refactor(*): doc and samples update tools contents.

2019-08-30 15:03:36 +08:00
parent 75631fa7d7
commit ed2398fedc
47 changed files with 1390 additions and 110 deletions
--- a/docs/src/sdk/control/auto_exposure.rst
+++ b/docs/src/sdk/control/auto_exposure.rst
@@ -86,7 +86,7 @@ s1030：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_auto_exposure
+  $ ./samples/_output/bin/ctrl_auto_exposure
  I0513 14:07:57.963943 31845 utils.cc:26] Detecting MYNT EYE devices
  I0513 14:07:58.457536 31845 utils.cc:33] MYNT EYE devices:
  I0513 14:07:58.457563 31845 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
@@ -101,7 +101,7 @@ s2100/s210a：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_auto_exposure 
+  $ ./samples/_output/bin/ctrl_auto_exposure 
  I/utils.cc:30 Detecting MYNT EYE devices
  I/utils.cc:40 MYNT EYE devices:
  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@@ -126,4 +126,4 @@ s2100/s210a：

 The sample program displays an image with a real exposure time in the upper left corner, in milliseconds.

-Complete code examples, see `auto_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/auto_exposure.cc>`_ .
+Complete code examples, see `ctrl_auto_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_auto_exposure.cc>`_ .
--- a/docs/src/sdk/control/framerate.rst
+++ b/docs/src/sdk/control/framerate.rst
@@ -67,7 +67,7 @@ s1030：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_framerate
+  $ ./samples/_output/bin/ctrl_framerate
  I0513 14:05:57.218222 31813 utils.cc:26] Detecting MYNT EYE devices
  I0513 14:05:57.899404 31813 utils.cc:33] MYNT EYE devices:
  I0513 14:05:57.899430 31813 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
@@ -82,7 +82,7 @@ s2100/s210a：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_framerate 
+  $ ./samples/_output/bin/ctrl_framerate 
  I/utils.cc:30 Detecting MYNT EYE devices
  I/utils.cc:40 MYNT EYE devices:
  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@@ -105,4 +105,4 @@ s2100/s210a：

 After the sample program finishes running with ``ESC/Q``, it will output the calculated value of the frame rate of image & IMU frequency.

-Complete code samples，please see `framerate.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/framerate.cc>`_ .
+Complete code samples，please see `ctrl_framerate.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_framerate.cc>`_ .
--- a/docs/src/sdk/control/iic_address.rst
+++ b/docs/src/sdk/control/iic_address.rst
@@ -37,7 +37,7 @@ s210a/s2100：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_iic_adress
+  $ ./samples/_output/bin/ctrl_iic_adress
  I/utils.cc:30 Detecting MYNT EYE devices
  I/utils.cc:40 MYNT EYE devices:
  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@@ -55,4 +55,4 @@ s210a/s2100：
  I/imu_range.cc:51 Set iic address to 0x31

 After the sample program finishes running with ``ESC/Q``.
-Complete code samples，please see `iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/iic_address.cc>`_ .
+Complete code samples，please see `ctrl_iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_iic_address.cc>`_ .
--- a/docs/src/sdk/control/imu_low_pass_filter.rst
+++ b/docs/src/sdk/control/imu_low_pass_filter.rst
@@ -37,7 +37,7 @@ Reference running results on Linux:

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_imu_low_pass_filter 
+  $ ./samples/_output/bin/ctrl_imu_low_pass_filter 
  I/utils.cc:30 Detecting MYNT EYE devices
  I/utils.cc:40 MYNT EYE devices:
  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@@ -60,4 +60,4 @@ Reference running results on Linux:

 After the sample program finishes running with ``ESC/Q``, the low-pass filter of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.

-Complete code samples，please see `imu_low_pass_filter.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/imu_low_pass_filter.cc>`_ 。
+Complete code samples，please see `ctrl_imu_low_pass_filter.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_imu_low_pass_filter.cc>`_ 。
--- a/docs/src/sdk/control/imu_range.rst
+++ b/docs/src/sdk/control/imu_range.rst
@@ -67,7 +67,7 @@ s1030：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_imu_range
+  $ ./samples/_output/bin/ctrl_imu_range
  I/utils.cc:28 Detecting MYNT EYE devices
  I/utils.cc:38 MYNT EYE devices:
  I/utils.cc:41   index: 0, name: MYNT-EYE-S1030, sn: 4B4C1F1100090712
@@ -82,7 +82,7 @@ s2100/s210a：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_imu_range 
+  $ ./samples/_output/bin/ctrl_imu_range 
  I/utils.cc:30 Detecting MYNT EYE devices
  I/utils.cc:40 MYNT EYE devices:
  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@@ -105,4 +105,4 @@ s2100/s210a：

 After the sample program finishes running with ``ESC/Q``, the ranges of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.

-Complete code samples，please see `imu_range.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/imu_range.cc>`_.
+Complete code samples，please see `ctrl_imu_range.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_imu_range.cc>`_.
--- a/docs/src/sdk/control/infrared.rst
+++ b/docs/src/sdk/control/infrared.rst
@@ -33,7 +33,7 @@ Reference running results on Linux:

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_infrared
+  $ ./samples/_output/bin/ctrl_infrared
  I0504 16:16:28.016624 25848 utils.cc:13] Detecting MYNT EYE devices
  I0504 16:16:28.512462 25848 utils.cc:20] MYNT EYE devices:
  I0504 16:16:28.512473 25848 utils.cc:24]   index: 0, name: MYNT-EYE-S1000
@@ -51,4 +51,4 @@ At this point, if the image is displayed, you can see IR speckle on the image, a

  The hardware will not record the IR value after being turned off. In order to keep IR enabled, you must set the IR value after turning on the device.

-Complete code samples，see `infrared.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/infrared.cc>`_ .
+Complete code samples，see `ctrl_infrared.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_infrared.cc>`_ .
--- a/docs/src/sdk/control/manual_exposure.rst
+++ b/docs/src/sdk/control/manual_exposure.rst
@@ -71,7 +71,7 @@ s1030：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_manual_exposure
+  $ ./samples/_output/bin/ctrl_manual_exposure
  I0513 14:09:17.104431 31908 utils.cc:26] Detecting MYNT EYE devices
  I0513 14:09:17.501519 31908 utils.cc:33] MYNT EYE devices:
  I0513 14:09:17.501551 31908 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
@@ -85,7 +85,7 @@ s2100/s210a：

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/ctrl_manual_exposure 
+  $ ./samples/_output/bin/ctrl_manual_exposure 
  I/utils.cc:30 Detecting MYNT EYE devices
  I/utils.cc:40 MYNT EYE devices:
  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
@@ -107,4 +107,4 @@ s2100/s210a：

 The sample program displays an image with a real exposure time in the upper left corner, in milliseconds.

-Complete code samples，see `manual_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/manual_exposure.cc>`_ .
+Complete code samples，see `ctrl_manual_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/ctrl_manual_exposure.cc>`_ .
--- a/docs/src/sdk/data/contents.rst
+++ b/docs/src/sdk/data/contents.rst
@@ -12,7 +12,6 @@ SDK Data Samples
   get_stereo_rectified
   get_disparity
   get_depth
-   get_points
   get_imu
   get_imu_correspondence
   get_from_callbacks
--- a/docs/src/sdk/data/get_depth.rst
+++ b/docs/src/sdk/data/get_depth.rst
@@ -47,8 +47,8 @@ Reference code snippet:

 The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.

-Complete code examples, see `get_depth.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_depth.cc>`_ .
+Complete code examples, see `get_depth.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_depth.cc>`_ .

 .. tip::

-Preview the value of a region of the depth image, see `get_depth_with_region.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/api/get_depth_with_region.cc>`_ .
+Preview the value of a region of the depth image, see `get_depth_with_region.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_depth_with_region.cc>`_ .
--- a/docs/src/sdk/data/get_device_info.rst
+++ b/docs/src/sdk/data/get_device_info.rst
@@ -24,7 +24,7 @@ Reference result on Linux:

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/get_device_info
+  $ ./samples/_output/bin/get_device_info
  I0503 16:40:21.109391 32106 utils.cc:13] Detecting MYNT EYE devices
  I0503 16:40:21.604116 32106 utils.cc:20] MYNT EYE devices:
  I0503 16:40:21.604127 32106 utils.cc:24]   index: 0, name: MYNT-EYE-S1000
@@ -38,4 +38,4 @@ Reference result on Linux:
  I0503 16:40:21.615164 32106 get_device_info.cc:16] IMU type: 0000
  I0503 16:40:21.615171 32106 get_device_info.cc:17] Nominal baseline: 120

-Complete code examples, see `get_device_info.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_device_info.cc>`_ .
+Complete code examples, see `get_device_info.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_device_info.cc>`_ .
--- a/docs/src/sdk/data/get_disparity.rst
+++ b/docs/src/sdk/data/get_disparity.rst
@@ -59,4 +59,4 @@ Reference code snippet:

 The above code uses OpenCV to display the image. Select the display window, press ``ESC/Q`` to exit in the program.

-Complete code examples, see `get_disparity.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_disparity.cc>`_ .
+Complete code examples, see `get_disparity.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_disparity.cc>`_ .
--- a/docs/src/sdk/data/get_from_callbacks.rst
+++ b/docs/src/sdk/data/get_from_callbacks.rst
@@ -116,4 +116,4 @@ Reference code snippet:

 OpenCV is used to display images and data above. When the window is selected, pressing ``ESC/Q`` will exit program.

-Complete code examples, see `get_from_callbacks.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_from_callbacks.cc>`_ .
+Complete code examples, see `get_from_callbacks.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_from_callbacks.cc>`_ .
--- a/docs/src/sdk/data/get_img_params.rst
+++ b/docs/src/sdk/data/get_img_params.rst
@@ -27,7 +27,7 @@ Reference result on Linux:

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/get_img_params
+  $ ./samples/_output/bin/get_img_params
  I0510 15:00:22.643263  6980 utils.cc:26] Detecting MYNT EYE devices
  I0510 15:00:23.138811  6980 utils.cc:33] MYNT EYE devices:
  I0510 15:00:23.138849  6980 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
@@ -36,4 +36,4 @@ Reference result on Linux:
  I0510 15:00:23.210551  6980 get_img_params.cc:24] Intrinsics right: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 456.68367112303980093, cy: 250.70083335536796199, model: 0, coeffs: [-0.51012886039889305, 0.38764476500996770, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]}
  I0510 15:00:23.210577  6980 get_img_params.cc:26] Extrinsics left to right: {rotation: [0.99701893306553813, -0.00095378124886237, -0.07715139279485062, 0.00144939967628305, 0.99997867219985104, 0.00636823256494144, 0.07714367342455503, -0.00646107164115277, 0.99699905125522237], translation: [-118.88991734400046596, -0.04560580387053091, -3.95313736911933855]}

-Complete code examples, see `get_img_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_img_params.cc>`_ .
+Complete code examples, see `get_img_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_img_params.cc>`_ .
--- a/docs/src/sdk/data/get_imu.rst
+++ b/docs/src/sdk/data/get_imu.rst
@@ -47,8 +47,13 @@ Sample code snippet:
    */

    painter.DrawImgData(img, *left_data.img);
-    if (!motion_datas.empty()) {
-      painter.DrawImuData(img, *motion_datas[0].imu);
+    static std::vector<api::MotionData> motion_datas_s = motion_datas;
+
+    if (!motion_datas.empty() && motion_datas.size() > 0) {
+      motion_datas_s = motion_datas;
+    }
+    if (!motion_datas_s.empty() && motion_datas_s.size() > 0) {
+      painter.DrawImuData(img, *motion_datas_s[0].imu);
    }

    cv::imshow("frame", img);
@@ -63,4 +68,4 @@ Sample code snippet:

 OpenCV is used to display image and data. When window is selected, press ``ESC/Q`` to exit program.

-Complete code examples, see `get_imu.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu.cc>`_ .
+Complete code examples, see `get_imu.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_imu.cc>`_ .
--- a/docs/src/sdk/data/get_imu_correspondence.rst
+++ b/docs/src/sdk/data/get_imu_correspondence.rst
@@ -58,7 +58,7 @@ Reference result on Linux:

 .. code-block:: bash

-  $ ./samples/_output/bin/tutorials/get_imu_correspondence
+  $ ./samples/_output/bin/get_imu_correspondence
  I/utils.cc:30 Detecting MYNT EYE devices
  I/utils.cc:40 MYNT EYE devices:
  I/utils.cc:43   index: 0, name: MYNT-EYE-S1030, sn: 0281351000090807
@@ -106,4 +106,4 @@ Reference result on Linux:
  I/get_imu_correspondence.cc:61 Imu timestamp: 171419650, diff_prev=2020, diff_img=16608
  I/get_imu_correspondence.cc:61 Imu timestamp: 171421660, diff_prev=2010, diff_img=18624

-Complete code examples, see `get_imu_correspondence.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu_correspondence.cc>`_ .
+Complete code examples, see `get_imu_correspondence.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_imu_correspondence.cc>`_ .
--- a/docs/src/sdk/data/get_imu_params.rst
+++ b/docs/src/sdk/data/get_imu_params.rst
@@ -15,4 +15,4 @@ Reference commands:
  LOG(INFO) << "Motion extrinsics left to imu: {"
            << api->GetMotionExtrinsics(Stream::LEFT) << "}";

-Complete code examples, see `get_imu_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_imu_params.cc>`_ .
+Complete code examples, see `get_imu_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_imu_params.cc>`_ .
--- a/docs/src/sdk/data/get_points.rst
+++ b/docs/src/sdk/data/get_points.rst
@@ -1,57 +0,0 @@
-.. _data_get_points:
-
-Get Point Image
-================
-
-Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use.
-
-For detail process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` .
-
-It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` for detail.
-
-Sample code snippet:
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-
-  api->EnableStreamData(Stream::POINTS);
-
-  api->Start(Source::VIDEO_STREAMING);
-
-  cv::namedWindow("frame");
-  PCViewer pcviewer;
-
-  while (true) {
-    api->WaitForStreams();
-
-    auto &&left_data = api->GetStreamData(Stream::LEFT);
-    auto &&right_data = api->GetStreamData(Stream::RIGHT);
-
-    cv::Mat img;
-    cv::hconcat(left_data.frame, right_data.frame, img);
-    cv::imshow("frame", img);
-
-    auto &&points_data = api->GetStreamData(Stream::POINTS);
-    if (!points_data.frame.empty()) {
-      pcviewer.Update(points_data.frame);
-    }
-
-    char key = static_cast<char>(cv::waitKey(1));
-    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
-      break;
-    }
-    if (pcviewer.WasStopped()) {
-      break;
-    }
-  }
-
-  api->Stop(Source::VIDEO_STREAMING);
-
-`PCL <https://github.com/PointCloudLibrary/pcl>`_ is used to display point images above. Program will close when point image window is closed.
-
-Complete code examples, see `get_points.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_points.cc>`_ .
-
-.. attention::
-
-  Sample code only compiles when `PCL <https://github.com/PointCloudLibrary/pcl>`_ is ready. If your PCL was installed in a different directory, please set ``CMAKE_PREFIX_PATH`` in `tutorials/CMakeLists.txt <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/CMakeLists.txt>`_ to the path of ``PCLConfig.cmake`` . You can find ``CMAKE_PREFIX_PATH`` near ``find_package(PCL)`` .
--- a/docs/src/sdk/data/get_stereo.rst
+++ b/docs/src/sdk/data/get_stereo.rst
@@ -37,4 +37,4 @@ Reference commands:

 The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.

-Complete code examples, see `get_stereo.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_stereo.cc>`_ .
+Complete code examples, see `get_stereo.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_stereo.cc>`_ .
--- a/docs/src/sdk/data/get_stereo_rectified.rst
+++ b/docs/src/sdk/data/get_stereo_rectified.rst
@@ -48,4 +48,4 @@ Reference code snippet:

 OpenCV is used to display the image above. Select the display window, press ``ESC/Q`` to exit the program.

-Complete code examples, see `get_stereo_rectified.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_stereo_rectified.cc>`_ .
+Complete code examples, see `get_stereo_rectified.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_stereo_rectified.cc>`_ .
--- a/docs/src/sdk/data/get_with_plugin.rst
+++ b/docs/src/sdk/data/get_with_plugin.rst
@@ -83,7 +83,7 @@ In addition, the following command can be executed to check whether the dependen

 If the plugin's dependent library is not found, it will report an error \"Open plugin failed\" when loading.

-Complete code sample, see `get_with_plugin.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_with_plugin.cc>`_ .
+Complete code sample, see `get_with_plugin.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_with_plugin.cc>`_ .

 .. tip::

--- a/docs/src/sdk/data/save_params.rst
+++ b/docs/src/sdk/data/save_params.rst
@@ -3,22 +3,22 @@
 Save Device Infomation And Parameters
 =====================================

-The SDK provides a tool ``save_all_infos`` for save information and parameters. For more information, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
+The SDK provides a tool ``save_all_infos`` for save information and parameters.

 Reference commands:

 .. code-block:: bash

-  ./tools/_output/bin/writer/save_all_infos
+  ./samples/_output/bin/save_all_infos

  # Windows
-  .\tools\_output\bin\writer\save_all_infos.bat
+  .\samples\_output\bin\save_all_infos.bat

 Reference result on Linux:

 .. code-block:: bash

-  $ ./tools/_output/bin/writer/save_all_infos
+  $ ./samples/_output/bin/save_all_infos
  I0512 21:40:08.687088  4092 utils.cc:26] Detecting MYNT EYE devices
  I0512 21:40:09.366693  4092 utils.cc:33] MYNT EYE devices:
  I0512 21:40:09.366734  4092 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
--- a/docs/src/sdk/data/save_single_image.rst
+++ b/docs/src/sdk/data/save_single_image.rst
@@ -49,4 +49,4 @@ Reference commands:

 The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.

-Complete code examples, see `save_single_image.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/save_single_image.cc>`_ .
+Complete code examples, see `save_single_image.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/save_single_image.cc>`_ .
--- a/docs/src/sdk/data/write_img_params.rst
+++ b/docs/src/sdk/data/write_img_params.rst
@@ -3,7 +3,7 @@
 Write Image Parameters
 =======================

-The SDK provides a tool ``img_params_writer`` for writing image parameters. For details, read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
+The SDK provides a tool ``write_img_params`` for writing image parameters.

 For getting image parameters, please read :ref:`get_img_params`. This is used to calculate the deviation.

@@ -11,21 +11,21 @@ Reference commands:

 .. code-block:: bash

-  ./tools/_output/bin/writer/img_params_writer tools/writer/config/img.params
+  ./samples/_output/bin/write_img_params samples/config/img.params

  # Windows
-  .\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params
+  .\samples\_output\bin\write_img_params.bat samples\config\img.params

 .. warning::

  Please don't override parameters, you can use ``save_all_infos`` to backup parameters.

-And, `tools/writer/config/S1030/img.params.pinhole <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/tools/writer/config/S1030/img.params.pinhole>`_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices.
+And, `samples/config/S1030/img.params.pinhole <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/config/S1030/img.params.pinhole>`_ is the path of S1030 pihole parameters file. If you calibrated parameters yourself, you can edit it and run previous commands to write them into the devices.

 .. tip::

-  The image calibration parameters of S2100/S210A are in  ``tools/writer/config/S210A``
-  The image calibration parameters of S1030 are in   ``tools/writer/config/S1030``
+  The image calibration parameters of S2100/S210A are in  ``samples/config/S210A``
+  The image calibration parameters of S1030 are in   ``samples/config/S1030``

 .. tip::

--- a/docs/src/sdk/data/write_imu_params.rst
+++ b/docs/src/sdk/data/write_imu_params.rst
@@ -3,7 +3,7 @@
 Write IMU Parameters
 =====================

-SDK provides the tool ``imu_params_writer`` to write IMU parameters. For deltail, please read `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
+SDK provides the tool ``write_imu_params`` to write IMU parameters.

 Information about how to get IMU parameters, please read :ref:`get_imu_params` .

@@ -11,12 +11,12 @@ Reference commands:

 .. code-block:: bash

-  ./tools/_output/bin/writer/imu_params_writer tools/writer/config/imu.params
+  ./samples/_output/bin/write_imu_params samples/config/imu.params

  # Windows
-  .\tools\_output\bin\writer\imu_params_writer.bat tools\writer\config\imu.params
+  .\samples\_output\bin\write_imu_params.bat samples\config\imu.params

-The path of parameters file can be found in `tools/writer/config/img.params <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/tools/writer/config/img.params>`_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device.
+The path of parameters file can be found in `samples/config/img.params <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/config/img.params>`_ . If you calibrated the parameters yourself, you can edit the file and run above commands to write them into the device.

 .. warning::

--- a/docs/src/sdk/project/cmake.rst
+++ b/docs/src/sdk/project/cmake.rst
@@ -5,7 +5,7 @@ How to use SDK with CMake

 This tutorial will create a project with CMake to start using SDK.

-    You could find the project demo in ``<sdk>/platforms/projects/cmake directory`` .
+    You could find the project demo in ``<sdk>/samples/simple_demo/project_cmake directory`` .

 Preparation
 -----------
--- a/docs/src/sdk/project/vs2017.rst
+++ b/docs/src/sdk/project/vs2017.rst
@@ -5,7 +5,7 @@ How to use SDK with Visual Studio 2017

 This tutorial will create a project with Visual Studio 2017 to start using SDK.

-   You could find the project demo in ``<sdk>/platforms/projects/vs2017`` directory.
+   You could find the project demo in ``<sdk>/samples/simple_demo/project_vs2017`` directory.

 Preparation
 ------------