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

.gitignore

@@ -16,6 +16,11 @@ _output/
 
 /plugins/
 
+/3rdparty/opencv/
+/pkginfo.sh
+/*.nsi
+/*.exe
+
 # ros
 
 /wrappers/ros/build

CMakeLists.txt

@@ -14,10 +14,14 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.0.1 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.2 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
+if(NOT CMAKE_DEBUG_POSTFIX)
+  set(CMAKE_DEBUG_POSTFIX d)
+endif()
+
 # options
 
 include(cmake/Option.cmake)
@@ -79,6 +83,17 @@ configure_file(
   include/mynteye/mynteye.h @ONLY
 )
 
+configure_file(
+  cmake/templates/pkginfo.sh.in
+  ${CMAKE_CURRENT_SOURCE_DIR}/pkginfo.sh @ONLY
+)
+if(OS_WIN)
+  configure_file(
+    scripts/win/nsis/winpack.nsi.in
+    ${CMAKE_CURRENT_SOURCE_DIR}/winpack.nsi @ONLY
+  )
+endif()
+
 # targets
 
 add_definitions(-DMYNTEYE_EXPORTS)
@@ -90,11 +105,6 @@ set_outdir(
   "${OUT_DIR}/bin"
 )
 
-set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
-set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
-set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
-set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
-
 ## main
 
 if(WITH_GLOG)
@@ -108,84 +118,58 @@ endif()
 
 ## libmynteye
 
-if(NOT WITH_GLOG)
+if(NOT WITH_GLOG AND NOT OS_WIN)
   set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
   unset(__MINIGLOG_FLAGS)
 endif()
 
-set(MYNTEYE_PUBLIC_H
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
-  ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/device/context.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/device/device.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/files.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/strings.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/times.h
-)
-if(WITH_API)
-  list(APPEND MYNTEYE_PUBLIC_H
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/api.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/plugin.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
-  )
-endif()
-if(NOT WITH_GLOG)
-  list(APPEND MYNTEYE_PUBLIC_H
-    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
-  )
-endif()
-
 if(OS_WIN)
-  set(UVC_SRC src/uvc/uvc-wmf.cc)
+  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
 elseif(OS_MAC)
-  set(UVC_SRC src/uvc/uvc-libuvc.cc)
+  set(UVC_SRC src/mynteye/uvc/macosx/uvc-libuvc.cc)
 
   find_package(libuvc REQUIRED)
   set(UVC_LIB ${libuvc_LIBRARIES})
 
   include_directories(${libuvc_INCLUDE_DIRS})
 elseif(OS_LINUX)
-  set(UVC_SRC src/uvc/uvc-v4l2.cc)
+  set(UVC_SRC src/mynteye/uvc/linux/uvc-v4l2.cc)
 else()
   message(FATAL_ERROR "Unsupported OS.")
 endif()
 
 set(MYNTEYE_SRCS
   ${UVC_SRC}
-  src/internal/channels.cc
+  src/mynteye/types.cc
-  src/internal/config.cc
+  src/mynteye/util/files.cc
-  src/internal/dl.cc
+  src/mynteye/util/strings.cc
-  src/internal/files.cc
+  src/mynteye/device/channels.cc
-  src/internal/motions.cc
+  src/mynteye/device/config.cc
-  src/internal/streams.cc
+  src/mynteye/device/context.cc
-  src/internal/strings.cc
+  src/mynteye/device/device.cc
-  src/internal/types.cc
+  src/mynteye/device/device_s.cc
-  src/public/types.cc
+  src/mynteye/device/motions.cc
-  src/public/utils.cc
+  src/mynteye/device/streams.cc
-  src/device/context.cc
+  src/mynteye/device/types.cc
-  src/device/device.cc
+  src/mynteye/device/utils.cc
-  src/device/device_s.cc
 )
 if(WITH_API)
   list(APPEND MYNTEYE_SRCS
-    src/api/api.cc
+    src/mynteye/api/api.cc
-    src/api/synthetic.cc
+    src/mynteye/api/dl.cc
-    src/api/processor/processor.cc
+    src/mynteye/api/processor.cc
-    src/api/processor/rectify_processor.cc
+    src/mynteye/api/synthetic.cc
-    src/api/processor/disparity_processor.cc
+    src/mynteye/api/processor/rectify_processor.cc
-    src/api/processor/disparity_normalized_processor.cc
+    src/mynteye/api/processor/disparity_processor.cc
-    src/api/processor/depth_processor.cc
+    src/mynteye/api/processor/disparity_normalized_processor.cc
-    src/api/processor/points_processor.cc
+    src/mynteye/api/processor/depth_processor.cc
+    src/mynteye/api/processor/points_processor.cc
   )
 endif()
 if(NOT WITH_GLOG)
-  list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
+  list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
 endif()
 
 set(MYNTEYE_LINKLIBS ${UVC_LIB})
@@ -214,27 +198,78 @@ target_include_directories(${MYNTEYE_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>"
-  "$<INSTALL_INTERFACE:${MYNTEYE_CMAKE_INCLUDE_DIR}>"
+  "$<INSTALL_INTERFACE:include>"
 )
 
 set_target_properties(${MYNTEYE_NAME} PROPERTIES
   VERSION ${PROJECT_VERSION}
   SOVERSION ${PROJECT_VERSION_MAJOR}
 )
-set_target_properties(${MYNTEYE_NAME} PROPERTIES
-  PUBLIC_HEADER "${MYNTEYE_PUBLIC_H}"
-)
 
 # install
 
-#message(STATUS "MYNTEYE_CMAKE_INCLUDE_DIR: ${MYNTEYE_CMAKE_INCLUDE_DIR}")
+set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include/${MYNTEYE_NAME}")
-#message(STATUS "MYNTEYE_CMAKE_BINDIR: ${MYNTEYE_CMAKE_BINDIR}")
+set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
-#message(STATUS "MYNTEYE_CMAKE_LIBDIR: ${MYNTEYE_CMAKE_LIBDIR}")
+set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
-#message(STATUS "MYNTEYE_CMAKE_INSTALLDIR: ${MYNTEYE_CMAKE_INSTALLDIR}")
+set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/callbacks.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/context.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/utils.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/device
+)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/files.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/strings.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/times.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/util
+)
+if(WITH_API)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/api.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/plugin.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/object.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/api
+  )
+endif()
+if(NOT WITH_GLOG)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+  )
+endif()
+
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/callbacks.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/context.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/files.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/glog_init.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/strings.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/times.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/utils.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+)
+if(WITH_API)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/api.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/plugin.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/object.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+  )
+endif()
 
 install(TARGETS ${MYNTEYE_NAME}
   EXPORT ${MYNTEYE_NAME}-targets
-  PUBLIC_HEADER DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/${MYNTEYE_NAME}
   RUNTIME DESTINATION ${MYNTEYE_CMAKE_BINDIR}
   LIBRARY DESTINATION ${MYNTEYE_CMAKE_LIBDIR}
   ARCHIVE DESTINATION ${MYNTEYE_CMAKE_LIBDIR}

CommonDefs.mk

@@ -26,6 +26,16 @@ SINGLE_QUOTE := '
 OPEN_PAREN := (
 CLOSE_PAREN := )
 
+# Options
+#
+#   VS_CODE: ignore to auto detect, otherwise specify the version
+#            15|2017, 14|2015, 12|2013, 11|2012, 10|2010, 9|2008, 8|2005
+#   BUILD_TYPE: Debug|Release
+#
+# e.g. make [TARGET] VS_CODE=2017 BUILD_TYPE=Debug
+
+BUILD_TYPE ?= Release
+
 # Host detection
 
 ifeq ($(OS),Windows_NT)
@@ -124,7 +134,7 @@ ifeq ($(HOST_OS),Win)
     CC := cl
     CXX := cl
     MAKE := make
-    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
+    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=$(BUILD_TYPE)
   endif
 else
   # mac & linux
@@ -144,8 +154,7 @@ endif
 # CMake
 
 CMAKE := cmake
-# CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Debug
+CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
-CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Release
 ifneq ($(CC),)
   CMAKE := $(CMAKE) -DCMAKE_C_COMPILER=$(CC)
 endif
@@ -202,6 +211,15 @@ endif
 
 endif
 
+# Package
+
+PKGVERSION := $(shell ./scripts/version.sh)
+PKGNAME := mynteye-s-$(PKGVERSION)-$(HOST_OS)-$(HOST_ARCH)
+ifeq ($(HOST_OS),Linux)
+  PKGNAME := $(PKGNAME)-gcc$(shell gcc -dumpversion | cut -c 1-1)
+endif
+PKGNAME := $(call lower,$(PKGNAME))
+
 # Shell
 
 # `sh` is not possible to export a function

Jenkinsfile

@@ -0,0 +1,103 @@
+pipeline {
+  agent {
+    // docker { image 'ros:kinetic-ros-base-xenial' }
+    docker { image 'joinaero/kinetic-ros-opencv-xenial' }
+  }
+
+  /*
+  environment {
+    // FindOpenCV.cmake
+    OpenCV_DIR = '/opt/ros/kinetic/share/OpenCV-3.3.1-dev'
+  }
+  */
+
+  stages {
+    stage('Prepare') {
+      steps {
+        echo "WORKSPACE: ${env.WORKSPACE}"
+        echo 'apt-get ..'
+        sh 'apt-get update'
+      }
+    }
+    stage('Init') {
+      steps {
+        echo 'make init ..'
+        sh 'make init INIT_OPTIONS=-y'
+        // echo 'skip get submodules and make test'
+        // sh './scripts/init.sh -y'
+      }
+    }
+    stage('Build') {
+      steps {
+        echo 'make build ..'
+        sh '. /opt/ros/kinetic/setup.sh; make build'
+      }
+    }
+    stage('Install') {
+      steps {
+        echo 'make install ..'
+        sh '. /opt/ros/kinetic/setup.sh; make install SUDO='
+      }
+    }
+    stage('Test') {
+      steps {
+        echo 'make test ..'
+        sh '. /opt/ros/kinetic/setup.sh; make test SUDO='
+      }
+    }
+    stage('Samples') {
+      steps {
+        echo 'make samples ..'
+        sh '. /opt/ros/kinetic/setup.sh; make samples SUDO='
+      }
+    }
+    stage('Tools') {
+      steps {
+        echo 'make tools ..'
+        sh '. /opt/ros/kinetic/setup.sh; make tools SUDO='
+      }
+    }
+    stage('ROS') {
+      steps {
+        echo 'make ros ..'
+        sh '''
+        . /opt/ros/kinetic/setup.sh
+        rosdep install --from-paths wrappers/ros/src --ignore-src --rosdistro kinetic -y
+        make ros SUDO=
+        '''
+      }
+    }
+    /*
+    stage('Clean') {
+      steps {
+        echo 'clean ..'
+        sh '''
+        rm -rf /var/lib/apt/lists/*
+        '''
+      }
+    }
+    */
+  }
+
+  post {
+    always {
+      echo 'This will always run'
+    }
+    success {
+      echo 'This will run only if successful'
+    }
+    failure {
+      echo 'This will run only if failed'
+      mail to: 'mynteye-ci@slightech.com',
+      subject: "Failed Pipeline: ${currentBuild.fullDisplayName}",
+      body: "Something is wrong with ${env.BUILD_URL}"
+    }
+    unstable {
+      echo 'This will run only if the run was marked as unstable'
+    }
+    changed {
+      echo 'This will run only if the state of the Pipeline has changed'
+      echo 'For example, if the Pipeline was previously failing but is now successful'
+    }
+  }
+}

Makefile

@@ -22,6 +22,8 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 #   UNIX: /usr/local
 #   Windows: c:/Program Files/${PROJECT_NAME}
 
+SUDO ?= sudo
+
 .DEFAULT_GOAL := help
 
 help:
@@ -35,6 +37,7 @@ help:
 	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
+	@echo "  make pkg             package sdk"
 	@echo "  make ros             build ros wrapper"
 	@echo "  make py              build python wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
@@ -49,7 +52,8 @@ all: test samples tools
 
 apidoc:
 	@$(call echo,Make $@)
-	@[ -e ./_install/include ] || $(MAKE) install
+	@# @[ -e ./_install/include ] || $(MAKE) install
+	@[ -e /usr/local/include/mynteye ] || $(MAKE) install
 	@$(SH) ./doc/build.sh
 
 opendoc: apidoc
@@ -76,7 +80,7 @@ submodules:
 
 init: submodules
 	@$(call echo,Make $@)
-	@$(SH) ./scripts/init.sh
+	@$(SH) ./scripts/init.sh $(INIT_OPTIONS)
 
 .PHONY: init
 
@@ -123,11 +127,26 @@ else
 	@cd ./_build; make install
 endif
 else
-	@cd ./_build; sudo make install
+ifeq ($(HOST_OS),Linux)
+	@cd ./_build; $(SUDO) make install
+else
+	@cd ./_build; make install
+endif
 endif
 
 .PHONY: install
 
+uninstall:
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Linux)
+	$(SUDO) rm -rf /usr/local/lib/libmynteye*
+	$(SUDO) rm -rf /usr/local/include/mynteye/
+	$(SUDO) rm -rf /usr/local/lib/cmake/mynteye/
+	$(SUDO) rm -rf /usr/local/share/mynteye/
+endif
+
+.PHONY: uninstall
+
 # samples
 
 samples: install
@@ -144,14 +163,30 @@ tools: install
 
 .PHONY: tools
 
+# pkg
+
+pkg: clean
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
+	@$(SH) ./scripts/win/winpack.sh "$(PKGNAME)"
+else
+	$(error "Can't make pkg on $(HOST_OS)")
+endif
+
+cleanpkg:
+	@$(call echo,Make $@)
+	@$(call rm_f,$(PKGNAME)*)
+
+.PHONY: pkg cleanpkg
+
 # ros
 
 ros: install
 	@$(call echo,Make $@)
-ifeq ($(HOST_OS),Win)
+ifeq ($(HOST_OS),Linux)
-	$(error "Can't make ros on win")
+	@cd ./wrappers/ros && catkin_make -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 else
-	@cd ./wrappers/ros && catkin_make
+	$(error "Can't make ros on $(HOST_OS)")
 endif
 
 .PHONY: ros
@@ -260,6 +295,7 @@ host:
 	@echo BUILD: $(BUILD)
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
+	@echo PKGNAME: $(PKGNAME)
 
 .PHONY: host
 

README.md

@@ -1,10 +1,10 @@
-# MYNT® EYE SDK
+# MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.1--rc1-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2--rc0-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
-MYNT® EYE SDK 2.0 is a cross-platform library for MYNT® EYE cameras.
+MYNT® EYE S SDK is a cross-platform library for MYNT® EYE Standard cameras.
 
 The following platforms have been tested:
 
@@ -16,13 +16,12 @@ Please follow the guide doc to install the SDK on different platforms.
 
 ## Documentations
 
-* [API Doc](https://github.com/slightech/MYNT-EYE-SDK-2/releases): API reference, some guides and data spec.
+* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285351/mynt-eye-sdk-apidoc-2.0.1-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285352/mynt-eye-sdk-apidoc-2.0.1-rc1-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2562294/mynt-eye-s-sdk-apidoc-2.2.2-rc0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2562296/mynt-eye-s-sdk-apidoc-2.2.2-rc0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285353/mynt-eye-sdk-apidoc-2.0.1-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285354/mynt-eye-sdk-apidoc-2.0.1-rc1-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-sdk-apidoc-2.0.1-rc1-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc1-html-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2562297/mynt-eye-s-sdk-apidoc-2.2.2-rc0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2562298/mynt-eye-s-sdk-apidoc-2.2.2-rc0-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.2-rc0-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-rc0-zh-Hans/index.html)
-* [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases): How to install and start using the SDK.
+* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281782/mynt-eye-sdk-guide-2.0.1-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281783/mynt-eye-sdk-guide-2.0.1-rc1-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2562348/mynt-eye-s-sdk-guide-2.2.2-rc0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2562352/mynt-eye-s-sdk-guide-2.2.2-rc0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281785/mynt-eye-sdk-guide-2.0.1-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281786/mynt-eye-sdk-guide-2.0.1-rc1-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-sdk-guide-2.0.1-rc1-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc1-html-zh-Hans/index.html)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2562353/mynt-eye-s-sdk-guide-2.2.2-rc0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2562356/mynt-eye-s-sdk-guide-2.2.2-rc0-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.2-rc0-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-rc0-zh-Hans/index.html)
-
 
 > Supported languages: `en`, `zh-Hans`.
 
@@ -30,7 +29,7 @@ Please follow the guide doc to install the SDK on different platforms.
 
 [MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
 
-Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.0.1`.
+Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.2`.
 
 ## Usage
 
@@ -62,8 +61,8 @@ make samples
 
 ## Mirrors
 
-国内镜像：[码云](https://gitee.com/mynt/MYNT-EYE-SDK-2)。
+国内镜像：[码云](https://gitee.com/mynt/MYNT-EYE-S-SDK)。
 
 ## License
 
-This project is licensed under the Apache License, Version 2.0. Copyright 2018 Slightech Co., Ltd.
+This project is licensed under the [Apache License, Version 2.0](LICENSE). Copyright 2018 Slightech Co., Ltd.

cmake/Common.cmake

@@ -70,7 +70,9 @@ macro(set_outdir ARCHIVE_OUTPUT_DIRECTORY LIBRARY_OUTPUT_DIRECTORY RUNTIME_OUTPU
   endforeach()
 endmacro()
 
-set(__exe2bat_relative_path false)
+if(NOT __exe2bat_relative_path)
+  set(__exe2bat_relative_path false)
+endif()
 
 macro(exe2bat exe_name exe_dir dll_search_paths)
   message(STATUS "Generating ${exe_name}.bat")

cmake/DetectOpenCV.cmake

@@ -15,14 +15,25 @@
 include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
 cmake_include_guard()
 
-find_package(OpenCV REQUIRED)
+if(OpenCV_FIND_QUIET)
-message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+  find_package(OpenCV QUIET)
-if(OpenCV_VERSION VERSION_LESS 3.0)
-  add_definitions(-DUSE_OPENCV2)
-elseif(OpenCV_VERSION VERSION_LESS 4.0)
-  add_definitions(-DUSE_OPENCV3)
 else()
-  add_definitions(-DUSE_OPENCV4)
+  find_package(OpenCV REQUIRED)
+endif()
+
+if(OpenCV_FOUND)
+
+#message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+
+set(WITH_OPENCV TRUE)
+add_definitions(-DWITH_OPENCV)
+
+if(OpenCV_VERSION VERSION_LESS 3.0)
+  add_definitions(-DWITH_OPENCV2)
+elseif(OpenCV_VERSION VERSION_LESS 4.0)
+  add_definitions(-DWITH_OPENCV3)
+else()
+  add_definitions(-DWITH_OPENCV4)
 endif()
 
 list(FIND OpenCV_LIBS "opencv_world" __index)
@@ -35,3 +46,9 @@ if(MSVC OR MSYS OR MINGW)
 else()
   set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
 endif()
+
+else()
+
+set(WITH_OPENCV FALSE)
+
+endif()

cmake/templates/pkginfo.sh.in

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+OpenCV_VERSION=@OpenCV_VERSION@
+OpenCV_VERSION_MAJOR=@OpenCV_VERSION_MAJOR@
+OpenCV_VERSION_MINOR=@OpenCV_VERSION_MINOR@
+OpenCV_VERSION_PATCH=@OpenCV_VERSION_PATCH@
+OpenCV_VERSION_STATUS=@OpenCV_VERSION_STATUS@
+
+_contains() {
+  [ `echo $1 | grep -c "$2"` -gt 0 ]
+}
+
+if _contains "@OpenCV_INCLUDE_DIRS@" "/ros/"; then
+  ROS_VERSION=$(rosversion -d)
+  OpenCV_VERSION=ros-$ROS_VERSION
+fi

doc/build.sh

@@ -52,16 +52,30 @@ for lang in "${LANGS[@]}"; do
     _mkdir "$OUTPUT/$lang"
     _echo_i "doxygen $DOXYFILE"
     doxygen $DOXYFILE
-    if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
+
-      _echo_in "doxygen make latex"
     version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
       sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
-      filename="mynt-eye-sdk-apidoc"; \
+
+    # html
+    if [ -d "$OUTPUT/$lang/html" ]; then
+      dirname="mynt-eye-s-sdk-apidoc"; \
+        [ -n "$version" ] && dirname="$dirname-$version"; \
+        dirname="$dirname-$lang"
+      cd "$OUTPUT/$lang"
+      [ -d "$dirname" ] && rm -rf "$dirname"
+      mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
+    fi
+
+    # latex
+    if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
+      _echo_in "doxygen make latex"
+      filename="mynt-eye-s-sdk-apidoc"; \
         [ -n "$version" ] && filename="$filename-$version"; \
         filename="$filename-$lang.pdf"
       cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
       [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
     fi
+
     _echo_d "doxygen completed"
   else
     _echo_e "$DOXYFILE not found"

doc/en/api.doxyfile

@@ -32,19 +32,19 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "MYNT EYE SDK"
+PROJECT_NAME           = "MYNT EYE S SDK"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.0.1-rc1
+PROJECT_NUMBER         = 2.2.2-rc0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = http://www.myntai.com/camera
+PROJECT_BRIEF          = http://www.myntai.com/mynteye/standard
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
@@ -801,7 +801,7 @@ INPUT                  = mainpage.md \
                          specs_ctrl.md \
                          spec_control_api.md \
                          spec_control_channel.md \
-                         ../../_install/include
+                         /usr/local/include/mynteye
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -884,7 +884,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = /usr/local/include/mynteye/logger.h \
+                         /usr/local/include/mynteye/miniglog.h
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -1309,7 +1310,7 @@ DOCSET_PUBLISHER_ID    = com.slightech.mynteye.documentation
 # The default value is: Publisher.
 # This tag requires that the tag GENERATE_DOCSET is set to YES.
 
-DOCSET_PUBLISHER_NAME  = MYNT EYE SDK
+DOCSET_PUBLISHER_NAME  = MYNT EYE S SDK
 
 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The

doc/en/mainpage.md

@@ -1,4 +1,4 @@
-# MYNT EYE SDK {#mainpage}
+# MYNT EYE S SDK {#mainpage}
 
 * <a class="el" href="annotated.html">API Classes</a>
 * <a class="el" href="modules.html">API Modules</a>

doc/en/spec_control_api.md

@@ -14,7 +14,7 @@ There are two control modes, one is through UVC standard protocol, the other is
 
 | Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note |
 | :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- |
-| Frame rate | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55} |
+| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
 | IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
 | Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
 | Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |

doc/zh-Hans/api.doxyfile

@@ -32,19 +32,19 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "MYNT EYE SDK"
+PROJECT_NAME           = "MYNT EYE S SDK"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.0.1-rc1
+PROJECT_NUMBER         = 2.2.2-rc0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = http://www.myntai.com/camera
+PROJECT_BRIEF          = http://www.myntai.com/mynteye/standard
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
@@ -801,7 +801,7 @@ INPUT                  = mainpage.md \
                          specs_ctrl.md \
                          spec_control_api.md \
                          spec_control_channel.md \
-                         ../../_install/include
+                         /usr/local/include/mynteye
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -884,7 +884,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = /usr/local/include/mynteye/logger.h \
+                         /usr/local/include/mynteye/miniglog.h
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -1309,7 +1310,7 @@ DOCSET_PUBLISHER_ID    = com.slightech.mynteye.documentation
 # The default value is: Publisher.
 # This tag requires that the tag GENERATE_DOCSET is set to YES.
 
-DOCSET_PUBLISHER_NAME  = MYNT EYE SDK
+DOCSET_PUBLISHER_NAME  = MYNT EYE S SDK
 
 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The

doc/zh-Hans/guide_build_linux.md

@@ -5,13 +5,13 @@
 ## 获取代码
 
 ```bash
-git clone https://github.com/slightech/MYNT-EYE-SDK-2.git
+git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
 ```
 
 ## 准备依赖
 
 ```bash
-cd mynt-eye-sdk-2/
+cd mynt-eye-s-sdk/
 make init
 ```
 

doc/zh-Hans/guide_build_win.md

@@ -72,13 +72,13 @@ GNU Make 4.2.1
 ## 获取代码
 
 ```cmd
->git clone https://github.com/slightech/MYNT-EYE-SDK-2.git
+>git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
 ```
 
 ## 准备依赖
 
 ```cmd
->cd mynt-eye-sdk-2
+>cd mynt-eye-s-sdk
 >make init
 Make init
 Init deps

doc/zh-Hans/mainpage.md

@@ -1,4 +1,4 @@
-# MYNT EYE SDK {#mainpage}
+# MYNT EYE S SDK {#mainpage}
 
 * <a class="el" href="annotated.html">API 类</a>
 * <a class="el" href="modules.html">API 模块</a>

doc/zh-Hans/spec_control_api.md

@@ -16,7 +16,7 @@
 
 | 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 说明 |
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----- |
-| 图像帧率 | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55} |
+| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
 | IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} |
 | 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 |
 | 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |

include/deprecated/mynteye/api.h

@@ -0,0 +1 @@
+#include "mynteye/api/api.h"

include/deprecated/mynteye/callbacks.h

@@ -0,0 +1 @@
+#include "mynteye/device/callbacks.h"

include/deprecated/mynteye/context.h

@@ -0,0 +1 @@
+#include "mynteye/device/context.h"

include/deprecated/mynteye/device.h

@@ -0,0 +1 @@
+#include "mynteye/device/device.h"

include/deprecated/mynteye/files.h

@@ -0,0 +1 @@
+#include "mynteye/util/files.h"

include/deprecated/mynteye/glog_init.h

@@ -0,0 +1 @@
+#include "mynteye/logger.h"

include/deprecated/mynteye/object.h

@@ -0,0 +1 @@
+#include "mynteye/api/object.h"

include/deprecated/mynteye/plugin.h

@@ -0,0 +1 @@
+#include "mynteye/api/plugin.h"

include/deprecated/mynteye/strings.h

@@ -0,0 +1 @@
+#include "mynteye/util/strings.h"

include/deprecated/mynteye/times.h

@@ -0,0 +1 @@
+#include "mynteye/util/times.h"

include/deprecated/mynteye/utils.h

@@ -0,0 +1 @@
+#include "mynteye/device/utils.h"

include/mynteye/api/api.h

@@ -11,17 +11,17 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_API_H_  // NOLINT
+#ifndef MYNTEYE_API_API_H_
-#define MYNTEYE_API_H_
+#define MYNTEYE_API_API_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
 #include <limits>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
 
@@ -49,6 +49,8 @@ struct MYNTEYE_API StreamData {
   cv::Mat frame;
   /** Raw frame. */
   std::shared_ptr<device::Frame> frame_raw;
+  /** Frame ID. */
+  std::uint16_t frame_id;
 
   bool operator==(const StreamData &other) const {
     if (img && other.img) {
@@ -280,4 +282,4 @@ class MYNTEYE_API API {
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_API_H_ NOLINT
+#endif  // MYNTEYE_API_API_H_

include/mynteye/api/object.h

@@ -11,18 +11,20 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_OBJECT_H_  // NOLINT
+#ifndef MYNTEYE_API_OBJECT_H_
-#define MYNTEYE_OBJECT_H_
+#define MYNTEYE_API_OBJECT_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
 #include <memory>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
+struct ImgData;
+
 /**
  * Input & output object.
  */
@@ -56,14 +58,22 @@ struct MYNTEYE_API Object {
  */
 struct MYNTEYE_API ObjMat : public Object {
   ObjMat() = default;
-  explicit ObjMat(const cv::Mat &value) : value(value) {}
+  ObjMat(const cv::Mat &value, std::uint16_t id,
+         const std::shared_ptr<ImgData> &data)
+      : value(value), id(id), data(data) {}
 
   /** The value */
   cv::Mat value;
+  /** The id **/
+  std::uint16_t id;
+  /** The data **/
+  std::shared_ptr<ImgData> data;
 
   Object *Clone() const {
     ObjMat *mat = new ObjMat;
     mat->value = value.clone();
+    mat->id = id;
+    mat->data = data;
     return mat;
   }
 
@@ -77,19 +87,35 @@ struct MYNTEYE_API ObjMat : public Object {
  */
 struct MYNTEYE_API ObjMat2 : public Object {
   ObjMat2() = default;
-  ObjMat2(const cv::Mat &first, const cv::Mat &second)
+  ObjMat2(const cv::Mat &first, std::uint16_t first_id,
-      : first(first), second(second) {}
+          const std::shared_ptr<ImgData> &first_data,
+          const cv::Mat &second, std::uint16_t second_id,
+          const std::shared_ptr<ImgData> &second_data)
+      : first(first), first_id(first_id), first_data(first_data),
+        second(second), second_id(second_id), second_data(second_data) {}
 
   /** The first value */
   cv::Mat first;
+  /** The first id **/
+  std::uint16_t first_id;
+  /** The first data **/
+  std::shared_ptr<ImgData> first_data;
 
   /** The second value */
   cv::Mat second;
+  /** The second id **/
+  std::uint16_t second_id;
+  /** The second data **/
+  std::shared_ptr<ImgData> second_data;
 
   Object *Clone() const {
     ObjMat2 *mat2 = new ObjMat2;
     mat2->first = first.clone();
+    mat2->first_id = first_id;
+    mat2->first_data = first_data;
     mat2->second = second.clone();
+    mat2->second_id = second_id;
+    mat2->second_data = second_data;
     return mat2;
   }
 
@@ -100,4 +126,4 @@ struct MYNTEYE_API ObjMat2 : public Object {
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_OBJECT_H_  NOLINT
+#endif  // MYNTEYE_API_OBJECT_H_

include/mynteye/api/plugin.h

@@ -11,14 +11,14 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_PLUGIN_H_  // NOLINT
+#ifndef MYNTEYE_API_PLUGIN_H_
-#define MYNTEYE_PLUGIN_H_
+#define MYNTEYE_API_PLUGIN_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
 #include <cstdint>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"
 
 #ifndef MYNTEYE_PLUGIN_VERSION_CODE
@@ -53,8 +53,8 @@ class MYNTEYE_API Plugin {
    * @return `true` if you process rectify.
    */
   virtual bool OnRectifyProcess(Object *const in, Object *const out) {
-    UNUSED(in)
+    MYNTEYE_UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -65,8 +65,8 @@ class MYNTEYE_API Plugin {
    * @return `true` if you process disparity.
    */
   virtual bool OnDisparityProcess(Object *const in, Object *const out) {
-    UNUSED(in)
+    MYNTEYE_UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -78,8 +78,8 @@ class MYNTEYE_API Plugin {
    */
   virtual bool OnDisparityNormalizedProcess(
       Object *const in, Object *const out) {
-    UNUSED(in)
+    MYNTEYE_UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -90,8 +90,8 @@ class MYNTEYE_API Plugin {
    * @return `true` if you process points.
    */
   virtual bool OnPointsProcess(Object *const in, Object *const out) {
-    UNUSED(in)
+    MYNTEYE_UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -102,8 +102,8 @@ class MYNTEYE_API Plugin {
    * @return `true` if you process depth.
    */
   virtual bool OnDepthProcess(Object *const in, Object *const out) {
-    UNUSED(in)
+    MYNTEYE_UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -135,6 +135,7 @@ MYNTEYE_API mynteye::Plugin *plugin_create();
  * Destroy the plugin.
  */
 MYNTEYE_API void plugin_destroy(mynteye::Plugin *plugin);
+
 }
 
-#endif  // MYNTEYE_PLUGIN_H_ NOLINT
+#endif  // MYNTEYE_API_PLUGIN_H_

include/mynteye/device/callbacks.h

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_CALLBACKS_H_  // NOLINT
+#ifndef MYNTEYE_DEVICE_CALLBACKS_H_
-#define MYNTEYE_CALLBACKS_H_
+#define MYNTEYE_DEVICE_CALLBACKS_H_
 #pragma once
 
 #include <cstdint>
@@ -113,6 +113,8 @@ struct MYNTEYE_API StreamData {
   std::shared_ptr<ImgData> img;
   /** Frame. */
   std::shared_ptr<Frame> frame;
+  /** Frame ID. */
+  std::uint16_t frame_id;
 };
 
 /**
@@ -131,4 +133,4 @@ using MotionCallback = std::function<void(const MotionData &data)>;
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_CALLBACKS_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_CALLBACKS_H_

include/mynteye/device/context.h

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_CONTEXT_H_  // NOLINT
+#ifndef MYNTEYE_DEVICE_CONTEXT_H_
-#define MYNTEYE_CONTEXT_H_
+#define MYNTEYE_DEVICE_CONTEXT_H_
 #pragma once
 
 #include <memory>
@@ -53,4 +53,4 @@ class MYNTEYE_API Context {
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_CONTEXT_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_CONTEXT_H_

include/mynteye/device/device.h

@@ -11,20 +11,19 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_DEVICE_H_  // NOLINT
+#ifndef MYNTEYE_DEVICE_DEVICE_H_
-#define MYNTEYE_DEVICE_H_
+#define MYNTEYE_DEVICE_DEVICE_H_
 #pragma once
 
-#include <limits>
 #include <map>
 #include <memory>
 #include <mutex>
 #include <string>
 #include <vector>
 
-#include "mynteye/callbacks.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
+#include "mynteye/device/callbacks.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -245,8 +244,11 @@ class MYNTEYE_API Device {
   /**
    * Enable cache motion datas.
    */
-  void EnableMotionDatas(
+  void EnableMotionDatas();
-      std::size_t max_size = std::numeric_limits<std::size_t>::max());
+  /**
+   * Enable cache motion datas.
+   */
+  void EnableMotionDatas(std::size_t max_size);
   /**
    * Get the motion datas.
    */
@@ -322,4 +324,4 @@ class MYNTEYE_API Device {
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_DEVICE_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_DEVICE_H_

include/mynteye/device/utils.h

@@ -11,11 +11,12 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_UTILS_H_  // NOLINT
+#ifndef MYNTEYE_DEVICE_UTILS_H_
-#define MYNTEYE_UTILS_H_
+#define MYNTEYE_DEVICE_UTILS_H_
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "mynteye/mynteye.h"
 
@@ -55,8 +56,22 @@ namespace utils {
 MYNTEYE_API float get_real_exposure_time(
     std::int32_t frame_rate, std::uint16_t exposure_time);
 
+/**
+ * @ingroup utils
+ * 
+ * Get sdk root dir.
+ */
+MYNTEYE_API std::string get_sdk_root_dir();
+
+/**
+ * @ingroup utils
+ * 
+ * Get sdk install dir.
+ */
+MYNTEYE_API std::string get_sdk_install_dir();
+
 }  // namespace utils
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_UTILS_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_UTILS_H_

include/mynteye/global.h

@@ -16,72 +16,70 @@
 #pragma once
 
 #ifdef _WIN32
-#define OS_WIN
+  #define MYNTEYE_OS_WIN
-#ifdef _WIN64
+  #ifdef _WIN64
-#define OS_WIN64
+    #define MYNTEYE_OS_WIN64
-#else
+  #else
-#define OS_WIN32
+    #define MYNTEYE_OS_WIN32
-#endif
+  #endif
-#if defined(__MINGW32__) || defined(__MINGW64__)
+  #if defined(__MINGW32__) || defined(__MINGW64__)
-#define OS_MINGW
+    #define MYNTEYE_OS_MINGW
-#ifdef __MINGW64__
+    #ifdef __MINGW64__
-#define OS_MINGW64
+      #define MYNTEYE_OS_MINGW64
-#else
+    #else
-#define OS_MINGW32
+      #define MYNTEYE_OS_MINGW32
-#endif
+    #endif
-#elif defined(__CYGWIN__) || defined(__CYGWIN32__)
+  #elif defined(__CYGWIN__) || defined(__CYGWIN32__)
-#define OS_CYGWIN
+    #define MYNTEYE_OS_CYGWIN
-#endif
+  #endif
 #elif __APPLE__
-#include "TargetConditionals.h"
+  #include <TargetConditionals.h>
-#if TARGET_IPHONE_SIMULATOR
+  #if TARGET_IPHONE_SIMULATOR
-#define OS_IPHONE
+    #define MYNTEYE_OS_IPHONE
-#define OS_IPHONE_SIMULATOR
+    #define MYNTEYE_OS_IPHONE_SIMULATOR
-#elif TARGET_OS_IPHONE
+  #elif TARGET_OS_IPHONE
-#define OS_IPHONE
+    #define MYNTEYE_OS_IPHONE
-#elif TARGET_OS_MAC
+  #elif TARGET_OS_MAC
-#define OS_MAC
+    #define MYNTEYE_OS_MAC
-#else
+  #else
-#error "Unknown Apple platform"
+    #error "Unknown Apple platform"
-#endif
+  #endif
 #elif __ANDROID__
-#define OS_ANDROID
+  #define MYNTEYE_OS_ANDROID
 #elif __linux__
-#define OS_LINUX
+  #define MYNTEYE_OS_LINUX
 #elif __unix__
-#define OS_UNIX
+  #define MYNTEYE_OS_UNIX
 #elif defined(_POSIX_VERSION)
-#define OS_POSIX
+  #define MYNTEYE_OS_POSIX
 #else
-#error "Unknown compiler"
+  #error "Unknown compiler"
 #endif
 
-#ifdef OS_WIN
+#ifdef MYNTEYE_OS_WIN
-#define DECL_EXPORT __declspec(dllexport)
+#define MYNTEYE_DECL_EXPORT __declspec(dllexport)
-#define DECL_IMPORT __declspec(dllimport)
+#define MYNTEYE_DECL_IMPORT __declspec(dllimport)
-#define DECL_HIDDEN
+#define MYNTEYE_DECL_HIDDEN
 #else
-#define DECL_EXPORT __attribute__((visibility("default")))
+#define MYNTEYE_DECL_EXPORT __attribute__((visibility("default")))
-#define DECL_IMPORT __attribute__((visibility("default")))
+#define MYNTEYE_DECL_IMPORT __attribute__((visibility("default")))
-#define DECL_HIDDEN __attribute__((visibility("hidden")))
+#define MYNTEYE_DECL_HIDDEN __attribute__((visibility("hidden")))
 #endif
 
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && \
-#define OS_SEP "\\"
+  !defined(MYNTEYE_OS_CYGWIN)
+#define MYNTEYE_OS_SEP "\\"
 #else
-#define OS_SEP "/"
+#define MYNTEYE_OS_SEP "/"
 #endif
 
-#define STRINGIFY_HELPER(X) #X
+#define MYNTEYE_STRINGIFY_HELPER(X) #X
-#define STRINGIFY(X) STRINGIFY_HELPER(X)
+#define MYNTEYE_STRINGIFY(X) MYNTEYE_STRINGIFY_HELPER(X)
 
-#define DISABLE_COPY(Class)      \
+#define MYNTEYE_DISABLE_COPY(Class) \
   Class(const Class &) = delete; \
   Class &operator=(const Class &) = delete;
 
-#define UNUSED(x) (void)x;
+#define MYNTEYE_UNUSED(x) (void)x;
-
-template <typename... T>
-void unused(T &&...) {}
 
 #endif  // MYNTEYE_GLOBAL_H_

include/mynteye/logger.h

@@ -74,7 +74,7 @@ struct glog_init {
   }
 };
 
-#define MAX_LOG_LEVEL google::INFO
+#define MYNTEYE_MAX_LOG_LEVEL google::INFO
 
 #include "mynteye/miniglog.h"
 

include/mynteye/miniglog.h

@@ -1,6 +1,6 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2013 Google Inc. All rights reserved.
-// http://ceres-solver.org/
+// http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
@@ -91,14 +91,6 @@
 #ifndef MYNTEYE_MINIGLOG_H_
 #define MYNTEYE_MINIGLOG_H_
 
-#ifdef ANDROID
-#  include <android/log.h>
-#else
-#include <pthread.h>
-#include <sys/time.h>
-#include <unistd.h>
-#endif  // ANDROID
-
 #include <algorithm>
 #include <ctime>
 #include <fstream>
@@ -108,34 +100,48 @@
 #include <string>
 #include <vector>
 
-// For appropriate definition of CERES_EXPORT macro.
+#include "mynteye/mynteye.h"
-// Modified from ceres miniglog version [begin] -------------------------------
+
-//#include "ceres/internal/port.h"
+#ifdef MYNTEYE_OS_ANDROID
-//#include "ceres/internal/disable_warnings.h"
+#  include <android/log.h>
-#define CERES_EXPORT
+#endif  // ANDROID
-// Modified from ceres miniglog version [end] ---------------------------------
 
 // Log severity level constants.
+#ifdef MYNTEYE_OS_WIN
+
+const int FATAL   = -1;
+#ifndef ERROR  // NOT windows.h
+const int ERROR   = 0;
+#endif
+const int WARNING = 1;
+const int INFO    = 2;
+
+#else
+
 const int FATAL   = -3;
 const int ERROR   = -2;
 const int WARNING = -1;
 const int INFO    =  0;
 
+#endif
+
 // ------------------------- Glog compatibility ------------------------------
 
 namespace google {
 
 typedef int LogSeverity;
-const int INFO    = ::INFO;
-const int WARNING = ::WARNING;
-const int ERROR   = ::ERROR;
 const int FATAL   = ::FATAL;
+#ifndef ERROR  // NOT windows.h
+const int ERROR   = ::ERROR;
+#endif
+const int WARNING = ::WARNING;
+const int INFO    = ::INFO;
 
 // Sink class used for integration with mock and test functions. If sinks are
 // added, all log output is also sent to each sink through the send function.
 // In this implementation, WaitTillSent() is called immediately after the send.
 // This implementation is not thread safe.
-class CERES_EXPORT LogSink {
+class MYNTEYE_API LogSink {
  public:
   virtual ~LogSink() {}
   virtual void send(LogSeverity severity,
@@ -149,9 +155,12 @@ class CERES_EXPORT LogSink {
 };
 
 // Global set of log sinks. The actual object is defined in logging.cc.
-extern CERES_EXPORT std::set<LogSink *> log_sinks_global;
+MYNTEYE_API extern std::set<LogSink *> log_sinks_global;
 
-inline void InitGoogleLogging(char *argv) {
+// 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.
 }
 
@@ -174,20 +183,20 @@ inline void RemoveLogSink(LogSink *sink) {
 // defined, output is directed to std::cerr.  This class should not
 // be directly instantiated in code, rather it should be invoked through the
 // use of the log macros LG, LOG, or VLOG.
-class CERES_EXPORT MessageLogger {
+class MYNTEYE_API MessageLogger {
  public:
   MessageLogger(const char *file, int line, const char *tag, int severity)
     : file_(file), line_(line), tag_(tag), severity_(severity) {
     // Pre-pend the stream with the file and line number.
     StripBasename(std::string(file), &filename_only_);
-    stream_ << filename_only_ << ":" << line << " ";
+    stream_ << SeverityLabel() << "/" << filename_only_ << ":" << line << " ";
   }
 
   // Output the contents of the stream to the proper channel on destruction.
   ~MessageLogger() {
     stream_ << "\n";
 
-#ifdef ANDROID
+#ifdef MYNTEYE_OS_ANDROID
     static const int android_log_levels[] = {
         ANDROID_LOG_FATAL,    // LOG(FATAL)
         ANDROID_LOG_ERROR,    // LOG(ERROR)
@@ -213,34 +222,9 @@ class CERES_EXPORT MessageLogger {
                           "terminating.\n");
     }
 #else
-    // For Ubuntu/Mac/Windows
     // If not building on Android, log all output to std::cerr.
-    // Get timestamp
+    std::cerr << stream_.str();
-    timeval curTime;
+#endif  // ANDROID
-    gettimeofday(&curTime, NULL);
-    int milli = curTime.tv_usec / 1000;
-    char buffer [20];
-    strftime(buffer, 80, "%m-%d %H:%M:%S", localtime(&curTime.tv_sec));
-    char time_cstr[24] = "";
-    sprintf(time_cstr, "%s:%d ", buffer, milli);
-    // Get pid & tid
-    char tid_cstr[24] = "";
-    pid_t  pid = getpid();
-    pthread_t tid = pthread_self();
-    sprintf(tid_cstr, "%d/%u ", pid, tid);
-    if (severity_ == FATAL) {
-        // Magenta color if fatal
-        std::cerr << "\033[1;35m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
-    } else if (severity_ == ERROR) {
-        // Red color if error
-        std::cerr << "\033[1;31m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
-    } else if (severity_ == WARNING) {
-        // Yellow color if warning
-        std::cerr << "\033[1;33m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
-    } else {
-        std::cerr << tid_cstr << time_cstr << SeverityLabelStr() << stream_.str();
-    }
-#endif
 
     LogToSinks(severity_);
     WaitForSinks();
@@ -258,23 +242,16 @@ class CERES_EXPORT MessageLogger {
  private:
   void LogToSinks(int severity) {
     time_t rawtime;
+    struct tm* timeinfo;
+
     time (&rawtime);
-
+    timeinfo = localtime(&rawtime);
-    struct tm timeinfo;
-#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
-    // On Windows, use secure localtime_s not localtime.
-    localtime_s(&timeinfo, &rawtime);
-#else
-    // On non-Windows systems, use threadsafe localtime_r not localtime.
-    localtime_r(&rawtime, &timeinfo);
-#endif
-
     std::set<google::LogSink*>::iterator iter;
     // Send the log message to all sinks.
     for (iter = google::log_sinks_global.begin();
          iter != google::log_sinks_global.end(); ++iter) {
       (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
-                    &timeinfo, stream_.str().c_str(), stream_.str().size());
+                    timeinfo, stream_.str().c_str(), stream_.str().size());
     }
   }
 
@@ -291,8 +268,8 @@ class CERES_EXPORT MessageLogger {
 
   void StripBasename(const std::string &full_path, std::string *filename) {
     // TODO(settinger): Add support for OSs with different path separators.
-    const char kSeparator = '/';
+    // const char kSeparator = '/';
-    size_t pos = full_path.rfind(kSeparator);
+    size_t pos = full_path.rfind(MYNTEYE_OS_SEP);
     if (pos != std::string::npos) {
       *filename = full_path.substr(pos + 1, std::string::npos);
     } else {
@@ -302,34 +279,19 @@ class CERES_EXPORT MessageLogger {
 
   char SeverityLabel() {
     switch (severity_) {
-      case FATAL:
-        return 'F';
-      case ERROR:
-        return 'E';
-      case WARNING:
-        return 'W';
       case INFO:
         return 'I';
+      case WARNING:
+        return 'W';
+      case ERROR:
+        return 'E';
+      case FATAL:
+        return 'F';
       default:
         return 'V';
     }
   }
 
-  std::string SeverityLabelStr() {
-    switch (severity_) {
-      case FATAL:
-        return "FATAL   ";
-      case ERROR:
-        return "ERROR   ";
-      case WARNING:
-        return "WARNING ";
-      case INFO:
-        return "INFO    ";
-      default:
-        return "VERBOSE ";
-    }
-  }
-
   std::string file_;
   std::string filename_only_;
   int line_;
@@ -343,17 +305,18 @@ class CERES_EXPORT MessageLogger {
 // This class is used to explicitly ignore values in the conditional
 // logging macros.  This avoids compiler warnings like "value computed
 // is not used" and "statement has no effect".
-class CERES_EXPORT LoggerVoidify {
+class MYNTEYE_API LoggerVoidify {
  public:
   LoggerVoidify() { }
   // This has to be an operator with a precedence lower than << but
   // higher than ?:
-  void operator&(const std::ostream &s) { }
+  void operator&(const std::ostream &/*s*/) { }
 };
 
 // Log only if condition is met.  Otherwise evaluates to void.
 #define LOG_IF(severity, condition) \
-    !(condition) ? (void) 0 : LoggerVoidify() & \
+  (static_cast<int>(severity) > google::log_severity_global || !(condition)) ? \
+  (void) 0 : LoggerVoidify() &                                          \
   MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
 
 // Log only if condition is NOT met.  Otherwise evaluates to void.
@@ -362,23 +325,46 @@ class CERES_EXPORT LoggerVoidify {
 // LG is a convenient shortcut for LOG(INFO). Its use is in new
 // google3 code is discouraged and the following shortcut exists for
 // backward compatibility with existing code.
-#ifdef MAX_LOG_LEVEL
+#ifdef MYNTEYE_MAX_LOG_LEVEL
-#  define LOG(n)  LOG_IF(n, n <= MAX_LOG_LEVEL)
+#  define LOG(n)  LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
-#  define VLOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
+#  define VLOG(n) LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
-#  define LG      LOG_IF(INFO, INFO <= MAX_LOG_LEVEL)
+#  define LG      LOG_IF(INFO, (INFO <= MYNTEYE_MAX_LOG_LEVEL))
-#  define VLOG_IF(n, condition) LOG_IF(n, (n <= MAX_LOG_LEVEL) && condition)
+#  define VLOG_IF(n, condition)                                         \
+    LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL) && condition)
 #else
-#  define LOG(n)  MessageLogger((char *)__FILE__, __LINE__, "native", n).stream()    // NOLINT
+#  define LOG(n)  LOG_IF(n, true)
-#  define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream()    // NOLINT
+#  define VLOG(n) LOG_IF(n, true)
-#  define LG      MessageLogger((char *)__FILE__, __LINE__, "native", INFO).stream() // NOLINT
+#  define LG      LOG_IF(INFO, true)
 #  define VLOG_IF(n, condition) LOG_IF(n, condition)
 #endif
 
-// Currently, VLOG is always on for levels below MAX_LOG_LEVEL.
+// Currently, VLOG is always on for levels below MYNTEYE_MAX_LOG_LEVEL.
-#ifndef MAX_LOG_LEVEL
+#ifndef MYNTEYE_MAX_LOG_LEVEL
 #  define VLOG_IS_ON(x) (1)
 #else
-#  define VLOG_IS_ON(x) (x <= MAX_LOG_LEVEL)
+#  define VLOG_IS_ON(x) (x <= MYNTEYE_MAX_LOG_LEVEL)
+#endif
+
+#ifdef MYNTEYE_OS_WIN  // INFO is 2, change VLOG(2) to VLOG(4)
+#undef VLOG
+#undef VLOG_IF
+#undef VLOG_IS_ON
+
+#ifdef MYNTEYE_MAX_LOG_LEVEL
+#  define VLOG(n) LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL))
+#  define VLOG_IF(n, condition)                                         \
+    LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL) && condition)
+#else
+#  define VLOG(n) LOG_IF(n+2, true)
+#  define VLOG_IF(n, condition) LOG_IF(n+2, condition)
+#endif
+
+#ifndef MYNTEYE_MAX_LOG_LEVEL
+#  define VLOG_IS_ON(x) (1+2)
+#else
+#  define VLOG_IS_ON(x) (x+2 <= MYNTEYE_MAX_LOG_LEVEL)
+#endif
+
 #endif
 
 #ifndef NDEBUG
@@ -392,8 +378,7 @@ class CERES_EXPORT LoggerVoidify {
 // Log a message and terminate.
 template<class T>
 void LogMessageFatal(const char *file, int line, const T &message) {
-  MessageLogger((char *)__FILE__, __LINE__, "native", FATAL).stream()
+  MessageLogger(file, line, "native", FATAL).stream() << message;
-      << message;
 }
 
 // ---------------------------- CHECK macros ---------------------------------
@@ -416,7 +401,7 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 
 // Generic binary operator check macro. This should not be directly invoked,
 // instead use the binary comparison macros defined below.
-#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, ((val1) op (val2))) \
+#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, (val1 op val2)) \
   << "Check failed: " #val1 " " #op " " #val2 " "
 
 // Check_op macro definitions
@@ -427,15 +412,6 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 #define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
 #define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
 
-// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
-// Add logging macros which are missing in glog or are not accessible for
-// whatever reason.
-#define CHECK_NEAR(val1, val2, margin)           \
-  do {                                           \
-    CHECK_LE((val1), (val2)+(margin));           \
-    CHECK_GE((val1), (val2)-(margin));           \
-  } while (0)
-
 #ifndef NDEBUG
 // Debug only versions of CHECK_OP macros.
 #  define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
@@ -444,8 +420,6 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 #  define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
 #  define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
 #  define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
-// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
-#  define DCHECK_NEAR(val1, val2, margin) CHECK_NEAR(val1, val2, margin)
 #else
 // These versions generate no code in optimized mode.
 #  define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
@@ -454,8 +428,6 @@ void LogMessageFatal(const char *file, int line, const T &message) {
 #  define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
 #  define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
 #  define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
-// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
-#  define DCHECK_NEAR(val1, val2, margin) if (false) CHECK_NEAR(val1, val2, margin)
 #endif  // NDEBUG
 
 // ---------------------------CHECK_NOTNULL macros ---------------------------
@@ -494,42 +466,4 @@ T& CheckNotNull(const char *file, int line, const char *names, T& t) {
   CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
 #endif  // NDEBUG
 
-// Modified from ceres miniglog version [begin] -------------------------------
-//#include "ceres/internal/reenable_warnings.h"
-// Modified from ceres miniglog version [end] ---------------------------------
-
-
-// ---------------------------TRACE macros ---------------------------
-// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
-#define __FILENAME__ \
-  (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
-
-#define DEXEC(fn)                                                      \
-  do {                                                                 \
-    DLOG(INFO) << "[EXEC " << #fn << " START]";                        \
-    std::chrono::steady_clock::time_point begin =                      \
-      std::chrono::steady_clock::now();                                \
-    fn;                                                                \
-    std::chrono::steady_clock::time_point end =                        \
-      std::chrono::steady_clock::now();                                \
-    DLOG(INFO) << "[EXEC " << #fn << " FINISHED in "                   \
-             << std::chrono::duration_cast<std::chrono::microseconds>  \
-               (end - begin).count() << " ms]";                        \
-  } while (0);
-// DEXEC(fn)
-//
-// Usage:
-// DEXEC(foo());
-// -- output --
-// foo.cpp: 123 [EXEC foo() START]
-// foo.cpp: 123 [EXEC foo() FINISHED in 456 ms]
-
-#define DTRACE  DLOG(INFO) << "of [" << __func__ << "]";
-// Usage:
-// void foo() {
-//   DTRACE
-// }
-// -- output --
-// foo.cpp: 123 of [void foo(void)]
-
 #endif  // MYNTEYE_MINIGLOG_H_

include/mynteye/mynteye.h.in

@@ -21,9 +21,9 @@
 # define MYNTEYE_API
 #else
 # ifdef MYNTEYE_EXPORTS
-#  define MYNTEYE_API DECL_EXPORT
+#  define MYNTEYE_API MYNTEYE_DECL_EXPORT
 # else
-#  define MYNTEYE_API DECL_IMPORT
+#  define MYNTEYE_API MYNTEYE_DECL_IMPORT
 # endif
 #endif
 
@@ -45,7 +45,7 @@ MYNTEYE_API_VERSION_CHECK( \
   ((major<<16)|(minor<<8)|(patch))  // NOLINT
 
 /* MYNTEYE_API_VERSION in "X.Y.Z" format */
-#define MYNTEYE_API_VERSION_STR (STRINGIFY(MYNTEYE_API_VERSION_MAJOR.MYNTEYE_API_VERSION_MINOR.MYNTEYE_API_VERSION_PATCH))  // NOLINT
+#define MYNTEYE_API_VERSION_STR (MYNTEYE_STRINGIFY(MYNTEYE_API_VERSION_MAJOR.MYNTEYE_API_VERSION_MINOR.MYNTEYE_API_VERSION_PATCH))  // NOLINT
 
 #cmakedefine MYNTEYE_NAMESPACE @MYNTEYE_NAMESPACE@
 #if defined(MYNTEYE_NAMESPACE)
@@ -61,4 +61,11 @@ MYNTEYE_API_VERSION_CHECK( \
 const char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
 const char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
 
+MYNTEYE_BEGIN_NAMESPACE
+
+template <typename... T>
+void UNUSED(T &&...) {}
+
+MYNTEYE_END_NAMESPACE
+
 #endif  // MYNTEYE_MYNTEYE_H_

include/mynteye/types.h

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_TYPES_H_  // NOLINT
+#ifndef MYNTEYE_TYPES_H_
 #define MYNTEYE_TYPES_H_
 #pragma once
 
@@ -144,7 +144,7 @@ enum class Option : std::uint8_t {
   /**
    * Image frame rate, must set IMU_FREQUENCY together
    *
-   *   values: {10,15,20,25,30,35,40,45,50,55}, default: 25
+   *   values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
    */
   FRAME_RATE,
   /**
@@ -483,4 +483,4 @@ std::ostream &operator<<(std::ostream &os, const OptionInfo &info);
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_TYPES_H_ NOLINT
+#endif  // MYNTEYE_TYPES_H_

include/mynteye/util/files.h

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_INTERNAL_FILES_H_  // NOLINT
+#ifndef MYNTEYE_UTIL_FILES_H_
-#define MYNTEYE_INTERNAL_FILES_H_
+#define MYNTEYE_UTIL_FILES_H_
 #pragma once
 
 #include <string>
@@ -29,4 +29,4 @@ MYNTEYE_API bool mkdir(const std::string &path);
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_INTERNAL_FILES_H_ NOLINT
+#endif  // MYNTEYE_UTIL_FILES_H_

include/mynteye/util/strings.h

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_INTERNAL_STRINGS_H_  // NOLINT
+#ifndef MYNTEYE_UTIL_STRINGS_H_
-#define MYNTEYE_INTERNAL_STRINGS_H_
+#define MYNTEYE_UTIL_STRINGS_H_
 #pragma once
 
 #include <stdexcept>
@@ -59,4 +59,4 @@ std::string trim_copy(const std::string &text);
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_INTERNAL_STRINGS_H_ NOLINT
+#endif  // MYNTEYE_UTIL_STRINGS_H_

include/mynteye/util/times.h

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_INTERNAL_TIMES_H_  // NOLINT
+#ifndef MYNTEYE_UTIL_TIMES_H_
-#define MYNTEYE_INTERNAL_TIMES_H_
+#define MYNTEYE_UTIL_TIMES_H_
 #pragma once
 
 #include <chrono>
@@ -186,7 +186,7 @@ inline std::string to_string(
     const system_clock::time_point &t, const std::tm *tm,
     const char *fmt = "%F %T", std::int32_t precision = 6) {
   std::stringstream ss;
-#if defined(OS_ANDROID) || defined(OS_LINUX)
+#if defined(MYNTEYE_OS_ANDROID) || defined(MYNTEYE_OS_LINUX)
   char foo[20];
   strftime(foo, sizeof(foo), fmt, tm);
   ss << foo;
@@ -220,4 +220,4 @@ inline std::string to_utc_string(
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_INTERNAL_TIMES_H_ NOLINT
+#endif  // MYNTEYE_UTIL_TIMES_H_

platforms/projects/vs2017/README.md

@@ -0,0 +1,76 @@
+# How to use MYNT® EYE S SDK with Visual Studio 2017
+
+This tutorial will create a project with Visual Studio 2017 to start using MYNT® EYE S SDK.
+
+## Preparation
+
+Install the win pack of MYNT® EYE S SDK.
+
+## Create Project
+
+Open Visual Studio 2017, then `File > New > Project`,
+
+![](images/1_new_pro.png)
+
+Select "Windows Console Application", set the project's name and location, click "OK",
+
+![](images/2_new_pro.png)
+
+Finally, you will see the new project like this,
+
+![](images/3_new_pro.png)
+
+## Config Properties
+
+Right click the project, and open its "Properties" window,
+
+![](images/4_config.png)
+
+Change "Configuration" to "All Configurations", then add the following paths to "Additional Include Directories",
+
+```bash
+$(MYNTEYES_SDK_ROOT)\include
+$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include
+```
+
+![](images/5_config_include.png)
+
+Add the following paths to "Additional Library Directories",
+
+```bash
+$(MYNTEYES_SDK_ROOT)\lib
+$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib
+```
+
+![](images/6_config_lib_dir.png)
+
+
+Add the following libs to "Additional Dependencies",
+
+```bash
+mynteye.lib
+opencv_world343.lib
+```
+
+![](images/7_config_lib.png)
+
+If you wanna debug, could change "Configuration" to "Debug" and add these debug libs,
+
+```bash
+mynteyed.lib
+opencv_world343d.lib
+```
+
+![](images/8_config_debug_lib.png)
+
+## Start using SDK
+
+Include the headers of SDK and start using its APIs,
+
+![](images/9_run_x64.png)
+
+Select "Release x64" or "Debug x64" to run the project.
+
+<!--
+![](images/10_path.png)
+-->

platforms/projects/vs2017/mynteyes_demo/.gitignore

@@ -0,0 +1,4 @@
+/.vs/
+/x64/
+/mynteyes_demo/x64/
+/mynteyes_demo/*.user

platforms/projects/vs2017/mynteyes_demo/mynteyes_demo.sln

@@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.27703.2018
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "mynteyes_demo", "mynteyes_demo\mynteyes_demo.vcxproj", "{49798F84-3EA3-4CB5-A873-6163DB4B4A43}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Debug|x64.ActiveCfg = Debug|x64
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Debug|x64.Build.0 = Debug|x64
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Debug|x86.ActiveCfg = Debug|Win32
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Debug|x86.Build.0 = Debug|Win32
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Release|x64.ActiveCfg = Release|x64
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Release|x64.Build.0 = Release|x64
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Release|x86.ActiveCfg = Release|Win32
+		{49798F84-3EA3-4CB5-A873-6163DB4B4A43}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {F6C50224-4EC6-46EB-AA63-7E32FC6F0648}
+	EndGlobalSection
+EndGlobal

platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj

@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <VCProjectVersion>15.0</VCProjectVersion>
+    <ProjectGuid>{49798F84-3EA3-4CB5-A873-6163DB4B4A43}</ProjectGuid>
+    <Keyword>Win32Proj</Keyword>
+    <RootNamespace>mynteyesdemo</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0.17134.0</WindowsTargetPlatformVersion>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="Shared">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include;$(MYNTEYES_SDK_ROOT)\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib;$(MYNTEYES_SDK_ROOT)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>mynteyed.lib;opencv_world343d.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include;$(MYNTEYES_SDK_ROOT)\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib;$(MYNTEYES_SDK_ROOT)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>mynteyed.lib;opencv_world343d.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include;$(MYNTEYES_SDK_ROOT)\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib;$(MYNTEYES_SDK_ROOT)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>mynteye.lib;opencv_world343.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\include;$(MYNTEYES_SDK_ROOT)\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(MYNTEYES_SDK_ROOT)\3rdparty\opencv\build\x64\vc15\lib;$(MYNTEYES_SDK_ROOT)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>mynteye.lib;opencv_world343.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClInclude Include="stdafx.h" />
+    <ClInclude Include="targetver.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="mynteyes_demo.cpp" />
+    <ClCompile Include="stdafx.cpp">
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
+    </ClCompile>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj.filters

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;hm;inl;inc;ipp;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="stdafx.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="targetver.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="stdafx.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="mynteyes_demo.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+</Project>

platforms/win/README.txt

@@ -0,0 +1,176 @@
+# MYNT® EYE S SDK
+
+################################################################################
+Language: 简体中文
+################################################################################
+
+## 如何开始使用 SDK
+
+1) 运行样例程序
+
+安装完 SDK 的 exe 安装包后，桌面会生成 SDK 根目录的快捷方式。
+
+进入 "<SDK_ROOT_DIR>\bin\samples\tutorials" 目录，双击 "get_stereo.exe" 运行，即可看到双目实时画面。
+
+2）生成样例工程
+
+首先，安装好 Visual Studio 2017 <https://visualstudio.microsoft.com/> 和 CMake <https://cmake.org/> 。
+
+接着，进入 "<SDK_ROOT_DIR>\samples" 目录， 双击 "generate.bat" 即可生成样例工程。
+
+p.s. 样例教程，可见 https://slightech.github.io/MYNT-EYE-S-SDK/ 主页给出的 Guide 文档。
+
+p.p.s. 运行结果，参考下方英文内容。
+
+3）如何于 Visual Studio 2017 下使用 SDK
+
+进入 "<SDK_ROOT_DIR>\projects\vs2017" ，见 "README.md" 说明。
+
+################################################################################
+Language: English
+################################################################################
+
+## How to start using SDK
+
+1) Run the prebuilt samples, ensure the SDK works well.
+
+After you install the win pack of SDK, there will be a shortcut to the SDK root directory on your desktop.
+
+First, you should plug the MYNT® EYE camera in a USB 3.0 port.
+
+Second, goto the "<SDK_ROOT_DIR>\bin\samples\tutorials" directory and click "get_stereo.exe" to run.
+
+Finally, you will see the window that display the realtime frame of the camera.
+
+2) Generate samples project of Visual Studio 2017.
+
+First, you should install Visual Studio 2017 <https://visualstudio.microsoft.com/> and CMake <https://cmake.org/>.
+
+Second, goto the "<SDK_ROOT_DIR>\samples" directory and click "generate.bat" to run.
+
+Finally, you could click `_build\mynteye_samples.sln` to open the samples project.
+
+p.s. The tutorials of samples are here: https://slightech.github.io/MYNT-EYE-S-SDK-Guide/src/data/contents.html.
+
+p.p.s. The example result of "generate.bat",
+
+```cmd
+-- The C compiler identification is MSVC 19.14.26429.4
+-- The CXX compiler identification is MSVC 19.14.26429.4
+-- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.14.26428/bin/Hostx86/x64/cl.exe
+-- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.14.26428/bin/Hostx86/x64/cl.exe -- works
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.14.26428/bin/Hostx86/x64/cl.exe
+-- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Tools/MSVC/14.14.26428/bin/Hostx86/x64/cl.exe -- works
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- HOST_ARCH: x86_64
+-- OpenCV ARCH: x64
+-- OpenCV RUNTIME: vc15
+-- OpenCV STATIC: OFF
+-- Found OpenCV: C:/Users/John/AppData/Roaming/Slightech/MYNTEYES/SDK/2.2.1/3rdparty/opencv/build (found version "3.4.3")
+-- Found OpenCV 3.4.3 in C:/Users/John/AppData/Roaming/Slightech/MYNTEYES/SDK/2.2.1/3rdparty/opencv/build/x64/vc15/lib
+-- You might need to add C:\Users\John\AppData\Roaming\Slightech\MYNTEYES\SDK\2.2.1\3rdparty\opencv\build\x64\vc15\bin to your PATH to be able to run your applications.
+-- Found OpenCV: 3.4.3
+CMake Warning at C:/Program Files/CMake/share/cmake-3.10/Modules/FindBoost.cmake:567 (message):
+  Imported targets and dependency information not available for Boost version
+  (all versions older than 1.33)
+Call Stack (most recent call first):
+  C:/Program Files/CMake/share/cmake-3.10/Modules/FindBoost.cmake:907 (_Boost_COMPONENT_DEPENDENCIES)
+  C:/Program Files/CMake/share/cmake-3.10/Modules/FindBoost.cmake:1542 (_Boost_MISSING_DEPENDENCIES)
+  C:/Users/John/AppData/Roaming/Slightech/MYNTEYES/SDK/2.2.1/cmake/Option.cmake:47 (find_package)
+  CMakeLists.txt:26 (include)
+
+
+-- Could NOT find Boost
+--
+-- Platform:
+--   HOST_OS: Win
+--   HOST_NAME: Win
+--   HOST_ARCH: x86_64
+--   HOST_COMPILER: MSVC
+--     COMPILER_VERSION: 19.14.26429.4
+--     COMPILER_VERSION_MAJOR: 19
+--     COMPILER_VERSION_MINOR: 14
+--     COMPILER_VERSION_PATCH: 26429
+--     COMPILER_VERSION_TWEAK: 4
+--   CUDA_VERSION: 9.2
+--     CUDA_VERSION_MAJOR: 9
+--     CUDA_VERSION_MINOR: 2
+--     CUDA_VERSION_STRING: 9.2
+--   OpenCV_VERSION: 3.4.3
+--     OpenCV_VERSION_MAJOR: 3
+--     OpenCV_VERSION_MINOR: 4
+--     OpenCV_VERSION_PATCH: 3
+--     OpenCV_VERSION_TWEAK: 0
+--     OpenCV_VERSION_STATUS:
+--     OpenCV_WITH_WORLD: TRUE
+--
+-- Options:
+--   WITH_API: ON
+--     OpenCV: YES
+--     OpenCV_VERSION: 3.4.3
+--     OpenCV_WORLD: YES
+--   WITH_DEVICE_INFO_REQUIRED: ON
+--   WITH_BOOST: ON
+--     Boost: NO
+--   WITH_GLOG: OFF
+--
+-- Features:
+--   Filesystem: native
+--
+-- Visual Studio >= 2010, MSVC >= 10.0
+-- C_FLAGS: /DWIN32 /D_WINDOWS /W3 -Wall -march=native
+-- CXX_FLAGS: /DWIN32 /D_WINDOWS /W3 /GR /EHsc -Wall -march=native
+-- Found mynteye: 2.2.1
+-- Generating camera_a.bat
+-- Generating get_depth_with_region.bat
+-- Generating camera_d.bat
+-- Generating camera_u.bat
+CMake Warning at tutorials/CMakeLists.txt:70 (find_package):
+  By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has
+  asked CMake to find a package configuration file provided by "PCL", but
+  CMake did not find one.
+
+  Could not find a package configuration file provided by "PCL" with any of
+  the following names:
+
+    PCLConfig.cmake
+    pcl-config.cmake
+
+  Add the installation prefix of "PCL" to CMAKE_PREFIX_PATH or set "PCL_DIR"
+  to a directory containing one of the above files.  If "PCL" provides a
+  separate development package or SDK, be sure it has been installed.
+
+
+CMake Warning at tutorials/CMakeLists.txt:86 (message):
+  PCL not found :(
+
+
+-- Generating get_device_info.bat
+-- Generating get_img_params.bat
+-- Generating get_imu_params.bat
+-- Generating get_stereo.bat
+-- Generating get_stereo_rectified.bat
+-- Generating get_disparity.bat
+-- Generating get_depth.bat
+-- Generating get_imu.bat
+-- Generating get_from_callbacks.bat
+-- Generating get_with_plugin.bat
+-- Generating ctrl_framerate.bat
+-- Generating ctrl_auto_exposure.bat
+-- Generating ctrl_manual_exposure.bat
+-- Generating ctrl_infrared.bat
+-- Generating get_all_device_info.bat
+-- Configuring done
+-- Generating done
+-- Build files have been written to: C:/Users/John/AppData/Roaming/Slightech/MYNTEYES/SDK/2.2.1/samples/_build
+Press any key to continue . . .
+```
+
+3) Start using MYNT® EYE S SDK with Visual Studio 2017
+
+Goto the "<SDK_ROOT_DIR>\projects\vs2017", see the "README.md".

samples/api/camera.cc

@@ -14,9 +14,8 @@
 #include <opencv2/highgui/highgui.hpp>
 
 #include "mynteye/logger.h"
-
+#include "mynteye/api/api.h"
-#include "mynteye/api.h"
+#include "mynteye/util/times.h"
-#include "mynteye/times.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/api/get_depth_with_region.cc

@@ -14,7 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 namespace {
 
@@ -29,7 +29,7 @@ class DepthRegion {
    * 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
    */
   void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
     if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
       return;
     }
@@ -161,7 +161,7 @@ int main(int argc, char *argv[]) {
   DepthRegion depth_region(3);
   auto depth_info = [](
       const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
     std::ostringstream os;
     os << "depth pos: [" << point.y << ", " << point.x << "]"
        << "±" << n << ", unit: mm";
@@ -184,7 +184,7 @@ int main(int argc, char *argv[]) {
       // Show disparity instead of depth, but show depth values in region.
       auto &&depth_frame = disp_data.frame;
 
-#ifdef USE_OPENCV3
+#ifdef WITH_OPENCV3
       // ColormapTypes
       //   http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
       cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);

samples/device/camera.cc

@@ -15,11 +15,9 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/logger.h"
-
+#include "mynteye/device/device.h"
-#include "mynteye/device.h"
+#include "mynteye/device/utils.h"
-#include "mynteye/utils.h"
+#include "mynteye/util/times.h"
-
-#include "mynteye/times.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/control/auto_exposure.cc

@@ -13,8 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 

samples/tutorials/control/framerate.cc

@@ -11,13 +11,13 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-
 #include <atomic>
 
-#include "mynteye/api.h"
+#include <opencv2/highgui/highgui.hpp>
+
 #include "mynteye/logger.h"
-#include "mynteye/times.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
 
 MYNTEYE_USE_NAMESPACE
 
@@ -29,7 +29,7 @@ int main(int argc, char *argv[]) {
   // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
   // succeed.
 
-  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55
+  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
   api->SetOptionValue(Option::FRAME_RATE, 25);
   // IMU_FREQUENCY values: 100, 200, 250, 333, 500
   api->SetOptionValue(Option::IMU_FREQUENCY, 500);

samples/tutorials/control/infrared.cc

@@ -13,8 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/control/manual_exposure.cc

@@ -13,8 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 

samples/tutorials/data/get_depth.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_device_info.cc

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_disparity.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_from_callbacks.cc

@@ -11,15 +11,15 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <sstream>
 
-#include "mynteye/api.h"
+#include <opencv2/highgui/highgui.hpp>
+
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 
@@ -52,7 +52,7 @@ int main(int argc, char *argv[]) {
   api->SetStreamCallback(
       Stream::DEPTH,
       [&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
-        UNUSED(data)
+        MYNTEYE_UNUSED(data)
         ++depth_count;
         {
           std::lock_guard<std::mutex> _(depth_mtx);

samples/tutorials/data/get_img_params.cc

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_imu.cc

@@ -13,8 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 

samples/tutorials/data/get_imu_params.cc

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_points.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 #include "util/pc_viewer.h"
 

samples/tutorials/data/get_stereo.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_stereo_rectified.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_with_plugin.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/intermediate/get_all_device_info.cc

@@ -11,9 +11,9 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/context.h"
-#include "mynteye/device.h"
 #include "mynteye/logger.h"
+#include "mynteye/device/context.h"
+#include "mynteye/device/device.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/intermediate/get_depth_and_points.cc

@@ -14,7 +14,8 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/api.h"
+// #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 #include "util/pc_viewer.h"
@@ -32,7 +33,7 @@ class DepthRegion {
    * 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
    */
   void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
     if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
       return;
     }
@@ -164,7 +165,7 @@ int main(int argc, char *argv[]) {
   DepthRegion depth_region(3);
   auto depth_info = [](
       const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
     std::ostringstream os;
     os << "depth pos: [" << point.y << ", " << point.x << "]"
        << "±" << n << ", unit: mm";
@@ -186,6 +187,8 @@ int main(int argc, char *argv[]) {
     painter.DrawImgData(img, *left_data.img);
 
     cv::imshow("frame", img);
+    // LOG(INFO) << "left id: " << left_data.frame_id
+    //     << ", right id: " << right_data.frame_id;
 
     auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
     auto &&depth_data = api->GetStreamData(Stream::DEPTH);
@@ -193,7 +196,7 @@ int main(int argc, char *argv[]) {
       // Show disparity instead of depth, but show depth values in region.
       auto &&depth_frame = disp_data.frame;
 
-#ifdef USE_OPENCV3
+#ifdef WITH_OPENCV3
       // ColormapTypes
       //   http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
       cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);
@@ -204,6 +207,7 @@ int main(int argc, char *argv[]) {
       depth_region.DrawRect(depth_frame);
 
       cv::imshow("depth", depth_frame);
+      // LOG(INFO) << "depth id: " << disp_data.frame_id;
 
       depth_region.ShowElems<ushort>(
           depth_data.frame,
@@ -223,6 +227,7 @@ int main(int argc, char *argv[]) {
     auto &&points_data = api->GetStreamData(Stream::POINTS);
     if (!points_data.frame.empty()) {
       pcviewer.Update(points_data.frame);
+      // LOG(INFO) << "points id: " << points_data.frame_id;
     }
 
     char key = static_cast<char>(cv::waitKey(1));

samples/tutorials/util/cv_painter.cc

@@ -13,15 +13,15 @@
 // limitations under the License.
 #include "util/cv_painter.h"
 
-#include <opencv2/imgproc/imgproc.hpp>
-
 #include <iomanip>
 #include <iostream>
 #include <memory>
 #include <utility>
 
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include "mynteye/logger.h"
-#include "mynteye/utils.h"
+#include "mynteye/device/utils.h"
 
 #define FONT_FACE cv::FONT_HERSHEY_PLAIN
 #define FONT_SCALE 1
@@ -178,7 +178,7 @@ cv::Rect CVPainter::DrawText(
   y += offset_y;
 
   cv::Point org(x, y);
-#ifdef USE_OPENCV2
+#ifdef WITH_OPENCV2
   cv::putText(
       const_cast<cv::Mat &>(img), text, org, FONT_FACE, FONT_SCALE, FONT_COLOR,
       THICKNESS);

samples/tutorials/util/cv_painter.h

@@ -15,10 +15,10 @@
 #define MYNTEYE_TUTORIALS_CV_PAINTER_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
 #include <string>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/types.h"
 
 class CVPainter {

samples/tutorials/util/pc_viewer.h

@@ -15,12 +15,12 @@
 #define MYNTEYE_TUTORIALS_PC_VIEWER_H_
 #pragma once
 
+#include <memory>
+
 #include <opencv2/core/core.hpp>
 
 #include <pcl/visualization/pcl_visualizer.h>
 
-#include <memory>
-
 class PCViewer {
  public:
   PCViewer();

samples/uvc/camera.cc

@@ -11,19 +11,19 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-
 #include <chrono>
 #include <condition_variable>
 #include <iomanip>
 #include <iostream>
 #include <mutex>
 
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include "mynteye/logger.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
-#include "uvc/uvc.h"
+#include "mynteye/uvc/uvc.h"
 
 struct frame {
   const void *data = nullptr;
@@ -157,7 +157,7 @@ int main(int argc, char *argv[]) {
     t = static_cast<double>(cv::getTickCount() - t);
     fps = cv::getTickFrequency() / t;
   }
-  UNUSED(fps)
+  MYNTEYE_UNUSED(fps)
 
   uvc::stop_streaming(*device);
   // cv::destroyAllWindows();

scripts/common/echo.sh

@@ -27,11 +27,13 @@ ECHO="echo -e"
 # task colors
 COLOR_STRONG="1;35"  # Magenta
 COLOR_INFO="1;34"    # Blue
+COLOR_WARN="1;33"    # Yellow
 COLOR_DONE="1;32"    # Green
 COLOR_ERROR="1;31"   # Red
 # action colors
 COLOR_STRONG_NORMAL="35"
 COLOR_INFO_NORMAL="34"
+COLOR_WARN_NORMAL="33"
 COLOR_DONE_NORMAL="32"
 COLOR_ERROR_NORMAL="31"
 
@@ -59,6 +61,10 @@ _echo_i() {
   _echo_ "$1" "$COLOR_INFO"
 }
 
+_echo_w() {
+  _echo_ "$1" "$COLOR_WARN"
+}
+
 _echo_d() {
   _echo_ "$1" "$COLOR_DONE"
 }
@@ -75,6 +81,10 @@ _echo_in() {
   _echo_ "$1" "$COLOR_INFO_NORMAL"
 }
 
+_echo_wn() {
+  _echo_ "$1" "$COLOR_WARN_NORMAL"
+}
+
 _echo_dn() {
   _echo_ "$1" "$COLOR_DONE_NORMAL"
 }

scripts/init.sh

@@ -16,6 +16,7 @@
 # _VERBOSE_=1
 # _INIT_LINTER_=1
 # _FORCE_INSRALL_=1
+_INSTALL_OPTIONS_=$@
 
 BASE_DIR=$(cd "$(dirname "$0")" && pwd)
 

scripts/init_tools.sh

@@ -16,6 +16,7 @@
 _INIT_BUILD_=1
 # _INIT_LINTER_=1
 # _FORCE_INSRALL_=1
+# _INSTALL_OPTIONS_=-y
 
 BASE_DIR=$(cd "$(dirname "$0")" && pwd)
 
@@ -42,6 +43,9 @@ fi
 
 _install_deps() {
   _cmd="$1"; shift; _deps_all=($@)
+  if [ -n "${_INSTALL_OPTIONS_}" ]; then
+    _cmd="$_cmd $_INSTALL_OPTIONS_"
+  fi
   _echo "Install cmd: $_cmd"
   _echo "Install deps: ${_deps_all[*]}"
   if [ -n "${_FORCE_INSRALL_}" ]; then
@@ -68,6 +72,7 @@ _echo_s "Init tools"
 if [ "$HOST_OS" = "Linux" ]; then
   # sudo
   SUDO="sudo"
+  _detect_cmd $SUDO || SUDO=
   # detect apt-get
   _detect apt-get
   # apt-get install

scripts/version.sh

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+ROOT_DIR=$(dirname "$BASE_DIR")
+CONFIG_FILE="$ROOT_DIR/CMakeLists.txt"
+
+version=$(cat "$CONFIG_FILE" | grep -m1 "mynteye VERSION")
+version=$(echo "${version%LANGUAGES*}")
+version=$(echo "${version#*VERSION}" | tr -d '[:space:]')
+
+echo "$version"

scripts/win/cmake/mynteye-targets-release.cmake

@@ -0,0 +1,29 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "mynteye" for configuration "Release"
+set_property(TARGET mynteye APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(mynteye PROPERTIES
+  IMPORTED_IMPLIB_RELEASE "${MYNTEYES_SDK_ROOT}/lib/mynteye.lib"
+  IMPORTED_LOCATION_RELEASE "${MYNTEYES_SDK_ROOT}/bin/mynteye.dll"
+  )
+
+# Import target "mynteye" for configuration "Debug"
+set_property(TARGET mynteye APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG)
+set_target_properties(mynteye PROPERTIES
+  IMPORTED_IMPLIB_DEBUG "${MYNTEYES_SDK_ROOT}/lib/mynteyed.lib"
+  IMPORTED_LOCATION_DEBUG "${MYNTEYES_SDK_ROOT}/bin/mynteyed.dll"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS mynteye )
+list(APPEND _IMPORT_CHECK_FILES_FOR_mynteye
+  "${MYNTEYES_SDK_ROOT}/lib/mynteye.lib" "${MYNTEYES_SDK_ROOT}/bin/mynteye.dll"
+  "${MYNTEYES_SDK_ROOT}/lib/mynteyed.lib" "${MYNTEYES_SDK_ROOT}/bin/mynteyed.dll"
+  )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

scripts/win/cmake/mynteye-targets.cmake

@@ -0,0 +1,102 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget mynteye)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+if(NOT MYNTEYES_SDK_ROOT)
+  if(DEFINED ENV{MYNTEYES_SDK_ROOT})
+    set(MYNTEYES_SDK_ROOT $ENV{MYNTEYES_SDK_ROOT})
+  else()
+    get_filename_component(MYNTEYES_SDK_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+  endif()
+endif()
+
+# The installation prefix configured by this project.
+set(_IMPORT_PREFIX "${MYNTEYES_SDK_ROOT}")
+
+# Create imported target mynteye
+add_library(mynteye SHARED IMPORTED)
+
+set_target_properties(mynteye PROPERTIES
+  INTERFACE_COMPILE_DEFINITIONS "GLOG_NO_ABBREVIATED_SEVERITIES"
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab;opencv_world"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/mynteye-targets-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

scripts/win/generate.bat

@@ -0,0 +1,20 @@
+@echo off
+setlocal
+set _MY_DIR=%~dp0
+
+set _VS_GEN="Visual Studio 15 2017 Win64"
+REM set _VS_GEN="Visual Studio 14 2015 Win64"
+
+cd %_MY_DIR%
+
+mkdir _build
+cd _build/
+
+cmake -DCMAKE_BUILD_TYPE=Release ^
+-DCMAKE_PREFIX_PATH="%_MY_DIR%/../lib/cmake" ^
+-DOpenCV_DIR="%_MY_DIR%/../3rdparty/opencv/build" ^
+-G %_VS_GEN% ^
+..
+
+cd %_MY_DIR%
+pause

scripts/win/nsis/Include/EnvVarUpdate.nsh

@@ -0,0 +1,350 @@
+/**
+ *  EnvVarUpdate.nsh
+ *    : Environmental Variables: append, prepend, and remove entries
+ *
+ *     WARNING: If you use StrFunc.nsh header then include it before this file
+ *              with all required definitions. This is to avoid conflicts
+ *
+ *  Usage:
+ *    ${EnvVarUpdate} "ResultVar" "EnvVarName" "Action" "RegLoc" "PathString"
+ *
+ *  Credits:
+ *  Version 1.0
+ *  * Cal Turney (turnec2)
+ *  * Amir Szekely (KiCHiK) and e-circ for developing the forerunners of this
+ *    function: AddToPath, un.RemoveFromPath, AddToEnvVar, un.RemoveFromEnvVar,
+ *    WriteEnvStr, and un.DeleteEnvStr
+ *  * Diego Pedroso (deguix) for StrTok
+ *  * Kevin English (kenglish_hi) for StrContains
+ *  * Hendri Adriaens (Smile2Me), Diego Pedroso (deguix), and Dan Fuhry
+ *    (dandaman32) for StrReplace
+ *
+ *  Version 1.1 (compatibility with StrFunc.nsh)
+ *  * techtonik
+ *
+ *  http://nsis.sourceforge.net/Environmental_Variables:_append%2C_prepend%2C_and_remove_entries
+ *
+ */
+
+
+!ifndef ENVVARUPDATE_FUNCTION
+!define ENVVARUPDATE_FUNCTION
+!verbose push
+!verbose 3
+!include "LogicLib.nsh"
+!include "WinMessages.NSH"
+!include "StrFunc.nsh"
+
+; ---- Fix for conflict if StrFunc.nsh is already includes in main file -----------------------
+!macro _IncludeStrFunction StrFuncName
+  !ifndef ${StrFuncName}_INCLUDED
+    ${${StrFuncName}}
+  !endif
+  !ifndef Un${StrFuncName}_INCLUDED
+    ${Un${StrFuncName}}
+  !endif
+  !define un.${StrFuncName} "${Un${StrFuncName}}"
+!macroend
+
+!insertmacro _IncludeStrFunction StrTok
+!insertmacro _IncludeStrFunction StrStr
+!insertmacro _IncludeStrFunction StrRep
+
+; ---------------------------------- Macro Definitions ----------------------------------------
+!macro _EnvVarUpdateConstructor ResultVar EnvVarName Action Regloc PathString
+  Push "${EnvVarName}"
+  Push "${Action}"
+  Push "${RegLoc}"
+  Push "${PathString}"
+    Call EnvVarUpdate
+  Pop "${ResultVar}"
+!macroend
+!define EnvVarUpdate '!insertmacro "_EnvVarUpdateConstructor"'
+
+!macro _unEnvVarUpdateConstructor ResultVar EnvVarName Action Regloc PathString
+  Push "${EnvVarName}"
+  Push "${Action}"
+  Push "${RegLoc}"
+  Push "${PathString}"
+    Call un.EnvVarUpdate
+  Pop "${ResultVar}"
+!macroend
+!define un.EnvVarUpdate '!insertmacro "_unEnvVarUpdateConstructor"'
+; ---------------------------------- Macro Definitions end-------------------------------------
+
+;----------------------------------- EnvVarUpdate start----------------------------------------
+!define hklm_all_users     'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
+!define hkcu_current_user  'HKCU "Environment"'
+
+!macro EnvVarUpdate UN
+
+Function ${UN}EnvVarUpdate
+
+  Push $0
+  Exch 4
+  Exch $1
+  Exch 3
+  Exch $2
+  Exch 2
+  Exch $3
+  Exch
+  Exch $4
+  Push $5
+  Push $6
+  Push $7
+  Push $8
+  Push $9
+  Push $R0
+
+  /* After this point:
+  -------------------------
+     $0 = ResultVar     (returned)
+     $1 = EnvVarName    (input)
+     $2 = Action        (input)
+     $3 = RegLoc        (input)
+     $4 = PathString    (input)
+     $5 = Orig EnvVar   (read from registry)
+     $6 = Len of $0     (temp)
+     $7 = tempstr1      (temp)
+     $8 = Entry counter (temp)
+     $9 = tempstr2      (temp)
+     $R0 = tempChar     (temp)  */
+
+  ; Step 1:  Read contents of EnvVarName from RegLoc
+  ;
+  ; Check for empty EnvVarName
+  ${If} $1 == ""
+    SetErrors
+    DetailPrint "ERROR: EnvVarName is blank"
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ; Check for valid Action
+  ${If}    $2 != "A"
+  ${AndIf} $2 != "P"
+  ${AndIf} $2 != "R"
+    SetErrors
+    DetailPrint "ERROR: Invalid Action - must be A, P, or R"
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ${If} $3 == HKLM
+    ReadRegStr $5 ${hklm_all_users} $1     ; Get EnvVarName from all users into $5
+  ${ElseIf} $3 == HKCU
+    ReadRegStr $5 ${hkcu_current_user} $1  ; Read EnvVarName from current user into $5
+  ${Else}
+    SetErrors
+    DetailPrint 'ERROR: Action is [$3] but must be "HKLM" or HKCU"'
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ; Check for empty PathString
+  ${If} $4 == ""
+    SetErrors
+    DetailPrint "ERROR: PathString is blank"
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ;;khc - here check if length is going to be greater then max string length
+  ;;      and abort if so - also abort if original path empty - may mean
+  ;;      it was too long as well- write message to say set it by hand
+  Push $6
+  Push $7
+  Push $8
+  StrLen $7 $4
+  StrLen $6 $5
+  IntOp $8 $6 + $7
+  ${If} $5 == ""
+  ${OrIf} $8 >= ${NSIS_MAX_STRLEN}
+    SetErrors
+    DetailPrint "Current $1 length ($6) too long to modify in NSIS; set manually if needed"
+    Pop $8
+    Pop $7
+    Pop $6
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+  Pop $8
+  Pop $7
+  Pop $6
+  ;;khc
+
+  ; Make sure we've got some work to do
+  ${If} $5 == ""
+  ${AndIf} $2 == "R"
+    SetErrors
+    DetailPrint "$1 is empty - Nothing to remove"
+    Goto EnvVarUpdate_Restore_Vars
+  ${EndIf}
+
+  ; Step 2: Scrub EnvVar
+  ;
+  StrCpy $0 $5                             ; Copy the contents to $0
+  ; Remove spaces around semicolons (NOTE: spaces before the 1st entry or
+  ; after the last one are not removed here but instead in Step 3)
+  ${If} $0 != ""                           ; If EnvVar is not empty ...
+    ${Do}
+      ${${UN}StrStr} $7 $0 " ;"
+      ${If} $7 == ""
+        ${ExitDo}
+      ${EndIf}
+      ${${UN}StrRep} $0  $0 " ;" ";"         ; Remove '<space>;'
+    ${Loop}
+    ${Do}
+      ${${UN}StrStr} $7 $0 "; "
+      ${If} $7 == ""
+        ${ExitDo}
+      ${EndIf}
+      ${${UN}StrRep} $0  $0 "; " ";"         ; Remove ';<space>'
+    ${Loop}
+    ${Do}
+      ${${UN}StrStr} $7 $0 ";;"
+      ${If} $7 == ""
+        ${ExitDo}
+      ${EndIf}
+      ${${UN}StrRep} $0  $0 ";;" ";"
+    ${Loop}
+
+    ; Remove a leading or trailing semicolon from EnvVar
+    StrCpy  $7  $0 1 0
+    ${If} $7 == ";"
+      StrCpy $0  $0 "" 1                   ; Change ';<EnvVar>' to '<EnvVar>'
+    ${EndIf}
+    StrLen $6 $0
+    IntOp $6 $6 - 1
+    StrCpy $7  $0 1 $6
+    ${If} $7 == ";"
+     StrCpy $0  $0 $6                      ; Change ';<EnvVar>' to '<EnvVar>'
+    ${EndIf}
+    ; DetailPrint "Scrubbed $1: [$0]"      ; Uncomment to debug
+  ${EndIf}
+
+  /* Step 3. Remove all instances of the target path/string (even if "A" or "P")
+     $6 = bool flag (1 = found and removed PathString)
+     $7 = a string (e.g. path) delimited by semicolon(s)
+     $8 = entry counter starting at 0
+     $9 = copy of $0
+     $R0 = tempChar      */
+
+  ${If} $5 != ""                           ; If EnvVar is not empty ...
+    StrCpy $9 $0
+    StrCpy $0 ""
+    StrCpy $8 0
+    StrCpy $6 0
+
+    ${Do}
+      ${${UN}StrTok} $7 $9 ";" $8 "0"      ; $7 = next entry, $8 = entry counter
+
+      ${If} $7 == ""                       ; If we've run out of entries,
+        ${ExitDo}                          ;    were done
+      ${EndIf}                             ;
+
+      ; Remove leading and trailing spaces from this entry (critical step for Action=Remove)
+      ${Do}
+        StrCpy $R0  $7 1
+        ${If} $R0 != " "
+          ${ExitDo}
+        ${EndIf}
+        StrCpy $7   $7 "" 1                ;  Remove leading space
+      ${Loop}
+      ${Do}
+        StrCpy $R0  $7 1 -1
+        ${If} $R0 != " "
+          ${ExitDo}
+        ${EndIf}
+        StrCpy $7   $7 -1                  ;  Remove trailing space
+      ${Loop}
+      ${If} $7 == $4                       ; If string matches, remove it by not appending it
+        StrCpy $6 1                        ; Set 'found' flag
+      ${ElseIf} $7 != $4                   ; If string does NOT match
+      ${AndIf}  $0 == ""                   ;    and the 1st string being added to $0,
+        StrCpy $0 $7                       ;    copy it to $0 without a prepended semicolon
+      ${ElseIf} $7 != $4                   ; If string does NOT match
+      ${AndIf}  $0 != ""                   ;    and this is NOT the 1st string to be added to $0,
+        StrCpy $0 $0;$7                    ;    append path to $0 with a prepended semicolon
+      ${EndIf}                             ;
+
+      IntOp $8 $8 + 1                      ; Bump counter
+    ${Loop}                                ; Check for duplicates until we run out of paths
+  ${EndIf}
+
+  ; Step 4:  Perform the requested Action
+  ;
+  ${If} $2 != "R"                          ; If Append or Prepend
+    ${If} $6 == 1                          ; And if we found the target
+      DetailPrint "Target is already present in $1. It will be removed and"
+    ${EndIf}
+    ${If} $0 == ""                         ; If EnvVar is (now) empty
+      StrCpy $0 $4                         ;   just copy PathString to EnvVar
+      ${If} $6 == 0                        ; If found flag is either 0
+      ${OrIf} $6 == ""                     ; or blank (if EnvVarName is empty)
+        DetailPrint "$1 was empty and has been updated with the target"
+      ${EndIf}
+    ${ElseIf} $2 == "A"                    ;  If Append (and EnvVar is not empty),
+      StrCpy $0 $0;$4                      ;     append PathString
+      ${If} $6 == 1
+        DetailPrint "appended to $1"
+      ${Else}
+        DetailPrint "Target was appended to $1"
+      ${EndIf}
+    ${Else}                                ;  If Prepend (and EnvVar is not empty),
+      StrCpy $0 $4;$0                      ;     prepend PathString
+      ${If} $6 == 1
+        DetailPrint "prepended to $1"
+      ${Else}
+        DetailPrint "Target was prepended to $1"
+      ${EndIf}
+    ${EndIf}
+  ${Else}                                  ; If Action = Remove
+    ${If} $6 == 1                          ;   and we found the target
+      DetailPrint "Target was found and removed from $1"
+    ${Else}
+      DetailPrint "Target was NOT found in $1 (nothing to remove)"
+    ${EndIf}
+    ${If} $0 == ""
+      DetailPrint "$1 is now empty"
+    ${EndIf}
+  ${EndIf}
+
+  ; Step 5:  Update the registry at RegLoc with the updated EnvVar and announce the change
+  ;
+  ClearErrors
+  ${If} $3  == HKLM
+    WriteRegExpandStr ${hklm_all_users} $1 $0     ; Write it in all users section
+  ${ElseIf} $3 == HKCU
+    WriteRegExpandStr ${hkcu_current_user} $1 $0  ; Write it to current user section
+  ${EndIf}
+
+  IfErrors 0 +4
+    MessageBox MB_OK|MB_ICONEXCLAMATION "Could not write updated $1 to $3"
+    DetailPrint "Could not write updated $1 to $3"
+    Goto EnvVarUpdate_Restore_Vars
+
+  ; "Export" our change
+  SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
+
+  EnvVarUpdate_Restore_Vars:
+  ;
+  ; Restore the user's variables and return ResultVar
+  Pop $R0
+  Pop $9
+  Pop $8
+  Pop $7
+  Pop $6
+  Pop $5
+  Pop $4
+  Pop $3
+  Pop $2
+  Pop $1
+  Push $0  ; Push my $0 (ResultVar)
+  Exch
+  Pop $0   ; Restore his $0
+
+FunctionEnd
+
+!macroend   ; EnvVarUpdate UN
+!insertmacro EnvVarUpdate ""
+!insertmacro EnvVarUpdate "un."
+;----------------------------------- EnvVarUpdate end----------------------------------------
+
+!verbose pop
+!endif

scripts/win/nsis/winpack.nsi.in

@@ -0,0 +1,198 @@
+; winpack.nsi
+
+!addincludedir scripts\win\nsis\Include
+!include EnvVarUpdate.nsh
+
+!addplugindir scripts\win\nsis\Plugins
+
+!include WinMessages.nsh
+
+!define VERSION "@mynteye_VERSION@"
+!define OpenCV_VERSION "@OpenCV_VERSION@"
+
+!define DSETDIR "$APPDATA"
+;!define DSETDIR "$PROGRAMFILES64"
+
+; HKLM (all users) vs HKCU (current user) defines
+!define ENV_HKLM 'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
+!define ENV_HKCU 'HKCU "Environment"'
+
+;--------------------------------
+
+; The name of the installer
+Name "MYNTEYE S SDK ${VERSION}"
+
+; The icon of the installer
+Icon "scripts\win\nsis\mynt.ico"
+
+; The file to write
+OutFile "mynteye-s-${VERSION}-win-x64-opencv-${OpenCV_VERSION}.exe"
+
+; The default installation directory
+InstallDir ${DSETDIR}\Slightech\MYNTEYES\SDK\${VERSION}
+
+; Registry key to check for directory (so if you install again, it will
+; overwrite the old one automatically)
+InstallDirRegKey HKLM "Software\MYNTEYESSDK" "Install_Dir"
+
+; Request application privileges for Windows Vista
+;RequestExecutionLevel user
+RequestExecutionLevel admin
+
+;--------------------------------
+
+; Pages
+
+Page components
+Page directory
+Page instfiles
+
+UninstPage uninstConfirm
+UninstPage instfiles
+
+;--------------------------------
+
+; The stuff to install
+Section "SDK (required)"
+
+  SectionIn RO
+
+  ; Set output path to the installation directory.
+  SetOutPath $INSTDIR
+
+  ; Put file there
+  File /r "mynteye-s-${VERSION}-win-x64-opencv-${OpenCV_VERSION}\*"
+
+  ; Write the installation path into the registry
+  WriteRegStr HKLM "SOFTWARE\MYNTEYESSDK" "Install_Dir" "$INSTDIR"
+
+  ; Write the uninstall keys for Windows
+  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "DisplayName" "MYNTEYE S SDK"
+  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "UninstallString" '"$INSTDIR\uninstall.exe"'
+  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "NoModify" 1
+  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "NoRepair" 1
+  WriteUninstaller "uninstall.exe"
+
+  ; Set variables for local machine
+  WriteRegExpandStr ${ENV_HKLM} MYNTEYES_SDK_ROOT "$INSTDIR"
+
+  ;${EnvVarUpdate} $0 "PATH" "P" "HKLM" "%MYNTEYES_SDK_PATH%"
+  ${EnvVarUpdate} $0 "PATH" "P" "HKLM" "$INSTDIR\bin;$INSTDIR\3rdparty\opencv\build\x64\vc15\bin"
+
+  ; Push "%MYNTEYES_SDK_PATH%"
+  ; Call AddToPath
+
+  ; Make sure windows knows about the change
+  SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
+
+SectionEnd
+
+; Optional section (can be disabled by the user)
+Section "Desktop Shortcuts"
+
+  CreateShortcut "$DESKTOP\MYNTEYE S SDK ${VERSION}.lnk" "$INSTDIR" "" "$INSTDIR" 0
+
+SectionEnd
+
+Function .onInstSuccess
+
+  WriteRegStr "HKLM" "SOFTWARE\Microsoft\Windows\CurrentVersion\RunOnce" \
+    "View MYNTEYES README.txt" \
+    "cmd.exe /c start /max notepad.exe $INSTDIR\README.txt"
+
+  MessageBox MB_OKCANCEL "Reboot your system now?" /SD IDOK IDCANCEL NoReboot
+    Reboot
+  NoReboot:
+
+FunctionEnd
+
+Function .onInstFailed
+  MessageBox MB_OK "Install failed."
+FunctionEnd
+
+;--------------------------------
+
+; Uninstaller
+
+Section "Uninstall"
+
+  ; Remove registry keys
+  DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK"
+  DeleteRegKey HKLM "SOFTWARE\MYNTEYESSDK"
+
+  ; Remove install stuff
+  RMDir /r "$INSTDIR"
+
+  ; Remove shortcuts, if any
+  Delete "$DESKTOP\MYNTEYE S SDK ${VERSION}.lnk"
+
+  ; Remove directories used
+  StrCpy $0 "${DSETDIR}\Slightech\MYNTEYES"
+  Call un.DeleteDirIfEmpty
+  StrCpy $0 "${DSETDIR}\Slightech"
+  Call un.DeleteDirIfEmpty
+
+  RMDir /r "$APPDATA\Slightech\MYNTEYES"
+  StrCpy $0 "$APPDATA\Slightech"
+  Call un.DeleteDirIfEmpty
+
+  ; Delete variables
+  DeleteRegValue ${ENV_HKLM} MYNTEYES_SDK_ROOT
+
+  ;${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "%MYNTEYES_SDK_PATH%"
+  ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin"
+  ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\3rdparty\opencv\build\x64\vc15\bin"
+
+  ; Push "%MYNTEYES_SDK_PATH%"
+  ; Call un.RemoveFromPath
+
+  ; Make sure windows knows about the change
+  SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
+
+SectionEnd
+
+Function un.onUninstSuccess
+  MessageBox MB_OK "Uninstall success."
+FunctionEnd
+
+Function un.onUninstFailed
+  MessageBox MB_OK "Uninstall failed."
+FunctionEnd
+
+;--------------------------------
+
+; DeleteDirIfEmpty - Delete dir only if empty
+
+Function un.DeleteDirIfEmpty
+  FindFirst $R0 $R1 "$0\*.*"
+  strcmp $R1 "." 0 NoDelete
+   FindNext $R0 $R1
+   strcmp $R1 ".." 0 NoDelete
+    ClearErrors
+    FindNext $R0 $R1
+    IfErrors 0 NoDelete
+     FindClose $R0
+     Sleep 1000
+     RMDir "$0"
+  NoDelete:
+   FindClose $R0
+FunctionEnd
+
+;--------------------------------
+
+; Path Manipulation
+;   http://nsis.sourceforge.net/Path_Manipulation
+; Environmental Variables: append, prepend, and remove entries
+;   http://nsis.sourceforge.net/Environmental_Variables:_append%2C_prepend%2C_and_remove_entries
+; Setting Environment Variables
+;   http://nsis.sourceforge.net/Setting_Environment_Variables
+; Setting Environment Variables to Active Installer Process
+;   http://nsis.sourceforge.net/Setting_Environment_Variables_to_Active_Installer_Process
+
+; Delete files and subdirectories
+;   http://nsis.sourceforge.net/Delete_files_and_subdirectories
+; Delete dir only if empty
+;   http://nsis.sourceforge.net/Delete_dir_only_if_empty
+
+;https://gist.github.com/azalea/deb3c1ed2a984eadf96be77b81dd49b1
+;!include ProcessEnvPrependPath.nsh

scripts/win/winpack.sh

@@ -0,0 +1,179 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+ROOT_DIR=$(realpath "$BASE_DIR/../..")
+SCRIPTS_DIR=$(realpath "$BASE_DIR/..")
+
+source "$SCRIPTS_DIR/common/echo.sh"
+source "$SCRIPTS_DIR/common/detect.sh"
+
+if [ ! -d "$ROOT_DIR/3rdparty/opencv" ]; then
+  _echo_e "3rdparty/opencv not found, please manually download it to here."
+  _echo_e
+  _echo_e "  OpenCV Win pack 3.4.3: https://opencv.org/releases.html"
+  exit 1
+fi
+
+if ! _detect_cmd makensis; then
+  _echo_e "makensis not found, please manually download and install it."
+  _echo_e
+  _echo_e "  NSIS: http://nsis.sourceforge.net"
+  exit 1
+fi
+
+export OpenCV_DIR="$ROOT_DIR/3rdparty/opencv/build"
+
+_rm() {
+  [ -e "$1" ] && (rm -r "$1" && _echo_i "RM: $1")
+}
+
+_md() {
+  [ ! -d "$1" ] && (mkdir -p "$1" && _echo_i "MD: $1")
+}
+
+# _mv_subs <srcdir> <dstdir> [sub1 sub2 ...]
+_mv_subs() {
+  _src_dir="$1"; shift; _dst_dir="$1"; shift; _subs="$@";
+  if [ -z "$_subs" ]; then
+    _subs=`ls $_src_dir`
+  fi
+  for _sub in $_subs; do
+    _src="$_src_dir/$_sub"
+    [ ! -e "$_src" ] && (_echo_i "Not exist: $_src") && continue
+    _dst=
+    [ -f "$_src" ] && _dst="$_dst_dir"
+    [ -d "$_src" ] && _dst="$_dst_dir/$_sub"
+    [ -z "$_dst" ] && continue
+    # _echo "_src: $_src"
+    # _echo "_dst: $_dst"
+    mv "$_src" "$_dst"
+  done
+}
+
+################################################################################
+# build release
+
+make samples tools
+
+################################################################################
+# build debug
+
+rm -r "$ROOT_DIR/_build"
+rm -r "$ROOT_DIR/_output"
+make build BUILD_TYPE=Debug
+
+mv "$ROOT_DIR/_output/bin/mynteyed.dll" "$ROOT_DIR/_install/bin/mynteyed.dll"
+mv "$ROOT_DIR/_output/lib/mynteyed.lib" "$ROOT_DIR/_install/lib/mynteyed.lib"
+
+################################################################################
+# move to _install
+
+# 3rdparty/opencv
+_md "$ROOT_DIR/_install/3rdparty"
+mv "$ROOT_DIR/3rdparty/opencv" "$ROOT_DIR/_install/3rdparty/opencv"
+
+# cmake
+mv "$ROOT_DIR/cmake" "$ROOT_DIR/_install/cmake"
+
+# samples
+mv "$ROOT_DIR/samples/_output/bin" "$ROOT_DIR/_install/bin/samples"
+mv "$ROOT_DIR/samples/_output/lib" "$ROOT_DIR/_install/lib/samples"
+_rm "$ROOT_DIR/samples/_build"
+_rm "$ROOT_DIR/samples/_output"
+mv "$ROOT_DIR/samples" "$ROOT_DIR/_install/samples"
+
+# tools
+mv "$ROOT_DIR/tools/_output/bin" "$ROOT_DIR/_install/bin/tools"
+mv "$ROOT_DIR/tools/_output/lib" "$ROOT_DIR/_install/lib/tools"
+_rm "$ROOT_DIR/tools/_build"
+_rm "$ROOT_DIR/tools/_output"
+mv "$ROOT_DIR/tools/linter" "$ROOT_DIR/3rdparty/linter"
+mv "$ROOT_DIR/tools" "$ROOT_DIR/_install/tools"
+
+# platforms/win
+mv "$ROOT_DIR/platforms/win/README.txt" "$ROOT_DIR/_install"
+
+_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/.vs"
+_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/x64"
+_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/x64"
+_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj.user"
+mv "$ROOT_DIR/platforms/projects" "$ROOT_DIR/_install/projects"
+
+################################################################################
+# copy to _install
+
+cp -f "$ROOT_DIR/scripts/win/cmake/mynteye-targets.cmake" "$ROOT_DIR/_install/lib/cmake/mynteye/"
+cp -f "$ROOT_DIR/scripts/win/cmake/mynteye-targets-release.cmake" "$ROOT_DIR/_install/lib/cmake/mynteye/"
+
+cp -f "$ROOT_DIR/scripts/win/generate.bat" "$ROOT_DIR/_install/samples/"
+cp -f "$ROOT_DIR/scripts/win/generate.bat" "$ROOT_DIR/_install/tools/"
+
+################################################################################
+# archive exe
+
+source "$ROOT_DIR/pkginfo.sh"
+_pkgname="$1-opencv-$OpenCV_VERSION"
+
+_rm "$ROOT_DIR/$_pkgname.exe"
+mv "$ROOT_DIR/_install" "$ROOT_DIR/$_pkgname"
+
+makensis "$ROOT_DIR/winpack.nsi"
+
+if _detect_cmd git; then
+  _git_branch=`git symbolic-ref --short -q HEAD`
+  if [ "$_git_branch" == "develop" ]; then
+    _git_hash=`git rev-parse --short HEAD`
+    mv "$ROOT_DIR/$_pkgname.exe" "$ROOT_DIR/$_pkgname-dev-$_git_hash.exe"
+  fi
+fi
+
+mv "$ROOT_DIR/$_pkgname" "$ROOT_DIR/_install"
+
+################################################################################
+# remove from _install
+
+_rm "$ROOT_DIR/_install/samples/generate.bat"
+_rm "$ROOT_DIR/_install/tools/generate.bat"
+
+################################################################################
+# move back from _install
+
+# 3rdparty/opencv
+mv "$ROOT_DIR/_install/3rdparty/opencv" "$ROOT_DIR/3rdparty/opencv"
+
+# cmake
+mv "$ROOT_DIR/_install/cmake" "$ROOT_DIR/cmake"
+
+# samples
+mv "$ROOT_DIR/_install/samples" "$ROOT_DIR/samples"
+
+# tools
+mv "$ROOT_DIR/_install/tools" "$ROOT_DIR/tools"
+mv "$ROOT_DIR/3rdparty/linter" "$ROOT_DIR/tools/linter"
+
+# platforms/win
+mv "$ROOT_DIR/_install/README.txt" "$ROOT_DIR/platforms/win"
+
+mv "$ROOT_DIR/_install/projects" "$ROOT_DIR/platforms/projects"
+
+################################################################################
+# clean build
+
+_rm "$ROOT_DIR/_build"
+_rm "$ROOT_DIR/_output"
+
+
+_echo_d "Win pack success"

src/mynteye/api/api.cc

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "api/api.h"
+#include "mynteye/api/api.h"
 
 #ifdef WITH_BOOST_FILESYSTEM
 #include <boost/filesystem.hpp>
@@ -22,16 +22,15 @@
 #include <thread>
 
 #include "mynteye/logger.h"
-#include "mynteye/utils.h"
+#include "mynteye/api/dl.h"
-
+#include "mynteye/api/plugin.h"
-#include "api/plugin.h"
+#include "mynteye/api/synthetic.h"
-#include "api/synthetic.h"
+#include "mynteye/device/device.h"
-#include "device/device.h"
+#include "mynteye/device/device_s.h"
-#include "device/device_s.h"
+#include "mynteye/device/utils.h"
-#include "internal/dl.h"
 
 #if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
-#if defined(OS_WIN)
+#if defined(MYNTEYE_OS_WIN)
 #include <windows.h>
 #endif
 #endif
@@ -68,7 +67,7 @@ bool dir_exists(const fs::path &p) {
 
 #elif defined(WITH_NATIVE_FILESYSTEM)
 
-#if defined(OS_WIN)
+#if defined(MYNTEYE_OS_WIN)
 
 bool file_exists(const std::string &p) {
   DWORD attrs = GetFileAttributes(p.c_str());
@@ -89,8 +88,8 @@ bool dir_exists(const std::string &p) {
 #endif
 
 std::vector<std::string> get_plugin_paths() {
-  std::string info_path(MYNTEYE_SDK_INSTALL_DIR);
+  std::string info_path = utils::get_sdk_install_dir();
-  info_path.append(OS_SEP "share" OS_SEP "mynteye" OS_SEP "build.info");
+  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
@@ -184,16 +183,17 @@ std::vector<std::string> get_plugin_paths() {
   }
   plats.push_back(host_os + "-" + host_arch);
 
-  std::vector<std::string> dirs{MYNTEYE_SDK_ROOT_DIR, MYNTEYE_SDK_INSTALL_DIR};
+  std::vector<std::string> dirs{
+      utils::get_sdk_root_dir(), utils::get_sdk_install_dir()};
   for (auto &&plat : plats) {
     for (auto &&dir : dirs) {
-      auto &&plat_dir = dir + OS_SEP "plugins" + OS_SEP + plat;
+      auto &&plat_dir = dir + MYNTEYE_OS_SEP "plugins" + MYNTEYE_OS_SEP + plat;
       // VLOG(2) << "plat_dir: " << plat_dir;
       if (!dir_exists(plat_dir))
         continue;
       for (auto &&name : names) {
         // VLOG(2) << "  name: " << name;
-        auto &&path = plat_dir + OS_SEP + name;
+        auto &&path = plat_dir + MYNTEYE_OS_SEP + name;
         if (!file_exists(path))
           continue;
         paths.push_back(path);
@@ -226,7 +226,7 @@ API::API(std::shared_ptr<Device> device) : device_(device) {
              "to write the image params. If you update the SDK from "
              "1.x, the `SN*.conf` is the file contains them. Besides, "
              "you could also calibrate them by yourself. Read the guide "
-             "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+             "doc (https://github.com/slightech/MYNT-EYE-S-SDK-Guide) "
              "to learn more.";
     }
   }