}
+
+// stream
+
+using RawStream = MYNTEYE_NAMESPACE::Stream;
+using JniStream = mynteye_jni::Stream;
+
+inline
+RawStream from_jni(const JniStream& stream) {
+  switch (stream) {
+    case JniStream::LEFT: return RawStream::LEFT;
+    case JniStream::RIGHT: return RawStream::RIGHT;
+    default:
+      LOG(FATAL) << "Stream is unknown";
+  }
+}
+
+inline
+JniStream to_jni(const RawStream& stream) {
+  switch (stream) {
+    case RawStream::LEFT: return JniStream::LEFT;
+    case RawStream::RIGHT: return JniStream::RIGHT;
+    default:
+      LOG(FATAL) << "Stream is unknown";
+  }
+}
+
+// capability
+
+using RawCapability = MYNTEYE_NAMESPACE::Capabilities;
+using JniCapability = mynteye_jni::Capability;
+
+inline
+RawCapability from_jni(const JniCapability& Capability) {
+  switch (Capability) {
+    case JniCapability::STEREO: return RawCapability::STEREO;
+    case JniCapability::STEREO_COLOR: return RawCapability::STEREO_COLOR;
+    case JniCapability::COLOR: return RawCapability::COLOR;
+    case JniCapability::DEPTH: return RawCapability::DEPTH;
+    case JniCapability::POINTS: return RawCapability::POINTS;
+    case JniCapability::FISHEYE: return RawCapability::FISHEYE;
+    case JniCapability::INFRARED: return RawCapability::INFRARED;
+    case JniCapability::INFRARED2: return RawCapability::INFRARED2;
+    case JniCapability::IMU: return RawCapability::IMU;
+    default:
+      LOG(FATAL) << "Capability is unknown";
+  }
+}
+
+inline
+JniCapability to_jni(const RawCapability& Capability) {
+  switch (Capability) {
+    case RawCapability::STEREO: return JniCapability::STEREO;
+    case RawCapability::STEREO_COLOR: return JniCapability::STEREO_COLOR;
+    case RawCapability::COLOR: return JniCapability::COLOR;
+    case RawCapability::DEPTH: return JniCapability::DEPTH;
+    case RawCapability::POINTS: return JniCapability::POINTS;
+    case RawCapability::FISHEYE: return JniCapability::FISHEYE;
+    case RawCapability::INFRARED: return JniCapability::INFRARED;
+    case RawCapability::INFRARED2: return JniCapability::INFRARED2;
+    case RawCapability::IMU: return JniCapability::IMU;
+    default:
+      LOG(FATAL) << "Capability is unknown";
+  }
+}
+
+// info
+
+using RawInfo = MYNTEYE_NAMESPACE::Info;
+using JniInfo = mynteye_jni::Info;
+
+inline
+RawInfo from_jni(const JniInfo& Info) {
+  switch (Info) {
+    case JniInfo::DEVICE_NAME: return RawInfo::DEVICE_NAME;
+    case JniInfo::SERIAL_NUMBER: return RawInfo::SERIAL_NUMBER;
+    case JniInfo::FIRMWARE_VERSION: return RawInfo::FIRMWARE_VERSION;
+    case JniInfo::HARDWARE_VERSION: return RawInfo::HARDWARE_VERSION;
+    case JniInfo::SPEC_VERSION: return RawInfo::SPEC_VERSION;
+    case JniInfo::LENS_TYPE: return RawInfo::LENS_TYPE;
+    case JniInfo::IMU_TYPE: return RawInfo::IMU_TYPE;
+    case JniInfo::NOMINAL_BASELINE: return RawInfo::NOMINAL_BASELINE;
+    default:
+      LOG(FATAL) << "Info is unknown";
+  }
+}
+
+inline
+JniInfo to_jni(const RawInfo& Info) {
+  switch (Info) {
+    case RawInfo::DEVICE_NAME: return JniInfo::DEVICE_NAME;
+    case RawInfo::SERIAL_NUMBER: return JniInfo::SERIAL_NUMBER;
+    case RawInfo::FIRMWARE_VERSION: return JniInfo::FIRMWARE_VERSION;
+    case RawInfo::HARDWARE_VERSION: return JniInfo::HARDWARE_VERSION;
+    case RawInfo::SPEC_VERSION: return JniInfo::SPEC_VERSION;
+    case RawInfo::LENS_TYPE: return JniInfo::LENS_TYPE;
+    case RawInfo::IMU_TYPE: return JniInfo::IMU_TYPE;
+    case RawInfo::NOMINAL_BASELINE: return JniInfo::NOMINAL_BASELINE;
+    default:
+      LOG(FATAL) << "Info is unknown";
+  }
+}
+
+// option
+
+using RawOption = MYNTEYE_NAMESPACE::Option;
+using JniOption = mynteye_jni::Option;
+
+inline
+RawOption from_jni(const JniOption& Option) {
+  switch (Option) {
+    case JniOption::GAIN:
+      return RawOption::GAIN;
+    case JniOption::BRIGHTNESS:
+      return RawOption::BRIGHTNESS;
+    case JniOption::CONTRAST:
+      return RawOption::CONTRAST;
+    case JniOption::FRAME_RATE:
+      return RawOption::FRAME_RATE;
+    case JniOption::IMU_FREQUENCY:
+      return RawOption::IMU_FREQUENCY;
+    case JniOption::EXPOSURE_MODE:
+      return RawOption::EXPOSURE_MODE;
+    case JniOption::MAX_GAIN:
+      return RawOption::MAX_GAIN;
+    case JniOption::MAX_EXPOSURE_TIME:
+      return RawOption::MAX_EXPOSURE_TIME;
+    case JniOption::MIN_EXPOSURE_TIME:
+      return RawOption::MIN_EXPOSURE_TIME;
+    case JniOption::DESIRED_BRIGHTNESS:
+      return RawOption::DESIRED_BRIGHTNESS;
+    case JniOption::IR_CONTROL:
+      return RawOption::IR_CONTROL;
+    case JniOption::HDR_MODE:
+      return RawOption::HDR_MODE;
+    case JniOption::ACCELEROMETER_RANGE:
+      return RawOption::ACCELEROMETER_RANGE;
+    case JniOption::GYROSCOPE_RANGE:
+      return RawOption::GYROSCOPE_RANGE;
+    case JniOption::ACCELEROMETER_LOW_PASS_FILTER:
+      return RawOption::ACCELEROMETER_LOW_PASS_FILTER;
+    case JniOption::GYROSCOPE_LOW_PASS_FILTER:
+      return RawOption::GYROSCOPE_LOW_PASS_FILTER;
+    case JniOption::ZERO_DRIFT_CALIBRATION:
+      return RawOption::ZERO_DRIFT_CALIBRATION;
+    case JniOption::ERASE_CHIP:
+      return RawOption::ERASE_CHIP;
+    default:
+      LOG(FATAL) << "Option is unknown";
+  }
+}
+
+inline
+JniOption to_jni(const RawOption& Option) {
+  switch (Option) {
+    case RawOption::GAIN:
+      return JniOption::GAIN;
+    case RawOption::BRIGHTNESS:
+      return JniOption::BRIGHTNESS;
+    case RawOption::CONTRAST:
+      return JniOption::CONTRAST;
+    case RawOption::FRAME_RATE:
+      return JniOption::FRAME_RATE;
+    case RawOption::IMU_FREQUENCY:
+      return JniOption::IMU_FREQUENCY;
+    case RawOption::EXPOSURE_MODE:
+      return JniOption::EXPOSURE_MODE;
+    case RawOption::MAX_GAIN:
+      return JniOption::MAX_GAIN;
+    case RawOption::MAX_EXPOSURE_TIME:
+      return JniOption::MAX_EXPOSURE_TIME;
+    case RawOption::MIN_EXPOSURE_TIME:
+      return JniOption::MIN_EXPOSURE_TIME;
+    case RawOption::DESIRED_BRIGHTNESS:
+      return JniOption::DESIRED_BRIGHTNESS;
+    case RawOption::IR_CONTROL:
+      return JniOption::IR_CONTROL;
+    case RawOption::HDR_MODE:
+      return JniOption::HDR_MODE;
+    case RawOption::ACCELEROMETER_RANGE:
+      return JniOption::ACCELEROMETER_RANGE;
+    case RawOption::GYROSCOPE_RANGE:
+      return JniOption::GYROSCOPE_RANGE;
+    case RawOption::ACCELEROMETER_LOW_PASS_FILTER:
+      return JniOption::ACCELEROMETER_LOW_PASS_FILTER;
+    case RawOption::GYROSCOPE_LOW_PASS_FILTER:
+      return JniOption::GYROSCOPE_LOW_PASS_FILTER;
+    case RawOption::ZERO_DRIFT_CALIBRATION:
+      return JniOption::ZERO_DRIFT_CALIBRATION;
+    case RawOption::ERASE_CHIP:
+      return JniOption::ERASE_CHIP;
+    default:
+      LOG(FATAL) << "Option is unknown";
+  }
+}
+
+// addon
+
+using RawAddon = MYNTEYE_NAMESPACE::AddOns;
+using JniAddon = mynteye_jni::Addon;
+
+inline
+RawAddon from_jni(const JniAddon& Addon) {
+  switch (Addon) {
+    case JniAddon::INFRARED: return RawAddon::INFRARED;
+    case JniAddon::INFRARED2: return RawAddon::INFRARED2;
+    default:
+      LOG(FATAL) << "Addon is unknown";
+  }
+}
+
+inline
+JniAddon to_jni(const RawAddon& Addon) {
+  switch (Addon) {
+    case RawAddon::INFRARED: return JniAddon::INFRARED;
+    case RawAddon::INFRARED2: return JniAddon::INFRARED2;
+    default:
+      LOG(FATAL) << "Addon is unknown";
+  }
+}
+
+// calibration_model
+
+using RawCalibrationModel = MYNTEYE_NAMESPACE::CalibrationModel;
+using JniCalibrationModel = mynteye_jni::CalibrationModel;
+
+inline
+RawCalibrationModel from_jni(const JniCalibrationModel& CalibrationModel) {
+  switch (CalibrationModel) {
+    case JniCalibrationModel::PINHOLE:
+      return RawCalibrationModel::PINHOLE;
+    case JniCalibrationModel::KANNALA_BRANDT:
+      return RawCalibrationModel::KANNALA_BRANDT;
+    case JniCalibrationModel::UNKNOW:
+      return RawCalibrationModel::UNKNOW;
+    default:
+      LOG(FATAL) << "CalibrationModel is unknown";
+  }
+}
+
+inline
+JniCalibrationModel to_jni(const RawCalibrationModel& CalibrationModel) {
+  switch (CalibrationModel) {
+    case RawCalibrationModel::PINHOLE:
+      return JniCalibrationModel::PINHOLE;
+    case RawCalibrationModel::KANNALA_BRANDT:
+      return JniCalibrationModel::KANNALA_BRANDT;
+    case RawCalibrationModel::UNKNOW:
+      return JniCalibrationModel::UNKNOW;
+    default:
+      LOG(FATAL) << "CalibrationModel is unknown";
+  }
+}
+
+// others
+
+template<int n>
+std::vector<double> to_vector(double (&vector)[n]) {
+  std::vector<double> datas;
+  for (int i = 0; i < n; i++) {
+    datas.push_back(vector[i]);
+  }
+  return datas;
+}
+
+template<int rows, int cols>
+std::vector<double> to_vector(double (&matrix)[rows][cols]) {
+  std::vector<double> datas;
+  for (int i = 0; i < rows; i++) {
+    for (int j = 0; j < cols; j++) {
+      datas.push_back(matrix[i][j]);
+    }
+  }
+  return datas;
+}
+
+}  // namespace mynteye_jni
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/util/jni_util.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/util/jni_util.cpp
@ -0,0 +1,117 @@
+#include <android/bitmap.h>
+#include <android/log.h>
+#include <jni.h>
+
+#ifndef LOG_TAG
+#define LOG_TAG "native"
+#endif
+
+#define LOGI(...) \
+  ((void)__android_log_print(ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__))
+#define LOGW(...) \
+  ((void)__android_log_print(ANDROID_LOG_WARN, LOG_TAG, __VA_ARGS__))
+#define LOGE(...) \
+  ((void)__android_log_print(ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__))
+
+#include "NativeFrame.hpp"
+
+#include "frame_impl.hpp"
+
+// BitmapUtils
+
+// RGBA
+typedef struct {
+  uint8_t r;
+  uint8_t g;
+  uint8_t b;
+  uint8_t a;
+} rgba_t;
+
+void copyPixelsGray(std::uint8_t *from, rgba_t *to, uint32_t n);
+void copyPixelsBGR3(std::uint8_t *from, rgba_t *to, uint32_t n);
+void copyPixelsRGB3(std::uint8_t *from, rgba_t *to, uint32_t n);
+
+void copyPixels(mynteye_jni::FrameImpl::frame_t from, rgba_t *to,
+    const AndroidBitmapInfo &info) {
+  if (info.width != from->width() || info.height != from->height()) {
+    LOGE("Frame size is not same");
+    return;
+  }
+  uint32_t n = info.width * info.height;
+  switch (from->format()) {
+    case MYNTEYE_NAMESPACE::Format::GREY:
+      copyPixelsGray(from->data(), to, n);
+      return;
+    case MYNTEYE_NAMESPACE::Format::BGR888:
+      copyPixelsBGR3(from->data(), to, n);
+      return;
+    case MYNTEYE_NAMESPACE::Format::RGB888:
+      copyPixelsRGB3(from->data(), to, n);
+      return;
+    case MYNTEYE_NAMESPACE::Format::YUYV:
+    default:
+      LOGE("Frame format is not supported");
+      return;
+  }
+}
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_util_BitmapUtils_copyPixels(
+    JNIEnv *env, jclass clazz, jobject j_frame, jobject bitmap) {
+  auto frame = ::djinni_generated::NativeFrame::toCpp(env, j_frame);
+  // LOGI("frame format: %dx%d", frame->Width(), frame->Height());
+  auto frame_raw = std::dynamic_pointer_cast<mynteye_jni::FrameImpl>(frame)->RawFrame();
+
+  AndroidBitmapInfo info;
+  int result;
+  if ((result = AndroidBitmap_getInfo(env, bitmap, &info)) < 0) {
+    LOGE("AndroidBitmap_getInfo() failed, error=%d", result);
+    return;
+  }
+  if (info.format != ANDROID_BITMAP_FORMAT_RGBA_8888) {
+    LOGE("Bitmap format is not RGBA_8888!");
+    return;
+  }
+
+  void *pixels;
+  if ((result = AndroidBitmap_lockPixels(env, bitmap, &pixels)) < 0) {
+    LOGE("AndroidBitmap_lockPixels() failed, error=%d", result);
+  }
+  rgba_t *rgba_pixels = static_cast<rgba_t*>(pixels);
+
+  copyPixels(frame_raw, rgba_pixels, info);
+
+  AndroidBitmap_unlockPixels(env, bitmap);
+}
+
+void copyPixelsGray(std::uint8_t *from, rgba_t *to, uint32_t n) {
+  for (uint32_t i = 0; i < n; ++i) {
+    std::uint8_t &gray = from[i];
+    rgba_t &rgba = to[i];
+    rgba.r = gray;
+    rgba.g = gray;
+    rgba.b = gray;
+    rgba.a = 255;
+  }
+}
+
+void copyPixelsBGR3(std::uint8_t *from, rgba_t *to, uint32_t n) {
+  for (uint32_t i = 0; i < n; ++i) {
+    std::uint8_t *bgr = from + (i*3);
+    rgba_t &rgba = to[i];
+    rgba.r = *(bgr + 2);
+    rgba.g = *(bgr + 1);
+    rgba.b = *(bgr);
+    rgba.a = 255;
+  }
+}
+
+void copyPixelsRGB3(std::uint8_t *from, rgba_t *to, uint32_t n) {
+  for (uint32_t i = 0; i < n; ++i) {
+    std::uint8_t *rgb = from + (i*3);
+    rgba_t &rgba = to[i];
+    rgba.r = *(rgb);
+    rgba.g = *(rgb + 1);
+    rgba.b = *(rgb + 2);
+    rgba.a = 255;
+  }
+}
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeAddon.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeAddon.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "addon.hpp"
+#include "djinni_support.hpp"
+
+namespace djinni_generated {
+
+class NativeAddon final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::Addon;
+    using JniType = jobject;
+
+    using Boxed = NativeAddon;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeAddon>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeAddon>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeAddon() : JniEnum("com/slightech/mynteye/Addon") {}
+    friend ::djinni::JniClass<NativeAddon>;
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeCalibrationModel.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeCalibrationModel.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "calibration_model.hpp"
+#include "djinni_support.hpp"
+
+namespace djinni_generated {
+
+class NativeCalibrationModel final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::CalibrationModel;
+    using JniType = jobject;
+
+    using Boxed = NativeCalibrationModel;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeCalibrationModel>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeCalibrationModel>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeCalibrationModel() : JniEnum("com/slightech/mynteye/CalibrationModel") {}
+    friend ::djinni::JniClass<NativeCalibrationModel>;
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeCapability.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeCapability.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "capability.hpp"
+#include "djinni_support.hpp"
+
+namespace djinni_generated {
+
+class NativeCapability final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::Capability;
+    using JniType = jobject;
+
+    using Boxed = NativeCapability;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeCapability>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeCapability>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeCapability() : JniEnum("com/slightech/mynteye/Capability") {}
+    friend ::djinni::JniClass<NativeCapability>;
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDevice.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDevice.cpp
@ -0,0 +1,272 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye.djinni
+
+#include "NativeDevice.hpp"  // my header
+#include "Marshal.hpp"
+#include "NativeAddon.hpp"
+#include "NativeCapability.hpp"
+#include "NativeDeviceUsbInfo.hpp"
+#include "NativeExtrinsics.hpp"
+#include "NativeInfo.hpp"
+#include "NativeIntrinsics.hpp"
+#include "NativeModel.hpp"
+#include "NativeMotionData.hpp"
+#include "NativeMotionIntrinsics.hpp"
+#include "NativeOption.hpp"
+#include "NativeOptionInfo.hpp"
+#include "NativeSource.hpp"
+#include "NativeStream.hpp"
+#include "NativeStreamData.hpp"
+#include "NativeStreamRequest.hpp"
+
+namespace djinni_generated {
+
+NativeDevice::NativeDevice() : ::djinni::JniInterface<::mynteye_jni::Device, NativeDevice>("com/slightech/mynteye/Device$CppProxy") {}
+
+NativeDevice::~NativeDevice() = default;
+
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_nativeDestroy(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        delete reinterpret_cast<::djinni::CppProxyHandle<::mynteye_jni::Device>*>(nativeRef);
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_create(JNIEnv* jniEnv, jobject /*this*/, ::djinni_generated::NativeDeviceUsbInfo::JniType j_info)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE0(jniEnv);
+        auto r = ::mynteye_jni::Device::Create(::djinni_generated::NativeDeviceUsbInfo::toCpp(jniEnv, j_info));
+        return ::djinni::release(::djinni_generated::NativeDevice::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT ::djinni_generated::NativeModel::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getModel(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetModel();
+        return ::djinni::release(::djinni_generated::NativeModel::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1supportsStream(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_stream)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->SupportsStream(::djinni_generated::NativeStream::toCpp(jniEnv, j_stream));
+        return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1supportsCapability(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeCapability::JniType j_capabilities)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->SupportsCapability(::djinni_generated::NativeCapability::toCpp(jniEnv, j_capabilities));
+        return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1supportsOption(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->SupportsOption(::djinni_generated::NativeOption::toCpp(jniEnv, j_option));
+        return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1supportsAddon(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeAddon::JniType j_addon)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->SupportsAddon(::djinni_generated::NativeAddon::toCpp(jniEnv, j_addon));
+        return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getStreamRequests(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetStreamRequests();
+        return ::djinni::release(::djinni::List<::djinni_generated::NativeStreamRequest>::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1configStreamRequest(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStreamRequest::JniType j_request)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        ref->ConfigStreamRequest(::djinni_generated::NativeStreamRequest::toCpp(jniEnv, j_request));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT jstring JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getInfo(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeInfo::JniType j_info)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetInfo(::djinni_generated::NativeInfo::toCpp(jniEnv, j_info));
+        return ::djinni::release(::djinni::String::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT ::djinni_generated::NativeIntrinsics::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getIntrinsics(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_stream)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetIntrinsics(::djinni_generated::NativeStream::toCpp(jniEnv, j_stream));
+        return ::djinni::release(::djinni_generated::NativeIntrinsics::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT ::djinni_generated::NativeExtrinsics::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getExtrinsics(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_from, ::djinni_generated::NativeStream::JniType j_to)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetExtrinsics(::djinni_generated::NativeStream::toCpp(jniEnv, j_from),
+                                    ::djinni_generated::NativeStream::toCpp(jniEnv, j_to));
+        return ::djinni::release(::djinni_generated::NativeExtrinsics::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT ::djinni_generated::NativeMotionIntrinsics::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getMotionIntrinsics(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetMotionIntrinsics();
+        return ::djinni::release(::djinni_generated::NativeMotionIntrinsics::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT ::djinni_generated::NativeExtrinsics::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getMotionExtrinsics(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_from)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetMotionExtrinsics(::djinni_generated::NativeStream::toCpp(jniEnv, j_from));
+        return ::djinni::release(::djinni_generated::NativeExtrinsics::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT ::djinni_generated::NativeOptionInfo::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getOptionInfo(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetOptionInfo(::djinni_generated::NativeOption::toCpp(jniEnv, j_option));
+        return ::djinni::release(::djinni_generated::NativeOptionInfo::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jint JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getOptionValue(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetOptionValue(::djinni_generated::NativeOption::toCpp(jniEnv, j_option));
+        return ::djinni::release(::djinni::I32::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1setOptionValue(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option, jint j_value)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        ref->SetOptionValue(::djinni_generated::NativeOption::toCpp(jniEnv, j_option),
+                            ::djinni::I32::toCpp(jniEnv, j_value));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1runOptionAction(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->RunOptionAction(::djinni_generated::NativeOption::toCpp(jniEnv, j_option));
+        return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1start(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeSource::JniType j_source)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        ref->Start(::djinni_generated::NativeSource::toCpp(jniEnv, j_source));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1stop(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeSource::JniType j_source)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        ref->Stop(::djinni_generated::NativeSource::toCpp(jniEnv, j_source));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1waitForStreams(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        ref->WaitForStreams();
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT ::djinni_generated::NativeStreamData::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getStreamData(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_stream)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetStreamData(::djinni_generated::NativeStream::toCpp(jniEnv, j_stream));
+        return ::djinni::release(::djinni_generated::NativeStreamData::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getStreamDatas(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_stream)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetStreamDatas(::djinni_generated::NativeStream::toCpp(jniEnv, j_stream));
+        return ::djinni::release(::djinni::List<::djinni_generated::NativeStreamData>::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1enableMotionDatas(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, jint j_maxSize)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        ref->EnableMotionDatas(::djinni::I32::toCpp(jniEnv, j_maxSize));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getMotionDatas(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
+        auto r = ref->GetMotionDatas();
+        return ::djinni::release(::djinni::List<::djinni_generated::NativeMotionData>::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDevice.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDevice.hpp
@ -0,0 +1,32 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye.djinni
+
+#pragma once
+
+#include "device.hpp"
+#include "djinni_support.hpp"
+
+namespace djinni_generated {
+
+class NativeDevice final : ::djinni::JniInterface<::mynteye_jni::Device, NativeDevice> {
+public:
+    using CppType = std::shared_ptr<::mynteye_jni::Device>;
+    using CppOptType = std::shared_ptr<::mynteye_jni::Device>;
+    using JniType = jobject;
+
+    using Boxed = NativeDevice;
+
+    ~NativeDevice();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return ::djinni::JniClass<NativeDevice>::get()._fromJava(jniEnv, j); }
+    static ::djinni::LocalRef<JniType> fromCppOpt(JNIEnv* jniEnv, const CppOptType& c) { return {jniEnv, ::djinni::JniClass<NativeDevice>::get()._toJava(jniEnv, c)}; }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c) { return fromCppOpt(jniEnv, c); }
+
+private:
+    NativeDevice();
+    friend ::djinni::JniClass<NativeDevice>;
+    friend ::djinni::JniInterface<::mynteye_jni::Device, NativeDevice>;
+
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDeviceUsbInfo.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDeviceUsbInfo.cpp
@ -0,0 +1,42 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeDeviceUsbInfo.hpp"  // my header
+#include "Marshal.hpp"
+
+namespace djinni_generated {
+
+NativeDeviceUsbInfo::NativeDeviceUsbInfo() = default;
+
+NativeDeviceUsbInfo::~NativeDeviceUsbInfo() = default;
+
+auto NativeDeviceUsbInfo::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
+    const auto& data = ::djinni::JniClass<NativeDeviceUsbInfo>::get();
+    auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.vid)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.pid)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.fd)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.bus_num)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.dev_num)),
+                                                           ::djinni::get(::djinni::String::fromCpp(jniEnv, c.usb_fs)),
+                                                           ::djinni::get(::djinni::String::fromCpp(jniEnv, c.name)),
+                                                           ::djinni::get(::djinni::String::fromCpp(jniEnv, c.serial)))};
+    ::djinni::jniExceptionCheck(jniEnv);
+    return r;
+}
+
+auto NativeDeviceUsbInfo::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
+    ::djinni::JniLocalScope jscope(jniEnv, 9);
+    assert(j != nullptr);
+    const auto& data = ::djinni::JniClass<NativeDeviceUsbInfo>::get();
+    return {::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mVid)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mPid)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mFd)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mBusNum)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mDevNum)),
+            ::djinni::String::toCpp(jniEnv, (jstring)jniEnv->GetObjectField(j, data.field_mUsbFs)),
+            ::djinni::String::toCpp(jniEnv, (jstring)jniEnv->GetObjectField(j, data.field_mName)),
+            ::djinni::String::toCpp(jniEnv, (jstring)jniEnv->GetObjectField(j, data.field_mSerial))};
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDeviceUsbInfo.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDeviceUsbInfo.hpp
@ -0,0 +1,39 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "device_usb_info.hpp"
+#include "djinni_support.hpp"
+
+namespace djinni_generated {
+
+class NativeDeviceUsbInfo final {
+public:
+    using CppType = ::mynteye_jni::DeviceUsbInfo;
+    using JniType = jobject;
+
+    using Boxed = NativeDeviceUsbInfo;
+
+    ~NativeDeviceUsbInfo();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j);
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
+
+private:
+    NativeDeviceUsbInfo();
+    friend ::djinni::JniClass<NativeDeviceUsbInfo>;
+
+    const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/DeviceUsbInfo") };
+    const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(IIIIILjava/lang/String;Ljava/lang/String;Ljava/lang/String;)V") };
+    const jfieldID field_mVid { ::djinni::jniGetFieldID(clazz.get(), "mVid", "I") };
+    const jfieldID field_mPid { ::djinni::jniGetFieldID(clazz.get(), "mPid", "I") };
+    const jfieldID field_mFd { ::djinni::jniGetFieldID(clazz.get(), "mFd", "I") };
+    const jfieldID field_mBusNum { ::djinni::jniGetFieldID(clazz.get(), "mBusNum", "I") };
+    const jfieldID field_mDevNum { ::djinni::jniGetFieldID(clazz.get(), "mDevNum", "I") };
+    const jfieldID field_mUsbFs { ::djinni::jniGetFieldID(clazz.get(), "mUsbFs", "Ljava/lang/String;") };
+    const jfieldID field_mName { ::djinni::jniGetFieldID(clazz.get(), "mName", "Ljava/lang/String;") };
+    const jfieldID field_mSerial { ::djinni::jniGetFieldID(clazz.get(), "mSerial", "Ljava/lang/String;") };
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeExtrinsics.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeExtrinsics.cpp
@ -0,0 +1,30 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeExtrinsics.hpp"  // my header
+#include "Marshal.hpp"
+
+namespace djinni_generated {
+
+NativeExtrinsics::NativeExtrinsics() = default;
+
+NativeExtrinsics::~NativeExtrinsics() = default;
+
+auto NativeExtrinsics::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
+    const auto& data = ::djinni::JniClass<NativeExtrinsics>::get();
+    auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.rotation)),
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.translation)))};
+    ::djinni::jniExceptionCheck(jniEnv);
+    return r;
+}
+
+auto NativeExtrinsics::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
+    ::djinni::JniLocalScope jscope(jniEnv, 3);
+    assert(j != nullptr);
+    const auto& data = ::djinni::JniClass<NativeExtrinsics>::get();
+    return {::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mRotation)),
+            ::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mTranslation))};
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeExtrinsics.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeExtrinsics.hpp
@ -0,0 +1,33 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "extrinsics.hpp"
+
+namespace djinni_generated {
+
+class NativeExtrinsics final {
+public:
+    using CppType = ::mynteye_jni::Extrinsics;
+    using JniType = jobject;
+
+    using Boxed = NativeExtrinsics;
+
+    ~NativeExtrinsics();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j);
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
+
+private:
+    NativeExtrinsics();
+    friend ::djinni::JniClass<NativeExtrinsics>;
+
+    const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/Extrinsics") };
+    const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(Ljava/util/ArrayList;Ljava/util/ArrayList;)V") };
+    const jfieldID field_mRotation { ::djinni::jniGetFieldID(clazz.get(), "mRotation", "Ljava/util/ArrayList;") };
+    const jfieldID field_mTranslation { ::djinni::jniGetFieldID(clazz.get(), "mTranslation", "Ljava/util/ArrayList;") };
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeFormat.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeFormat.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "format.hpp"
+
+namespace djinni_generated {
+
+class NativeFormat final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::Format;
+    using JniType = jobject;
+
+    using Boxed = NativeFormat;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeFormat>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeFormat>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeFormat() : JniEnum("com/slightech/mynteye/Format") {}
+    friend ::djinni::JniClass<NativeFormat>;
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeFrame.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeFrame.cpp
@ -0,0 +1,73 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeFrame.hpp"  // my header
+#include "Marshal.hpp"
+#include "NativeFormat.hpp"
+
+namespace djinni_generated {
+
+NativeFrame::NativeFrame() : ::djinni::JniInterface<::mynteye_jni::Frame, NativeFrame>("com/slightech/mynteye/Frame$CppProxy") {}
+
+NativeFrame::~NativeFrame() = default;
+
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Frame_00024CppProxy_nativeDestroy(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        delete reinterpret_cast<::djinni::CppProxyHandle<::mynteye_jni::Frame>*>(nativeRef);
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT jint JNICALL Java_com_slightech_mynteye_Frame_00024CppProxy_native_1width(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Frame>(nativeRef);
+        auto r = ref->Width();
+        return ::djinni::release(::djinni::I32::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jint JNICALL Java_com_slightech_mynteye_Frame_00024CppProxy_native_1height(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Frame>(nativeRef);
+        auto r = ref->Height();
+        return ::djinni::release(::djinni::I32::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_Frame_00024CppProxy_native_1format(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Frame>(nativeRef);
+        auto r = ref->Format();
+        return ::djinni::release(::djinni_generated::NativeFormat::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jint JNICALL Java_com_slightech_mynteye_Frame_00024CppProxy_native_1size(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Frame>(nativeRef);
+        auto r = ref->Size();
+        return ::djinni::release(::djinni::I32::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+CJNIEXPORT jbyteArray JNICALL Java_com_slightech_mynteye_Frame_00024CppProxy_native_1data(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Frame>(nativeRef);
+        auto r = ref->Data();
+        return ::djinni::release(::djinni::Binary::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeFrame.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeFrame.hpp
@ -0,0 +1,32 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "frame.hpp"
+
+namespace djinni_generated {
+
+class NativeFrame final : ::djinni::JniInterface<::mynteye_jni::Frame, NativeFrame> {
+public:
+    using CppType = std::shared_ptr<::mynteye_jni::Frame>;
+    using CppOptType = std::shared_ptr<::mynteye_jni::Frame>;
+    using JniType = jobject;
+
+    using Boxed = NativeFrame;
+
+    ~NativeFrame();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return ::djinni::JniClass<NativeFrame>::get()._fromJava(jniEnv, j); }
+    static ::djinni::LocalRef<JniType> fromCppOpt(JNIEnv* jniEnv, const CppOptType& c) { return {jniEnv, ::djinni::JniClass<NativeFrame>::get()._toJava(jniEnv, c)}; }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c) { return fromCppOpt(jniEnv, c); }
+
+private:
+    NativeFrame();
+    friend ::djinni::JniClass<NativeFrame>;
+    friend ::djinni::JniInterface<::mynteye_jni::Frame, NativeFrame>;
+
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImgData.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImgData.cpp
@ -0,0 +1,32 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeImgData.hpp"  // my header
+#include "Marshal.hpp"
+
+namespace djinni_generated {
+
+NativeImgData::NativeImgData() = default;
+
+NativeImgData::~NativeImgData() = default;
+
+auto NativeImgData::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
+    const auto& data = ::djinni::JniClass<NativeImgData>::get();
+    auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
+                                                           ::djinni::get(::djinni::I64::fromCpp(jniEnv, c.frame_id)),
+                                                           ::djinni::get(::djinni::I64::fromCpp(jniEnv, c.timestamp)),
+                                                           ::djinni::get(::djinni::I64::fromCpp(jniEnv, c.exposure_time)))};
+    ::djinni::jniExceptionCheck(jniEnv);
+    return r;
+}
+
+auto NativeImgData::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
+    ::djinni::JniLocalScope jscope(jniEnv, 4);
+    assert(j != nullptr);
+    const auto& data = ::djinni::JniClass<NativeImgData>::get();
+    return {::djinni::I64::toCpp(jniEnv, jniEnv->GetLongField(j, data.field_mFrameId)),
+            ::djinni::I64::toCpp(jniEnv, jniEnv->GetLongField(j, data.field_mTimestamp)),
+            ::djinni::I64::toCpp(jniEnv, jniEnv->GetLongField(j, data.field_mExposureTime))};
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImgData.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImgData.hpp
@ -0,0 +1,34 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "img_data.hpp"
+
+namespace djinni_generated {
+
+class NativeImgData final {
+public:
+    using CppType = ::mynteye_jni::ImgData;
+    using JniType = jobject;
+
+    using Boxed = NativeImgData;
+
+    ~NativeImgData();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j);
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
+
+private:
+    NativeImgData();
+    friend ::djinni::JniClass<NativeImgData>;
+
+    const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/ImgData") };
+    const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(JJJ)V") };
+    const jfieldID field_mFrameId { ::djinni::jniGetFieldID(clazz.get(), "mFrameId", "J") };
+    const jfieldID field_mTimestamp { ::djinni::jniGetFieldID(clazz.get(), "mTimestamp", "J") };
+    const jfieldID field_mExposureTime { ::djinni::jniGetFieldID(clazz.get(), "mExposureTime", "J") };
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuData.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuData.cpp
@ -0,0 +1,38 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeImuData.hpp"  // my header
+#include "Marshal.hpp"
+
+namespace djinni_generated {
+
+NativeImuData::NativeImuData() = default;
+
+NativeImuData::~NativeImuData() = default;
+
+auto NativeImuData::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
+    const auto& data = ::djinni::JniClass<NativeImuData>::get();
+    auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
+                                                           ::djinni::get(::djinni::I64::fromCpp(jniEnv, c.frame_id)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.flag)),
+                                                           ::djinni::get(::djinni::I64::fromCpp(jniEnv, c.timestamp)),
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.accel)),
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.gyro)),
+                                                           ::djinni::get(::djinni::F64::fromCpp(jniEnv, c.temperature)))};
+    ::djinni::jniExceptionCheck(jniEnv);
+    return r;
+}
+
+auto NativeImuData::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
+    ::djinni::JniLocalScope jscope(jniEnv, 7);
+    assert(j != nullptr);
+    const auto& data = ::djinni::JniClass<NativeImuData>::get();
+    return {::djinni::I64::toCpp(jniEnv, jniEnv->GetLongField(j, data.field_mFrameId)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mFlag)),
+            ::djinni::I64::toCpp(jniEnv, jniEnv->GetLongField(j, data.field_mTimestamp)),
+            ::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mAccel)),
+            ::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mGyro)),
+            ::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mTemperature))};
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuData.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuData.hpp
@ -0,0 +1,37 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "imu_data.hpp"
+
+namespace djinni_generated {
+
+class NativeImuData final {
+public:
+    using CppType = ::mynteye_jni::ImuData;
+    using JniType = jobject;
+
+    using Boxed = NativeImuData;
+
+    ~NativeImuData();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j);
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
+
+private:
+    NativeImuData();
+    friend ::djinni::JniClass<NativeImuData>;
+
+    const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/ImuData") };
+    const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(JIJLjava/util/ArrayList;Ljava/util/ArrayList;D)V") };
+    const jfieldID field_mFrameId { ::djinni::jniGetFieldID(clazz.get(), "mFrameId", "J") };
+    const jfieldID field_mFlag { ::djinni::jniGetFieldID(clazz.get(), "mFlag", "I") };
+    const jfieldID field_mTimestamp { ::djinni::jniGetFieldID(clazz.get(), "mTimestamp", "J") };
+    const jfieldID field_mAccel { ::djinni::jniGetFieldID(clazz.get(), "mAccel", "Ljava/util/ArrayList;") };
+    const jfieldID field_mGyro { ::djinni::jniGetFieldID(clazz.get(), "mGyro", "Ljava/util/ArrayList;") };
+    const jfieldID field_mTemperature { ::djinni::jniGetFieldID(clazz.get(), "mTemperature", "D") };
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuIntrinsics.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuIntrinsics.cpp
@ -0,0 +1,34 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeImuIntrinsics.hpp"  // my header
+#include "Marshal.hpp"
+
+namespace djinni_generated {
+
+NativeImuIntrinsics::NativeImuIntrinsics() = default;
+
+NativeImuIntrinsics::~NativeImuIntrinsics() = default;
+
+auto NativeImuIntrinsics::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
+    const auto& data = ::djinni::JniClass<NativeImuIntrinsics>::get();
+    auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.scale)),
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.drift)),
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.noise)),
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.bias)))};
+    ::djinni::jniExceptionCheck(jniEnv);
+    return r;
+}
+
+auto NativeImuIntrinsics::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
+    ::djinni::JniLocalScope jscope(jniEnv, 5);
+    assert(j != nullptr);
+    const auto& data = ::djinni::JniClass<NativeImuIntrinsics>::get();
+    return {::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mScale)),
+            ::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mDrift)),
+            ::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mNoise)),
+            ::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mBias))};
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuIntrinsics.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuIntrinsics.hpp
@ -0,0 +1,35 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "imu_intrinsics.hpp"
+
+namespace djinni_generated {
+
+class NativeImuIntrinsics final {
+public:
+    using CppType = ::mynteye_jni::ImuIntrinsics;
+    using JniType = jobject;
+
+    using Boxed = NativeImuIntrinsics;
+
+    ~NativeImuIntrinsics();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j);
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
+
+private:
+    NativeImuIntrinsics();
+    friend ::djinni::JniClass<NativeImuIntrinsics>;
+
+    const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/ImuIntrinsics") };
+    const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(Ljava/util/ArrayList;Ljava/util/ArrayList;Ljava/util/ArrayList;Ljava/util/ArrayList;)V") };
+    const jfieldID field_mScale { ::djinni::jniGetFieldID(clazz.get(), "mScale", "Ljava/util/ArrayList;") };
+    const jfieldID field_mDrift { ::djinni::jniGetFieldID(clazz.get(), "mDrift", "Ljava/util/ArrayList;") };
+    const jfieldID field_mNoise { ::djinni::jniGetFieldID(clazz.get(), "mNoise", "Ljava/util/ArrayList;") };
+    const jfieldID field_mBias { ::djinni::jniGetFieldID(clazz.get(), "mBias", "Ljava/util/ArrayList;") };
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeInfo.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeInfo.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "info.hpp"
+
+namespace djinni_generated {
+
+class NativeInfo final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::Info;
+    using JniType = jobject;
+
+    using Boxed = NativeInfo;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeInfo>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeInfo>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeInfo() : JniEnum("com/slightech/mynteye/Info") {}
+    friend ::djinni::JniClass<NativeInfo>;
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeIntrinsics.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeIntrinsics.cpp
@ -0,0 +1,43 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeIntrinsics.hpp"  // my header
+#include "Marshal.hpp"
+#include "NativeCalibrationModel.hpp"
+
+namespace djinni_generated {
+
+NativeIntrinsics::NativeIntrinsics() = default;
+
+NativeIntrinsics::~NativeIntrinsics() = default;
+
+auto NativeIntrinsics::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
+    const auto& data = ::djinni::JniClass<NativeIntrinsics>::get();
+    auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
+                                                           ::djinni::get(::djinni_generated::NativeCalibrationModel::fromCpp(jniEnv, c.calib_model)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.width)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.height)),
+                                                           ::djinni::get(::djinni::F64::fromCpp(jniEnv, c.fx)),
+                                                           ::djinni::get(::djinni::F64::fromCpp(jniEnv, c.fy)),
+                                                           ::djinni::get(::djinni::F64::fromCpp(jniEnv, c.cx)),
+                                                           ::djinni::get(::djinni::F64::fromCpp(jniEnv, c.cy)),
+                                                           ::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.coeffs)))};
+    ::djinni::jniExceptionCheck(jniEnv);
+    return r;
+}
+
+auto NativeIntrinsics::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
+    ::djinni::JniLocalScope jscope(jniEnv, 9);
+    assert(j != nullptr);
+    const auto& data = ::djinni::JniClass<NativeIntrinsics>::get();
+    return {::djinni_generated::NativeCalibrationModel::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mCalibModel)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mWidth)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mHeight)),
+            ::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mFx)),
+            ::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mFy)),
+            ::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mCx)),
+            ::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mCy)),
+            ::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mCoeffs))};
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeIntrinsics.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeIntrinsics.hpp
@ -0,0 +1,39 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "intrinsics.hpp"
+
+namespace djinni_generated {
+
+class NativeIntrinsics final {
+public:
+    using CppType = ::mynteye_jni::Intrinsics;
+    using JniType = jobject;
+
+    using Boxed = NativeIntrinsics;
+
+    ~NativeIntrinsics();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j);
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
+
+private:
+    NativeIntrinsics();
+    friend ::djinni::JniClass<NativeIntrinsics>;
+
+    const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/Intrinsics") };
+    const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(Lcom/slightech/mynteye/CalibrationModel;IIDDDDLjava/util/ArrayList;)V") };
+    const jfieldID field_mCalibModel { ::djinni::jniGetFieldID(clazz.get(), "mCalibModel", "Lcom/slightech/mynteye/CalibrationModel;") };
+    const jfieldID field_mWidth { ::djinni::jniGetFieldID(clazz.get(), "mWidth", "I") };
+    const jfieldID field_mHeight { ::djinni::jniGetFieldID(clazz.get(), "mHeight", "I") };
+    const jfieldID field_mFx { ::djinni::jniGetFieldID(clazz.get(), "mFx", "D") };
+    const jfieldID field_mFy { ::djinni::jniGetFieldID(clazz.get(), "mFy", "D") };
+    const jfieldID field_mCx { ::djinni::jniGetFieldID(clazz.get(), "mCx", "D") };
+    const jfieldID field_mCy { ::djinni::jniGetFieldID(clazz.get(), "mCy", "D") };
+    const jfieldID field_mCoeffs { ::djinni::jniGetFieldID(clazz.get(), "mCoeffs", "Ljava/util/ArrayList;") };
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeModel.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeModel.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "model.hpp"
+
+namespace djinni_generated {
+
+class NativeModel final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::Model;
+    using JniType = jobject;
+
+    using Boxed = NativeModel;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeModel>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeModel>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeModel() : JniEnum("com/slightech/mynteye/Model") {}
+    friend ::djinni::JniClass<NativeModel>;
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionData.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionData.cpp
@ -0,0 +1,32 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeMotionData.hpp"  // my header
+#include "NativeImuData.hpp"
+
+namespace djinni_generated {
+
+NativeMotionData::NativeMotionData() : ::djinni::JniInterface<::mynteye_jni::MotionData, NativeMotionData>("com/slightech/mynteye/MotionData$CppProxy") {}
+
+NativeMotionData::~NativeMotionData() = default;
+
+
+CJNIEXPORT void JNICALL Java_com_slightech_mynteye_MotionData_00024CppProxy_nativeDestroy(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        delete reinterpret_cast<::djinni::CppProxyHandle<::mynteye_jni::MotionData>*>(nativeRef);
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
+}
+
+CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_MotionData_00024CppProxy_native_1imu(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
+{
+    try {
+        DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
+        const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::MotionData>(nativeRef);
+        auto r = ref->Imu();
+        return ::djinni::release(::djinni_generated::NativeImuData::fromCpp(jniEnv, r));
+    } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionData.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionData.hpp
@ -0,0 +1,32 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "motion_data.hpp"
+
+namespace djinni_generated {
+
+class NativeMotionData final : ::djinni::JniInterface<::mynteye_jni::MotionData, NativeMotionData> {
+public:
+    using CppType = std::shared_ptr<::mynteye_jni::MotionData>;
+    using CppOptType = std::shared_ptr<::mynteye_jni::MotionData>;
+    using JniType = jobject;
+
+    using Boxed = NativeMotionData;
+
+    ~NativeMotionData();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return ::djinni::JniClass<NativeMotionData>::get()._fromJava(jniEnv, j); }
+    static ::djinni::LocalRef<JniType> fromCppOpt(JNIEnv* jniEnv, const CppOptType& c) { return {jniEnv, ::djinni::JniClass<NativeMotionData>::get()._toJava(jniEnv, c)}; }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c) { return fromCppOpt(jniEnv, c); }
+
+private:
+    NativeMotionData();
+    friend ::djinni::JniClass<NativeMotionData>;
+    friend ::djinni::JniInterface<::mynteye_jni::MotionData, NativeMotionData>;
+
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionIntrinsics.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionIntrinsics.cpp
@ -0,0 +1,30 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeMotionIntrinsics.hpp"  // my header
+#include "NativeImuIntrinsics.hpp"
+
+namespace djinni_generated {
+
+NativeMotionIntrinsics::NativeMotionIntrinsics() = default;
+
+NativeMotionIntrinsics::~NativeMotionIntrinsics() = default;
+
+auto NativeMotionIntrinsics::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
+    const auto& data = ::djinni::JniClass<NativeMotionIntrinsics>::get();
+    auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
+                                                           ::djinni::get(::djinni_generated::NativeImuIntrinsics::fromCpp(jniEnv, c.accel)),
+                                                           ::djinni::get(::djinni_generated::NativeImuIntrinsics::fromCpp(jniEnv, c.gyro)))};
+    ::djinni::jniExceptionCheck(jniEnv);
+    return r;
+}
+
+auto NativeMotionIntrinsics::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
+    ::djinni::JniLocalScope jscope(jniEnv, 3);
+    assert(j != nullptr);
+    const auto& data = ::djinni::JniClass<NativeMotionIntrinsics>::get();
+    return {::djinni_generated::NativeImuIntrinsics::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mAccel)),
+            ::djinni_generated::NativeImuIntrinsics::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mGyro))};
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionIntrinsics.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionIntrinsics.hpp
@ -0,0 +1,33 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "motion_intrinsics.hpp"
+
+namespace djinni_generated {
+
+class NativeMotionIntrinsics final {
+public:
+    using CppType = ::mynteye_jni::MotionIntrinsics;
+    using JniType = jobject;
+
+    using Boxed = NativeMotionIntrinsics;
+
+    ~NativeMotionIntrinsics();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j);
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
+
+private:
+    NativeMotionIntrinsics();
+    friend ::djinni::JniClass<NativeMotionIntrinsics>;
+
+    const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/MotionIntrinsics") };
+    const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(Lcom/slightech/mynteye/ImuIntrinsics;Lcom/slightech/mynteye/ImuIntrinsics;)V") };
+    const jfieldID field_mAccel { ::djinni::jniGetFieldID(clazz.get(), "mAccel", "Lcom/slightech/mynteye/ImuIntrinsics;") };
+    const jfieldID field_mGyro { ::djinni::jniGetFieldID(clazz.get(), "mGyro", "Lcom/slightech/mynteye/ImuIntrinsics;") };
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOption.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOption.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "option.hpp"
+
+namespace djinni_generated {
+
+class NativeOption final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::Option;
+    using JniType = jobject;
+
+    using Boxed = NativeOption;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeOption>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeOption>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeOption() : JniEnum("com/slightech/mynteye/Option") {}
+    friend ::djinni::JniClass<NativeOption>;
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOptionInfo.cpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOptionInfo.cpp
@ -0,0 +1,32 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#include "NativeOptionInfo.hpp"  // my header
+#include "Marshal.hpp"
+
+namespace djinni_generated {
+
+NativeOptionInfo::NativeOptionInfo() = default;
+
+NativeOptionInfo::~NativeOptionInfo() = default;
+
+auto NativeOptionInfo::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
+    const auto& data = ::djinni::JniClass<NativeOptionInfo>::get();
+    auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.min)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.max)),
+                                                           ::djinni::get(::djinni::I32::fromCpp(jniEnv, c.def)))};
+    ::djinni::jniExceptionCheck(jniEnv);
+    return r;
+}
+
+auto NativeOptionInfo::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
+    ::djinni::JniLocalScope jscope(jniEnv, 4);
+    assert(j != nullptr);
+    const auto& data = ::djinni::JniClass<NativeOptionInfo>::get();
+    return {::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mMin)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mMax)),
+            ::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mDef))};
+}
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOptionInfo.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOptionInfo.hpp
@ -0,0 +1,34 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "option_info.hpp"
+
+namespace djinni_generated {
+
+class NativeOptionInfo final {
+public:
+    using CppType = ::mynteye_jni::OptionInfo;
+    using JniType = jobject;
+
+    using Boxed = NativeOptionInfo;
+
+    ~NativeOptionInfo();
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j);
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
+
+private:
+    NativeOptionInfo();
+    friend ::djinni::JniClass<NativeOptionInfo>;
+
+    const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/OptionInfo") };
+    const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(III)V") };
+    const jfieldID field_mMin { ::djinni::jniGetFieldID(clazz.get(), "mMin", "I") };
+    const jfieldID field_mMax { ::djinni::jniGetFieldID(clazz.get(), "mMax", "I") };
+    const jfieldID field_mDef { ::djinni::jniGetFieldID(clazz.get(), "mDef", "I") };
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeSource.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeSource.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "source.hpp"
+
+namespace djinni_generated {
+
+class NativeSource final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::Source;
+    using JniType = jobject;
+
+    using Boxed = NativeSource;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeSource>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeSource>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeSource() : JniEnum("com/slightech/mynteye/Source") {}
+    friend ::djinni::JniClass<NativeSource>;
+};
+
+}  // namespace djinni_generated
--- a/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeStream.hpp
+++ b/wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeStream.hpp
@ -0,0 +1,26 @@
+// AUTOGENERATED FILE - DO NOT MODIFY!
+// This file generated by Djinni from mynteye_types.djinni
+
+#pragma once
+
+#include "djinni_support.hpp"
+#include "stream.hpp"
+
+namespace djinni_generated {
+
+class NativeStream final : ::djinni::JniEnum {
+public:
+    using CppType = ::mynteye_jni::Stream;
+    using JniType = jobject;
+
+    using Boxed = NativeStream;
+
+    static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeStream>::get().ordinal(jniEnv, j)); }
+    static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeStream>::get().create(jniEnv, static_cast<jint>(c)); }
+
+private:
+    NativeStream() : JniEnum("com/slightech/mynteye/Stream") {}
+    friend ::djinni::JniClass<NativeStream>;
+};
+
+}  // namespace djinni_generated
--- a/Show More
+++ b/Show More