fix(*): imu process logic fix.

n

.commitlintrc.js

@@ -0,0 +1,11 @@
+module.exports = {
+  extends: ['@commitlint/config-conventional'],
+  rules: {
+  'type-enum': [2, 'always', [
+    "feat", "fix", "docs", "style", "refactor", "perf", "test", "build", "ci", "chore", "revert"
+  ]],
+  'scope-empty': [2, 'never'],
+  'subject-full-stop': [0, 'never'],
+  'subject-case': [0, 'never']
+  }
+};

.gitignore

@@ -1,10 +1,14 @@
 .DS_Store
-/.vscode/
+
+.vs/
+.vscode/
 
 _build/
 _install/
 _output/
 
+/docs/_doxygen/
+
 /get-pip.py
 
 /*INFO*
@@ -12,6 +16,17 @@ _output/
 /*ERROR*
 /*FATAL*
 
+/plugins/
+
+/3rdparty/ceres/
+/3rdparty/opencv/
+/pkginfo.sh
+/*.nsi
+/*.exe
+
+/node_modules/
+/package-lock.json
+
 # ros
 
 /wrappers/ros/build
@@ -27,3 +42,8 @@ _output/
 /mynteye/
 /mynteye.bag
 /dataset*/
+
+# wrappers
+
+/wrappers/python/third_party/numpy-opencv-converter/
+/wrappers/python/third_party/pyboostcvconverter/

.gitmodules

@@ -1,10 +0,0 @@
-[submodule "test/gtest"]
-	path = test/gtest
-	url = https://github.com/google/googletest.git
-[submodule "third_party/glog"]
-  path = third_party/glog
-  url = https://github.com/google/glog.git
-[submodule "tools/linter"]
-  path = tools/linter
-  url = https://github.com/slightech/linter.git
-  branch = slightech

CMakeLists.txt

@@ -1,13 +1,42 @@
+# 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.
+
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.0.0 LANGUAGES C CXX)
+project(mynteye VERSION 2.5.0 LANGUAGES C CXX)
+
+include(cmake/Common.cmake)
+
+if(NOT CMAKE_DEBUG_POSTFIX)
+  set(CMAKE_DEBUG_POSTFIX d)
+endif()
+
+LIST(APPEND CMAKE_MODULE_PATH cmake)
 
 # options
 
+include(cmake/Option.cmake)
+
 # flags
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+if(OS_WIN)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
+else()
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+endif()
 
 include(cmake/DetectCXX11.cmake)
 
@@ -21,27 +50,65 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
+find_package(Threads QUIET)
 
-LIST(APPEND CMAKE_MODULE_PATH cmake)
+macro(target_link_threads NAME)
+  if(THREADS_HAVE_PTHREAD_ARG)
+    target_compile_options(PUBLIC ${NAME} "-pthread")
+  endif()
+  if(CMAKE_THREAD_LIBS_INIT)
+    target_link_libraries(${NAME} PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
+  endif()
+endmacro()
 
 include(CMakePackageConfigHelpers)
 
 # config
 
+set(MYNTEYE_NAME ${PROJECT_NAME})
+
 set(MYNTEYE_NAMESPACE "mynteye")
 message(STATUS "Namespace: ${MYNTEYE_NAMESPACE}")
 
+if(MSVC)
+  string(REPLACE "/" "\\\\" MYNTEYE_SDK_ROOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+  string(REPLACE "/" "\\\\" MYNTEYE_SDK_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}")
+else()
+  file(TO_NATIVE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" MYNTEYE_SDK_ROOT_DIR)
+  file(TO_NATIVE_PATH "${CMAKE_INSTALL_PREFIX}" MYNTEYE_SDK_INSTALL_DIR)
+endif()
+
 configure_file(
   include/mynteye/mynteye.h.in
   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()
+
+# rpath
+
+set(CMAKE_MACOSX_RPATH 1)
+set(MYNTEYE_CMAKE_RPATH "")
+if(WITH_OPENCV)
+  list(APPEND MYNTEYE_CMAKE_RPATH ${OpenCV_LIB_PATH})
+endif()
+if(MYNTEYE_CMAKE_RPATH)
+  message(STATUS "RPATH: ${MYNTEYE_CMAKE_RPATH}")
+  set(CMAKE_INSTALL_RPATH "${MYNTEYE_CMAKE_RPATH}")
+endif()
+
 # targets
 
-include(cmake/Common.cmake)
+add_definitions(-DMYNTEYE_EXPORTS)
 
 set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output")
 set_outdir(
@@ -50,77 +117,142 @@ set_outdir(
   "${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
 
-add_executable(main src/main.cc)
-target_link_libraries(main glog::glog)
-target_include_directories(main PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-  ${CMAKE_CURRENT_BINARY_DIR}/include
-)
+if(WITH_GLOG)
+  add_executable(main src/main.cc)
+  target_link_libraries(main glog::glog)
+  target_include_directories(main PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_BINARY_DIR}/include
+  )
+endif()
+
+## camera_models
+
+if(WITH_CAM_MODELS)
+
+  include_directories(
+    include
+    ${CMAKE_CURRENT_BINARY_DIR}/include
+    src/mynteye/api/camera_models
+    src/mynteye
+  )
+
+  add_library(camera_models STATIC
+    src/mynteye/api/camera_models/camera.cc
+    src/mynteye/api/camera_models/equidistant_camera.cc
+    src/mynteye/api/camera_models/util/gpl.cc
+  )
+
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+endif()
 
 ## libmynteye
 
-set(MYNTEYE_NAME ${PROJECT_NAME})
-
-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/glog_init.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
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/times.h
-)
+if(NOT WITH_GLOG AND NOT OS_WIN)
+  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type -Wno-comment")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
+  unset(__MINIGLOG_FLAGS)
+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)
+  add_compile_options(-x objective-c++ -Wno-unused-command-line-argument -Wno-missing-method-return-type -Wno-sign-compare)
 
-  find_package(libuvc REQUIRED)
-  set(UVC_LIB ${libuvc_LIBRARIES})
+  INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/USBBusProber.framework/Headers)
+  INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit.framework/Headers)
+  find_library(VVUVCKIT_LIBRARY VVUVCKit PATHS src/mynteye/uvc/macosx)
+  find_library(USB_LIBRARY USBBusProber PATHS src/mynteye/uvc/macosx)
+  MARK_AS_ADVANCED (VVUVCKIT_LIBRARY USB_LIBRARY)
+  SET(OSX_EXTRA_LIBS ${VVUVCKIT_LIBRARY} ${USB_LIBRARY})
 
-  include_directories(${libuvc_INCLUDE_DIRS})
+  set(UVC_SRC src/mynteye/uvc/macosx/CameraEngine.cpp src/mynteye/uvc/macosx/AVfoundationCamera.mm src/mynteye/uvc/macosx/uvc-vvuvckit.cc )
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}")
 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/internal/config.cc
-  src/internal/files.cc
-  src/internal/motions.cc
-  src/internal/streams.cc
-  src/internal/strings.cc
-  src/internal/types.cc
-  src/public/types.cc
-  src/public/utils.cc
-  src/device/context.cc
-  src/device/device.cc
-  src/device/device_s.cc
+  src/mynteye/types.cc
+  src/mynteye/util/files.cc
+  src/mynteye/util/strings.cc
+  src/mynteye/device/channel/bytes.cc
+  src/mynteye/device/channel/channels.cc
+  src/mynteye/device/channel/file_channel.cc
+  src/mynteye/device/config.cc
+  src/mynteye/device/context.cc
+  src/mynteye/device/device.cc
+  src/mynteye/device/motions.cc
+  src/mynteye/device/standard/channels_adapter_s.cc
+  src/mynteye/device/standard/device_s.cc
+  src/mynteye/device/standard/streams_adapter_s.cc
+  src/mynteye/device/standard2/channels_adapter_s2.cc
+  src/mynteye/device/standard2/device_s2.cc
+  src/mynteye/device/standard2/streams_adapter_s2.cc
+  src/mynteye/device/streams.cc
+  src/mynteye/device/types.cc
+  src/mynteye/device/utils.cc
 )
+if(WITH_API)
+  list(APPEND MYNTEYE_SRCS
+    src/mynteye/api/api.cc
+    src/mynteye/api/dl.cc
+    src/mynteye/api/processor.cc
+    src/mynteye/api/synthetic.cc
+    src/mynteye/api/processor/disparity_processor.cc
+    src/mynteye/api/processor/disparity_normalized_processor.cc
+    src/mynteye/api/processor/root_camera_processor.cc
+    src/mynteye/api/processor/rectify_processor_ocv.cc
+    src/mynteye/api/correspondence.cc
+    src/mynteye/api/version_checker.cc
+    src/mynteye/api/data_tools.cc
+  )
+  if(WITH_CAM_MODELS)
+    list(APPEND MYNTEYE_SRCS
+      src/mynteye/api/processor/depth_processor.cc
+      src/mynteye/api/processor/points_processor.cc
+      src/mynteye/api/processor/rectify_processor.cc
+    )
+  endif()
+endif()
+
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
+endif()
+
+set(MYNTEYE_LINKLIBS ${UVC_LIB})
+if(WITH_API)
+  list(APPEND MYNTEYE_LINKLIBS ${OpenCV_LIBS})
+endif()
+if(WITH_BOOST_FILESYSTEM)
+  list(APPEND MYNTEYE_LINKLIBS ${Boost_LIBRARIES})
+endif()
+if(WITH_GLOG)
+  list(APPEND MYNTEYE_LINKLIBS glog::glog)
+endif()
 
-set(MYNTEYE_LINKLIBS
-  glog::glog
-  ${UVC_LIB}
-)
 #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")
 
 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
-target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
+target_link_libraries(${MYNTEYE_NAME} PUBLIC ${MYNTEYE_LINKLIBS})
+if(OS_MAC)
+  target_link_libraries(${MYNTEYE_NAME} PUBLIC ${OSX_EXTRA_LIBS} )
+endif()
+if(WITH_CAM_MODELS)
+  target_link_libraries(${MYNTEYE_NAME} PRIVATE camera_models)
+endif()
+target_link_threads(${MYNTEYE_NAME})
 
 if(OS_WIN)
   target_compile_definitions(${MYNTEYE_NAME}
@@ -132,27 +264,79 @@ target_include_directories(${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}")
-#message(STATUS "MYNTEYE_CMAKE_BINDIR: ${MYNTEYE_CMAKE_BINDIR}")
-#message(STATUS "MYNTEYE_CMAKE_LIBDIR: ${MYNTEYE_CMAKE_LIBDIR}")
-#message(STATUS "MYNTEYE_CMAKE_INSTALLDIR: ${MYNTEYE_CMAKE_INSTALLDIR}")
+set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include/${MYNTEYE_NAME}")
+set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
+set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
+set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
+
+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/types.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}
@@ -177,3 +361,31 @@ install(FILES
 install(EXPORT ${MYNTEYE_NAME}-targets
   DESTINATION ${MYNTEYE_CMAKE_INSTALLDIR}
 )
+
+## build.info
+
+# set default int values for yaml file (build.info)
+set_default_value(CMAKE_CXX_COMPILER_VERSION_MAJOR 0)
+set_default_value(CMAKE_CXX_COMPILER_VERSION_MINOR 0)
+set_default_value(CMAKE_CXX_COMPILER_VERSION_PATCH 0)
+set_default_value(CMAKE_CXX_COMPILER_VERSION_TWEAK 0)
+set_default_value(CUDA_VERSION_MAJOR 0)
+set_default_value(CUDA_VERSION_MINOR 0)
+set_default_value(OpenCV_VERSION_MAJOR 0)
+set_default_value(OpenCV_VERSION_MINOR 0)
+set_default_value(OpenCV_VERSION_PATCH 0)
+set_default_value(OpenCV_VERSION_TWEAK 0)
+set_default_value(${PROJECT_NAME}_VERSION_MAJOR 0)
+set_default_value(${PROJECT_NAME}_VERSION_MINOR 0)
+set_default_value(${PROJECT_NAME}_VERSION_PATCH 0)
+set_default_value(${PROJECT_NAME}_VERSION_TWEAK 0)
+
+configure_file(
+  cmake/templates/build.info.in
+  build.info @ONLY
+)
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/build.info
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/share/mynteye
+)

CPPLINT.cfg

@@ -0,0 +1,2 @@
+set noparent
+filter=-build/c++11

CommonDefs.mk

@@ -1,3 +1,16 @@
+# 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.
 ifndef _COMMON_DEFS_MAKE_
 _COMMON_DEFS_MAKE_ := 1
 
@@ -13,6 +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 ($(OS),Windows_NT)
@@ -111,7 +134,7 @@ ifeq ($(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
@@ -131,8 +154,7 @@ endif
 # CMake
 
 CMAKE := cmake
-# CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Debug
-CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Release
+CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 ifneq ($(CC),)
   CMAKE := $(CMAKE) -DCMAKE_C_COMPILER=$(CC)
 endif
@@ -150,7 +172,6 @@ ifneq ($(MAKE),)
 endif
 
 CMAKE_OPTIONS :=
-CMAKE_OPTIONS += -DCMAKE_INSTALL_PREFIX=$(shell pwd)/_install
 # CMAKE_OPTIONS += -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON
 CMAKE_OPTIONS_AFTER :=
 
@@ -159,28 +180,46 @@ ifeq ($(HOST_OS),Win)
 ifeq ($(HOST_NAME),MinGW)
   CMAKE += -G "MinGW Makefiles"
 else ifeq ($(HOST_ARCH),x64)
-  VS_VERSION := $(shell echo "$(shell which cl)" | sed "s/.*Visual\sStudio\s\([0-9]\+\).*/\1/g")
-  ifeq (15,$(VS_VERSION))
+  ifeq ($(VS_CODE),)
+    WHICH_CL := $(shell which cl)
+    ifeq ($(WHICH_CL),)
+      $(error "Visual Studio version is unknown. Could set VS_CODE to specify it, e.g. make [TARGET] VS_CODE=2017")
+    endif
+    # C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\...
+    # C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\...
+    VS_CODE := $(shell echo "$(WHICH_CL)" | grep -Po "(?<=Visual Studio[ /])[0-9]+")
+  endif
+  # $(call mkinfo,"VS_CODE: $(VS_CODE)")
+  ifeq ($(filter $(VS_CODE),15 2017),$(VS_CODE))
     CMAKE += -G "Visual Studio 15 2017 Win64"
-  else ifeq (14,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),14 2015),$(VS_CODE))
     CMAKE += -G "Visual Studio 14 2015 Win64"
-  else ifeq (12,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),12 2013),$(VS_CODE))
     CMAKE += -G "Visual Studio 12 2013 Win64"
-  else ifeq (11,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),11 2012),$(VS_CODE))
     CMAKE += -G "Visual Studio 11 2012 Win64"
-  else ifeq (10,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),10 2010),$(VS_CODE))
     CMAKE += -G "Visual Studio 10 2010 Win64"
-  else ifeq (9,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),9 2008),$(VS_CODE))
     CMAKE += -G "Visual Studio 9 2008 Win64"
-  else ifeq (8,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),8 2005),$(VS_CODE))
     CMAKE += -G "Visual Studio 8 2005 Win64"
   else
-    $(call mkinfo,"Connot specify Visual Studio Win64")
+    $(error "Visual Studio version is not proper, VS_CODE: $(VS_CODE)")
   endif
 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 +1,117 @@
+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: ${env.WORKSPACE}"
+        echo 'apt-get ..'
+        sh '''
+			apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+			apt-get update
+		'''
+      }
+    }
+    stage('Init') {
+      steps {
+        echo 'make init ..'
+        sh 'make init INIT_OPTIONS=-y'
+        // echo 'skip get submodules and make test'
+        // sh './scripts/init.sh -y'
+      }
+    }
+    stage('Build') {
+      steps {
+        echo 'make build ..'
+        sh '. /opt/ros/kinetic/setup.sh; make build'
+      }
+    }
+    stage('Install') {
+      steps {
+        echo 'make install ..'
+        sh '. /opt/ros/kinetic/setup.sh; make install SUDO='
+      }
+    }
+
+    stage('Samples') {
+      steps {
+        echo 'make samples ..'
+        sh '. /opt/ros/kinetic/setup.sh; make samples SUDO='
+      }
+    }
+	   /*
+    stage('Tools') {
+      steps {
+        echo 'make tools ..'
+        sh '. /opt/ros/kinetic/setup.sh; make tools SUDO='
+      }
+    }
+	    */
+    stage('ROS') {
+      steps {
+        echo 'make ros ..'
+        sh '''
+        . /opt/ros/kinetic/setup.sh
+        rosdep install --from-paths wrappers/ros/src --ignore-src --rosdistro kinetic -y
+        make ros SUDO=
+        '''
+      }
+    }
+    /*
+    stage('Clean') {
+      steps {
+        echo 'clean ..'
+        sh '''
+        rm -rf /var/lib/apt/lists/*
+        '''
+      }
+    }
+    */
+  }
+
+  post {
+    always {
+      echo 'This will always run'
+	  /*
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
+                    imageUrl: 'http://icon-park.com/imagefiles/loading7_gray.gif',
+                    message: '开始构建',
+                    jenkinsUrl: "${JENKINS_URL}"
+					*/
+
+    }
+    success {
+      echo 'This will run only if successful'
+	  /*
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
+                    imageUrl: 'http://icons.iconarchive.com/icons/paomedia/small-n-flat/1024/sign-check-icon.png',
+                    message: '构建成功',
+                    jenkinsUrl: "${JENKINS_URL}"
+*/
+    }
+    failure {
+      echo 'This will run only if failed'
+	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
+                    imageUrl: 'http://www.iconsdb.com/icons/preview/soylent-red/x-mark-3-xxl.png',
+                    message: '构建失败',
+                    jenkinsUrl: "${JENKINS_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 successful11'
+    }
+  }
+}

Makefile

@@ -1,6 +1,37 @@
+# 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.
 include CommonDefs.mk
 
-.DEFAULT_GOAL := help
+MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
+MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
+
+# CMAKE_INSTALL_PREFIX:
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html
+#
+#   UNIX: /usr/local
+#   Windows: c:/Program Files/${PROJECT_NAME}
+
+# Options
+#
+#   SUDO: sudo command
+#
+# e.g. make [TARGET] SUDO=
+
+SUDO ?= sudo
+CMAKE_BUILD_EXTRA_OPTIONS ?=
+
+.DEFAULT_GOAL := all
 
 help:
 	@echo "Usage:"
@@ -9,80 +40,87 @@ help:
 	@echo "  make opendoc         open api doc (html)"
 	@echo "  make init            init project"
 	@echo "  make build           build project"
-	@echo "  make test            build test and run"
 	@echo "  make install         install project"
 	@echo "  make samples         build samples"
-	@echo "  make tools           build tools"
+	@echo "  make pkg             package sdk(windows)"
 	@echo "  make ros             build ros wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
 
 .PHONY: help
 
+all: init samples ros
+
+.PHONY: all
+
 # doc
 
-apidoc:
+doc: apidoc
+
+apidoc: cleandoc
 	@$(call echo,Make $@)
-	@[ -e ./_install/include ] || $(MAKE) install
-	@$(SH) ./doc/build.sh
+	@cd docs; make html
 
 opendoc: apidoc
 	@$(call echo,Make $@)
-	@$(shell $(SH) ./doc/langs.sh 1); \
-	for lang in "$${LANGS[@]}"; do \
-		html=./doc/_output/$$lang/html/index.html; \
-		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
-	done
+	@$(SH) ./scripts/open.sh docs/_build/html/index.html
 
-.PHONY: apidoc opendoc
+cleandoc:
+	@$(call rm,./docs/_build/)
+	@$(call rm,./docs/_doxygen/)
 
-# deps
-
-submodules:
-	@git submodule update --init
-
-third_party: submodules
-	@$(call echo,Make $@)
-	@$(call echo,Make glog,33)
-	@$(call cmake_build,./third_party/glog/_build)
-
-.PHONY: submodules third_party
+.PHONY: doc apidoc opendoc cleandoc
 
 # init
 
-init: submodules
+init:
 	@$(call echo,Make $@)
-	@$(SH) ./scripts/init.sh
+	@$(SH) ./scripts/init.sh $(INIT_OPTIONS)
 
 .PHONY: init
 
 # build
 
-build: third_party
+build:
 	@$(call echo,Make $@)
-	@$(call cmake_build,./_build)
+ifeq ($(HOST_OS),Win)
+	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS))
+else
+	@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
+endif
 
 .PHONY: build
 
-# test
-
-test: install
-	@$(call echo,Make $@)
-	@$(call echo,Make gtest,33)
-	@$(call cmake_build,./test/gtest/_build)
-	@$(call echo,Make test,33)
-	@$(call cmake_build,./test/_build)
-	@./test/_output/bin/mynteye_test
-
-.PHONY: test
-
 # install
 
-install: build
+install: uninstall build
 	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
+ifneq ($(HOST_NAME),MinGW)
+	@cd ./_build; msbuild.exe INSTALL.vcxproj /property:Configuration=Release
+else
 	@cd ./_build; make install
+endif
+else
+ifeq ($(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/include/mynteye/
+	$(SUDO) rm -rf /usr/local/lib/libmynteye.so*
+	$(SUDO) rm -rf /usr/local/lib/cmake/mynteye/
+	$(SUDO) rm -rf /usr/local/share/mynteye/
+endif
+
+.PHONY: uninstall
+
 # samples
 
 samples: install
@@ -91,19 +129,31 @@ samples: install
 
 .PHONY: samples
 
-# tools
+# pkg
 
-tools: install
+pkg: clean
 	@$(call echo,Make $@)
-	@$(call cmake_build,./tools/_build)
+ifeq ($(HOST_OS),Win)
+	@$(SH) ./scripts/win/winpack.sh "$(PKGNAME)"
+else
+	$(error "Can't make pkg on $(HOST_OS)")
+endif
 
-.PHONY: tools
+cleanpkg:
+	@$(call echo,Make $@)
+	@$(call rm_f,$(PKGNAME)*)
+
+.PHONY: pkg cleanpkg
 
 # ros
 
 ros: install
 	@$(call echo,Make $@)
-	@cd ./wrappers/ros && catkin_make
+ifeq ($(HOST_OS),Linux)
+	@cd ./wrappers/ros && catkin_make -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
+else
+	$(error "Can't make ros on $(HOST_OS)")
+endif
 
 .PHONY: ros
 
@@ -121,6 +171,7 @@ cleanros:
 
 .PHONY: cleanros
 
+
 # clean
 
 clean:
@@ -130,10 +181,6 @@ clean:
 	@$(call rm,./_install/)
 	@$(call rm,./samples/_build/)
 	@$(call rm,./samples/_output/)
-	@$(call rm,./tools/_build/)
-	@$(call rm,./tools/_output/)
-	@$(call rm,./test/_build/)
-	@$(call rm,./test/_output/)
 	@$(MAKE) cleanlog
 ifeq ($(HOST_OS),Linux)
 	@$(MAKE) cleanros
@@ -145,10 +192,7 @@ cleanlog:
 	@$(call rm_f,*ERROR*)
 	@$(call rm_f,*FATAL*)
 
-cleanall: clean
-	@$(call rm,./doc/_output/)
-	@$(call rm,./test/gtest/_build/)
-	@$(call rm,./third_party/glog/_build/)
+cleanall: clean cleandoc
 	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
 
 .PHONY: clean cleanlog cleanall
@@ -157,6 +201,8 @@ cleanall: clean
 
 host:
 	@$(call echo,Make $@)
+	@echo MKFILE_PATH: $(MKFILE_PATH)
+	@echo MKFILE_DIR: $(MKFILE_DIR)
 	@echo HOST_OS: $(HOST_OS)
 	@echo HOST_ARCH: $(HOST_ARCH)
 	@echo HOST_NAME: $(HOST_NAME)
@@ -169,11 +215,7 @@ host:
 	@echo BUILD: $(BUILD)
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
+	@echo PKGNAME: $(PKGNAME)
+	@echo CMAKE_BUILD_EXTRA_OPTIONS: $(CMAKE_BUILD_EXTRA_OPTIONS)
 
 .PHONY: host
-
-cpplint: submodules
-	@$(call echo,Make $@)
-	@$(SH) ./scripts/$@.sh
-
-.PHONY: cpplint

README.md

@@ -1,11 +1,37 @@
-# MYNT® EYE SDK
+# MYNT® EYE S SDK
+
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.5.0-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:
+
+* Windows 10
+* Ubuntu 16.04 / 14.04
+* Jetson TX2
+
+Please follow the guide doc to install the SDK on different platforms.
+
+## Documentations
+
+* [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://readthedocs.org/projects/mynt-eye-s-sdk/downloads/pdf/latest/) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk.readthedocs.io/en/latest/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/pdf/latest/) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk-docs-zh-cn.readthedocs.io/zh_CN/latest/)
+
+> Supported languages: `en`, `zh-Hans`.
+
+## Firmwares
+
+[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
+
+Get firmwares from our online disks: [MYNTEYE_BOX][].
 
 ## Usage
 
+In short,
+
 ```bash
 $ make
 Usage:
@@ -27,16 +53,13 @@ Init project, build samples and run someone.
 ```bash
 make init
 make samples
-./samples/_output/bin/device/camera_d
+./samples/_output/bin/camera_with_junior_device_api
 ```
 
-## Firmwares
+## Mirrors
 
-[Google Drive]: https://drive.google.com/drive/folders/1tdFCcTBMNcImEGZ39tdOZmlX2SHKCr2f
-[百度网盘]: https://pan.baidu.com/s/1yPQDp2r0x4jvNwn2UjlMUQ
-
-Get firmwares from our online disks: [Google Drive][], [百度网盘][].
+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

@@ -1,15 +1,60 @@
+# 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.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
 include(CMakeParseArguments)
 
+set(CUR_DIR ${CMAKE_CURRENT_LIST_DIR})
+
 if(MSVC OR MSYS OR MINGW)
   set(OS_WIN TRUE)
+  set(HOST_OS Win)
 elseif(APPLE)
   set(OS_MAC TRUE)
+  set(HOST_OS Mac)
 elseif(UNIX)
   set(OS_LINUX TRUE)
+  set(HOST_OS Linux)
 else()
   message(FATAL_ERROR "Unsupported OS.")
 endif()
 
+set(HOST_NAME "${HOST_OS}")
+
+if(OS_LINUX)
+  execute_process(COMMAND uname -a COMMAND tr -d '\n' OUTPUT_VARIABLE UNAME_A)
+  string(TOLOWER "${UNAME_A}" UNAME_A)
+  if(${UNAME_A} MATCHES ".*(tegra|jetsonbot).*")
+    set(OS_TEGRA TRUE)
+    set(HOST_NAME Tegra)
+  elseif(${UNAME_A} MATCHES ".*ubuntu.*")
+    set(OS_UBUNTU TRUE)
+    set(HOST_NAME Ubuntu)
+  endif()
+endif()
+
+include(${CMAKE_CURRENT_LIST_DIR}/TargetArch.cmake)
+target_architecture(HOST_ARCH)
+message(STATUS "HOST_ARCH: ${HOST_ARCH}")
+
+# CMAKE_CXX_COMPILER_ID
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER_ID.html
+# CMAKE_CXX_COMPILER_VERSION
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER_VERSION.html
+
 # set_outdir(ARCHIVE_OUTPUT_DIRECTORY
 #            LIBRARY_OUTPUT_DIRECTORY
 #            RUNTIME_OUTPUT_DIRECTORY)
@@ -24,3 +69,54 @@ macro(set_outdir ARCHIVE_OUTPUT_DIRECTORY LIBRARY_OUTPUT_DIRECTORY RUNTIME_OUTPU
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${CONFIG} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
   endforeach()
 endmacro()
+
+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")
+  set(__exe_name ${exe_name})
+  if(__exe2bat_relative_path)
+    set(__dll_relative_search_paths "")
+    foreach(path ${dll_search_paths})
+      file(RELATIVE_PATH __relative_path "${exe_dir}" "${path}")
+      file(TO_NATIVE_PATH ${__relative_path} __relative_path)
+      list(APPEND __dll_relative_search_paths ${__relative_path})
+    endforeach()
+    set(__dll_search_paths "${__dll_relative_search_paths}")
+  else()
+    set(__dll_native_search_paths "")
+    foreach(path ${dll_search_paths})
+      file(TO_NATIVE_PATH ${path} __native_path)
+      list(APPEND __dll_native_search_paths ${__native_path})
+    endforeach()
+    set(__dll_search_paths "${__dll_native_search_paths}")
+  endif()
+  configure_file(
+    "${CUR_DIR}/templates/exe.bat.in"
+    "${exe_dir}/${__exe_name}.bat"
+  )
+endmacro()
+
+# target_create_scripts(NAME
+#                       [BIN_DIR bin_dir]
+#                       [DLL_SEARCH_PATHS path1 path2 ...])
+macro(target_create_scripts NAME)
+  set(options)
+  set(oneValueArgs BIN_DIR)
+  set(multiValueArgs DLL_SEARCH_PATHS)
+  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
+                        "${multiValueArgs}" ${ARGN})
+  if(NOT THIS_BIN_DIR)
+    set(THIS_BIN_DIR ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
+  endif()
+
+  #message(STATUS "NAME: ${NAME}")
+  #message(STATUS "THIS_BIN_DIR: ${THIS_BIN_DIR}")
+  #message(STATUS "THIS_DLL_SEARCH_PATHS: ${THIS_DLL_SEARCH_PATHS}")
+
+  if(OS_WIN)
+    exe2bat("${NAME}" "${THIS_BIN_DIR}" "${THIS_DLL_SEARCH_PATHS}")
+  endif()
+endmacro()

cmake/DetectCXX11.cmake

@@ -1,3 +1,19 @@
+# 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.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
 
 if(MSVC)
 

cmake/DetectOpenCV.cmake

@@ -0,0 +1,76 @@
+# 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.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+if(OpenCV_FIND_QUIET)
+  find_package(OpenCV QUIET)
+else()
+  find_package(OpenCV REQUIRED)
+endif()
+
+if(OpenCV_FOUND)
+
+#message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+
+set(WITH_OPENCV TRUE)
+
+if(OpenCV_VERSION VERSION_LESS 3.0)
+  set(WITH_OPENCV2 TRUE)
+elseif(OpenCV_VERSION VERSION_LESS 4.0)
+  set(WITH_OPENCV3 TRUE)
+else()
+  set(WITH_OPENCV4 TRUE)
+endif()
+
+list(FIND OpenCV_LIBS "opencv_world" __index)
+if(${__index} GREATER -1)
+  set(WITH_OPENCV_WORLD TRUE)
+endif()
+
+if(NOT OpenCV_LIB_PATH)
+  list(LENGTH OpenCV_INCLUDE_DIRS __length)
+  if(${__length} GREATER 0)
+    list(GET OpenCV_INCLUDE_DIRS 0 __include_dir)
+    string(REGEX REPLACE "include.*$" "lib" __lib_dir "${__include_dir}")
+    find_library(__opencv_lib
+      NAMES opencv_core3 opencv_core opencv_world
+      PATHS "${__lib_dir}" "${__lib_dir}/x86_64-linux-gnu"
+      NO_DEFAULT_PATH)
+    #message(STATUS "__opencv_lib: ${__opencv_lib}")
+    if(__opencv_lib)
+      get_filename_component(OpenCV_LIB_PATH "${__opencv_lib}" DIRECTORY)
+    else()
+      set(OpenCV_LIB_PATH "${__lib_dir}")
+    endif()
+    #message(STATUS "OpenCV_LIB_PATH: ${OpenCV_LIB_PATH}")
+  endif()
+endif()
+
+if(MSVC OR MSYS OR MINGW)
+  get_filename_component(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}/../bin" ABSOLUTE)
+else()
+  set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
+endif()
+
+include_directories(
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+else()
+
+set(WITH_OPENCV FALSE)
+
+endif()

cmake/FindCUDA/make2cmake.cmake

@@ -0,0 +1,92 @@
+#  James Bigler, NVIDIA Corp (nvidia.com - jbigler)
+#  Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html
+#
+#  Copyright (c) 2008 - 2009 NVIDIA Corporation.  All rights reserved.
+#
+#  Copyright (c) 2007-2009
+#  Scientific Computing and Imaging Institute, University of Utah
+#
+#  This code is licensed under the MIT License.  See the FindCUDA.cmake script
+#  for the text of the license.
+
+# The MIT License
+#
+# License for the specific language governing rights and limitations under
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+#
+
+#######################################################################
+# This converts a file written in makefile syntax into one that can be included
+# by CMake.
+
+file(READ ${input_file} depend_text)
+
+if (NOT "${depend_text}" STREQUAL "")
+
+  # message("FOUND DEPENDS")
+
+  string(REPLACE "\\ " " " depend_text ${depend_text})
+
+  # This works for the nvcc -M generated dependency files.
+  string(REGEX REPLACE "^.* : " "" depend_text ${depend_text})
+  string(REGEX REPLACE "[ \\\\]*\n" ";" depend_text ${depend_text})
+
+  set(dependency_list "")
+
+  foreach(file ${depend_text})
+
+    string(REGEX REPLACE "^ +" "" file ${file})
+
+    # OK, now if we had a UNC path, nvcc has a tendency to only output the first '/'
+    # instead of '//'.  Here we will test to see if the file exists, if it doesn't then
+    # try to prepend another '/' to the path and test again.  If it still fails remove the
+    # path.
+
+    if(NOT EXISTS "${file}")
+      if (EXISTS "/${file}")
+        set(file "/${file}")
+      else()
+        message(WARNING " Removing non-existent dependency file: ${file}")
+        set(file "")
+      endif()
+    endif()
+
+    if(NOT IS_DIRECTORY "${file}")
+      # If softlinks start to matter, we should change this to REALPATH.  For now we need
+      # to flatten paths, because nvcc can generate stuff like /bin/../include instead of
+      # just /include.
+      get_filename_component(file_absolute "${file}" ABSOLUTE)
+      list(APPEND dependency_list "${file_absolute}")
+    endif()
+
+  endforeach()
+
+else()
+  # message("FOUND NO DEPENDS")
+endif()
+
+# Remove the duplicate entries and sort them.
+list(REMOVE_DUPLICATES dependency_list)
+list(SORT dependency_list)
+
+foreach(file ${dependency_list})
+  set(cuda_nvcc_depend "${cuda_nvcc_depend} \"${file}\"\n")
+endforeach()
+
+file(WRITE ${output_file} "# Generated by: make2cmake.cmake\nSET(CUDA_NVCC_DEPEND\n ${cuda_nvcc_depend})\n\n")

cmake/FindCUDA/parse_cubin.cmake

@@ -0,0 +1,109 @@
+#  James Bigler, NVIDIA Corp (nvidia.com - jbigler)
+#  Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html
+#
+#  Copyright (c) 2008 - 2009 NVIDIA Corporation.  All rights reserved.
+#
+#  Copyright (c) 2007-2009
+#  Scientific Computing and Imaging Institute, University of Utah
+#
+#  This code is licensed under the MIT License.  See the FindCUDA.cmake script
+#  for the text of the license.
+
+# The MIT License
+#
+# License for the specific language governing rights and limitations under
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+#
+
+#######################################################################
+# Parses a .cubin file produced by nvcc and reports statistics about the file.
+
+
+file(READ ${input_file} file_text)
+
+if (NOT "${file_text}" STREQUAL "")
+
+  string(REPLACE ";" "\\;" file_text ${file_text})
+  string(REPLACE "\ncode" ";code" file_text ${file_text})
+
+  list(LENGTH file_text len)
+
+  foreach(line ${file_text})
+
+    # Only look at "code { }" blocks.
+    if(line MATCHES "^code")
+
+      # Break into individual lines.
+      string(REGEX REPLACE "\n" ";" line ${line})
+
+      foreach(entry ${line})
+
+        # Extract kernel names.
+        if (${entry} MATCHES "[^g]name = ([^ ]+)")
+          set(entry "${CMAKE_MATCH_1}")
+
+          # Check to see if the kernel name starts with "_"
+          set(skip FALSE)
+          # if (${entry} MATCHES "^_")
+            # Skip the rest of this block.
+            # message("Skipping ${entry}")
+            # set(skip TRUE)
+          # else ()
+            message("Kernel:    ${entry}")
+          # endif ()
+
+        endif()
+
+        # Skip the rest of the block if necessary
+        if(NOT skip)
+
+          # Registers
+          if (${entry} MATCHES "reg([ ]+)=([ ]+)([^ ]+)")
+            set(entry "${CMAKE_MATCH_3}")
+            message("Registers: ${entry}")
+          endif()
+
+          # Local memory
+          if (${entry} MATCHES "lmem([ ]+)=([ ]+)([^ ]+)")
+            set(entry "${CMAKE_MATCH_3}")
+            message("Local:     ${entry}")
+          endif()
+
+          # Shared memory
+          if (${entry} MATCHES "smem([ ]+)=([ ]+)([^ ]+)")
+            set(entry "${CMAKE_MATCH_3}")
+            message("Shared:    ${entry}")
+          endif()
+
+          if (${entry} MATCHES "^}")
+            message("")
+          endif()
+
+        endif()
+
+
+      endforeach()
+
+    endif()
+
+  endforeach()
+
+else()
+  # message("FOUND NO DEPENDS")
+endif()

cmake/FindCUDA/run_nvcc.cmake

@@ -0,0 +1,288 @@
+#  James Bigler, NVIDIA Corp (nvidia.com - jbigler)
+#
+#  Copyright (c) 2008 - 2009 NVIDIA Corporation.  All rights reserved.
+#
+#  This code is licensed under the MIT License.  See the FindCUDA.cmake script
+#  for the text of the license.
+
+# The MIT License
+#
+# License for the specific language governing rights and limitations under
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+
+
+##########################################################################
+# This file runs the nvcc commands to produce the desired output file along with
+# the dependency file needed by CMake to compute dependencies.  In addition the
+# file checks the output of each command and if the command fails it deletes the
+# output files.
+
+# Input variables
+#
+# verbose:BOOL=<>          OFF: Be as quiet as possible (default)
+#                          ON : Describe each step
+#
+# build_configuration:STRING=<> Typically one of Debug, MinSizeRel, Release, or
+#                               RelWithDebInfo, but it should match one of the
+#                               entries in CUDA_HOST_FLAGS. This is the build
+#                               configuration used when compiling the code.  If
+#                               blank or unspecified Debug is assumed as this is
+#                               what CMake does.
+#
+# generated_file:STRING=<> File to generate.  This argument must be passed in.
+#
+# generated_cubin_file:STRING=<> File to generate.  This argument must be passed
+#                                                   in if build_cubin is true.
+
+if(NOT generated_file)
+  message(FATAL_ERROR "You must specify generated_file on the command line")
+endif()
+
+# Set these up as variables to make reading the generated file easier
+set(CMAKE_COMMAND "@CMAKE_COMMAND@") # path
+set(source_file "@source_file@") # path
+set(NVCC_generated_dependency_file "@NVCC_generated_dependency_file@") # path
+set(cmake_dependency_file "@cmake_dependency_file@") # path
+set(CUDA_make2cmake "@CUDA_make2cmake@") # path
+set(CUDA_parse_cubin "@CUDA_parse_cubin@") # path
+set(build_cubin @build_cubin@) # bool
+set(CUDA_HOST_COMPILER "@CUDA_HOST_COMPILER@") # path
+# We won't actually use these variables for now, but we need to set this, in
+# order to force this file to be run again if it changes.
+set(generated_file_path "@generated_file_path@") # path
+set(generated_file_internal "@generated_file@") # path
+set(generated_cubin_file_internal "@generated_cubin_file@") # path
+
+set(CUDA_NVCC_EXECUTABLE "@CUDA_NVCC_EXECUTABLE@") # path
+set(CUDA_NVCC_FLAGS @CUDA_NVCC_FLAGS@ ;; @CUDA_WRAP_OPTION_NVCC_FLAGS@) # list
+@CUDA_NVCC_FLAGS_CONFIG@
+set(nvcc_flags "@nvcc_flags@") # list
+set(CUDA_NVCC_INCLUDE_ARGS "@CUDA_NVCC_INCLUDE_ARGS@") # list (needs to be in quotes to handle spaces properly).
+set(format_flag "@format_flag@") # string
+
+if(build_cubin AND NOT generated_cubin_file)
+  message(FATAL_ERROR "You must specify generated_cubin_file on the command line")
+endif()
+
+# This is the list of host compilation flags.  It C or CXX should already have
+# been chosen by FindCUDA.cmake.
+@CUDA_HOST_FLAGS@
+
+# Take the compiler flags and package them up to be sent to the compiler via -Xcompiler
+set(nvcc_host_compiler_flags "")
+# If we weren't given a build_configuration, use Debug.
+if(NOT build_configuration)
+  set(build_configuration Debug)
+endif()
+string(TOUPPER "${build_configuration}" build_configuration)
+#message("CUDA_NVCC_HOST_COMPILER_FLAGS = ${CUDA_NVCC_HOST_COMPILER_FLAGS}")
+foreach(flag ${CMAKE_HOST_FLAGS} ${CMAKE_HOST_FLAGS_${build_configuration}})
+  # Extra quotes are added around each flag to help nvcc parse out flags with spaces.
+  set(nvcc_host_compiler_flags "${nvcc_host_compiler_flags},\"${flag}\"")
+endforeach()
+if (nvcc_host_compiler_flags)
+  set(nvcc_host_compiler_flags "-Xcompiler" ${nvcc_host_compiler_flags})
+endif()
+#message("nvcc_host_compiler_flags = \"${nvcc_host_compiler_flags}\"")
+# Add the build specific configuration flags
+list(APPEND CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS_${build_configuration}})
+
+# Any -ccbin existing in CUDA_NVCC_FLAGS gets highest priority
+list( FIND CUDA_NVCC_FLAGS "-ccbin" ccbin_found0 )
+list( FIND CUDA_NVCC_FLAGS "--compiler-bindir" ccbin_found1 )
+if( ccbin_found0 LESS 0 AND ccbin_found1 LESS 0 AND CUDA_HOST_COMPILER )
+  if (CUDA_HOST_COMPILER STREQUAL "@_CUDA_MSVC_HOST_COMPILER@" AND DEFINED CCBIN)
+    set(CCBIN -ccbin "${CCBIN}")
+  else()
+    set(CCBIN -ccbin "${CUDA_HOST_COMPILER}")
+  endif()
+endif()
+
+# cuda_execute_process - Executes a command with optional command echo and status message.
+#
+#   status  - Status message to print if verbose is true
+#   command - COMMAND argument from the usual execute_process argument structure
+#   ARGN    - Remaining arguments are the command with arguments
+#
+#   CUDA_result - return value from running the command
+#
+# Make this a macro instead of a function, so that things like RESULT_VARIABLE
+# and other return variables are present after executing the process.
+macro(cuda_execute_process status command)
+  set(_command ${command})
+  if(NOT "x${_command}" STREQUAL "xCOMMAND")
+    message(FATAL_ERROR "Malformed call to cuda_execute_process.  Missing COMMAND as second argument. (command = ${command})")
+  endif()
+  if(verbose)
+    execute_process(COMMAND "${CMAKE_COMMAND}" -E echo -- ${status})
+    # Now we need to build up our command string.  We are accounting for quotes
+    # and spaces, anything else is left up to the user to fix if they want to
+    # copy and paste a runnable command line.
+    set(cuda_execute_process_string)
+    foreach(arg ${ARGN})
+      # If there are quotes, excape them, so they come through.
+      string(REPLACE "\"" "\\\"" arg ${arg})
+      # Args with spaces need quotes around them to get them to be parsed as a single argument.
+      if(arg MATCHES " ")
+        list(APPEND cuda_execute_process_string "\"${arg}\"")
+      else()
+        list(APPEND cuda_execute_process_string ${arg})
+      endif()
+    endforeach()
+    # Echo the command
+    execute_process(COMMAND ${CMAKE_COMMAND} -E echo ${cuda_execute_process_string})
+  endif()
+  # Run the command
+  execute_process(COMMAND ${ARGN} RESULT_VARIABLE CUDA_result )
+endmacro()
+
+# Delete the target file
+cuda_execute_process(
+  "Removing ${generated_file}"
+  COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}"
+  )
+
+# For CUDA 2.3 and below, -G -M doesn't work, so remove the -G flag
+# for dependency generation and hope for the best.
+set(depends_CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}")
+set(CUDA_VERSION @CUDA_VERSION@)
+if(CUDA_VERSION VERSION_LESS "3.0")
+  cmake_policy(PUSH)
+  # CMake policy 0007 NEW states that empty list elements are not
+  # ignored.  I'm just setting it to avoid the warning that's printed.
+  cmake_policy(SET CMP0007 NEW)
+  # Note that this will remove all occurrences of -G.
+  list(REMOVE_ITEM depends_CUDA_NVCC_FLAGS "-G")
+  cmake_policy(POP)
+endif()
+
+# nvcc doesn't define __CUDACC__ for some reason when generating dependency files.  This
+# can cause incorrect dependencies when #including files based on this macro which is
+# defined in the generating passes of nvcc invocation.  We will go ahead and manually
+# define this for now until a future version fixes this bug.
+set(CUDACC_DEFINE -D__CUDACC__)
+
+# Generate the dependency file
+cuda_execute_process(
+  "Generating dependency file: ${NVCC_generated_dependency_file}"
+  COMMAND "${CUDA_NVCC_EXECUTABLE}"
+  -M
+  ${CUDACC_DEFINE}
+  "${source_file}"
+  -o "${NVCC_generated_dependency_file}"
+  ${CCBIN}
+  ${nvcc_flags}
+  ${nvcc_host_compiler_flags}
+  ${depends_CUDA_NVCC_FLAGS}
+  -DNVCC
+  ${CUDA_NVCC_INCLUDE_ARGS}
+  )
+
+if(CUDA_result)
+  message(FATAL_ERROR "Error generating ${generated_file}")
+endif()
+
+# Generate the cmake readable dependency file to a temp file.  Don't put the
+# quotes just around the filenames for the input_file and output_file variables.
+# CMake will pass the quotes through and not be able to find the file.
+cuda_execute_process(
+  "Generating temporary cmake readable file: ${cmake_dependency_file}.tmp"
+  COMMAND "${CMAKE_COMMAND}"
+  -D "input_file:FILEPATH=${NVCC_generated_dependency_file}"
+  -D "output_file:FILEPATH=${cmake_dependency_file}.tmp"
+  -P "${CUDA_make2cmake}"
+  )
+
+if(CUDA_result)
+  message(FATAL_ERROR "Error generating ${generated_file}")
+endif()
+
+# Copy the file if it is different
+cuda_execute_process(
+  "Copy if different ${cmake_dependency_file}.tmp to ${cmake_dependency_file}"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${cmake_dependency_file}.tmp" "${cmake_dependency_file}"
+  )
+
+if(CUDA_result)
+  message(FATAL_ERROR "Error generating ${generated_file}")
+endif()
+
+# Delete the temporary file
+cuda_execute_process(
+  "Removing ${cmake_dependency_file}.tmp and ${NVCC_generated_dependency_file}"
+  COMMAND "${CMAKE_COMMAND}" -E remove "${cmake_dependency_file}.tmp" "${NVCC_generated_dependency_file}"
+  )
+
+if(CUDA_result)
+  message(FATAL_ERROR "Error generating ${generated_file}")
+endif()
+
+# Generate the code
+cuda_execute_process(
+  "Generating ${generated_file}"
+  COMMAND "${CUDA_NVCC_EXECUTABLE}"
+  "${source_file}"
+  ${format_flag} -o "${generated_file}"
+  ${CCBIN}
+  ${nvcc_flags}
+  ${nvcc_host_compiler_flags}
+  ${CUDA_NVCC_FLAGS}
+  -DNVCC
+  ${CUDA_NVCC_INCLUDE_ARGS}
+  )
+
+if(CUDA_result)
+  # Since nvcc can sometimes leave half done files make sure that we delete the output file.
+  cuda_execute_process(
+    "Removing ${generated_file}"
+    COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}"
+    )
+  message(FATAL_ERROR "Error generating file ${generated_file}")
+else()
+  if(verbose)
+    message("Generated ${generated_file} successfully.")
+  endif()
+endif()
+
+# Cubin resource report commands.
+if( build_cubin )
+  # Run with -cubin to produce resource usage report.
+  cuda_execute_process(
+    "Generating ${generated_cubin_file}"
+    COMMAND "${CUDA_NVCC_EXECUTABLE}"
+    "${source_file}"
+    ${CUDA_NVCC_FLAGS}
+    ${nvcc_flags}
+    ${CCBIN}
+    ${nvcc_host_compiler_flags}
+    -DNVCC
+    -cubin
+    -o "${generated_cubin_file}"
+    ${CUDA_NVCC_INCLUDE_ARGS}
+    )
+
+  # Execute the parser script.
+  cuda_execute_process(
+    "Executing the parser script"
+    COMMAND  "${CMAKE_COMMAND}"
+    -D "input_file:STRING=${generated_cubin_file}"
+    -P "${CUDA_parse_cubin}"
+    )
+
+endif()

cmake/IncludeGuard.cmake

@@ -0,0 +1,23 @@
+# 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.
+
+# include_guard: https://cmake.org/cmake/help/latest/command/include_guard.html
+
+macro(cmake_include_guard)
+  get_property(INCLUDE_GUARD GLOBAL PROPERTY "_INCLUDE_GUARD_${CMAKE_CURRENT_LIST_FILE}")
+  if(INCLUDE_GUARD)
+    return()
+  endif()
+  set_property(GLOBAL PROPERTY "_INCLUDE_GUARD_${CMAKE_CURRENT_LIST_FILE}" TRUE)
+endmacro()

cmake/Option.cmake

@@ -0,0 +1,153 @@
+# 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.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
+
+
+# build components
+
+option(WITH_API "Build with API layer, need OpenCV" ON)
+option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
+
+option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" ON)
+
+# 3rdparty components
+
+option(WITH_BOOST "Include Boost support" ON)
+
+# How to install glog?
+#   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
+option(WITH_GLOG "Include glog support" OFF)
+
+# packages
+if(WITH_API)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
+  if(WITH_OPENCV4)
+    set(WITH_CAM_MODELS OFF)
+  endif()
+else()
+  # Disable WITH_CAM_MODELS if WITH_API is OFF
+  set(WITH_CAM_MODELS OFF)
+endif()
+
+if(WITH_BOOST)
+  find_package(Boost QUIET COMPONENTS filesystem)
+  if(Boost_FOUND)
+    set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_BOOST_FILESYSTEM TRUE)
+  endif()
+endif()
+
+if(NOT WITH_FILESYSTEM)
+  if(MSVC OR MSYS OR MINGW)  # win
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_NATIVE_FILESYSTEM TRUE)
+  endif()
+endif()
+
+if(WITH_GLOG)
+  find_package(glog REQUIRED)
+endif()
+
+find_package(CUDA QUIET)
+
+# summary
+
+set_version_values(CMAKE_CXX_COMPILER_VERSION)
+
+status("")
+status("Platform:")
+status("  HOST_OS: ${HOST_OS}")
+status("  HOST_NAME: ${HOST_NAME}")
+status("  HOST_ARCH: ${HOST_ARCH}")
+status("  HOST_COMPILER: ${CMAKE_CXX_COMPILER_ID}")
+status("    COMPILER_VERSION: ${CMAKE_CXX_COMPILER_VERSION}")
+status("    COMPILER_VERSION_MAJOR: ${CMAKE_CXX_COMPILER_VERSION_MAJOR}")
+status("    COMPILER_VERSION_MINOR: ${CMAKE_CXX_COMPILER_VERSION_MINOR}")
+status("    COMPILER_VERSION_PATCH: ${CMAKE_CXX_COMPILER_VERSION_PATCH}")
+status("    COMPILER_VERSION_TWEAK: ${CMAKE_CXX_COMPILER_VERSION_TWEAK}")
+if(CUDA_FOUND)
+  status("  CUDA_VERSION: ${CUDA_VERSION}")
+  status("    CUDA_VERSION_MAJOR: ${CUDA_VERSION_MAJOR}")
+  status("    CUDA_VERSION_MINOR: ${CUDA_VERSION_MINOR}")
+  status("    CUDA_VERSION_STRING: ${CUDA_VERSION_STRING}")
+endif()
+if(OpenCV_FOUND)
+  status("  OpenCV_VERSION: ${OpenCV_VERSION}")
+  status("    OpenCV_VERSION_MAJOR: ${OpenCV_VERSION_MAJOR}")
+  status("    OpenCV_VERSION_MINOR: ${OpenCV_VERSION_MINOR}")
+  status("    OpenCV_VERSION_PATCH: ${OpenCV_VERSION_PATCH}")
+  status("    OpenCV_VERSION_TWEAK: ${OpenCV_VERSION_TWEAK}")
+  status("    OpenCV_VERSION_STATUS: ${OpenCV_VERSION_STATUS}")
+  status("    OpenCV_WITH_WORLD: ${WITH_OPENCV_WORLD}")
+endif()
+if(mynteye_VERSION)
+  status("  MYNTEYE_VERSION: ${mynteye_VERSION}")
+  status("    MYNTEYE_VERSION_MAJOR: ${mynteye_VERSION_MAJOR}")
+  status("    MYNTEYE_VERSION_MINOR: ${mynteye_VERSION_MINOR}")
+  status("    MYNTEYE_VERSION_PATCH: ${mynteye_VERSION_PATCH}")
+  status("    MYNTEYE_VERSION_TWEAK: ${mynteye_VERSION_TWEAK}")
+endif()
+
+status("")
+status("Options:")
+status("  WITH_API: ${WITH_API}")
+if(WITH_API)
+  if(OpenCV_FOUND)
+    status("    OpenCV: YES")
+    status("    OpenCV_VERSION: ${OpenCV_VERSION}")
+    status("    OpenCV_WORLD: " IF WITH_OPENCV_WORLD "YES" ELSE "NO")
+  else()
+    status("    OpenCV: NO")
+  endif()
+endif()
+
+status("  WITH_DEVICE_INFO_REQUIRED: ${WITH_DEVICE_INFO_REQUIRED}")
+
+status("  WITH_CAM_MODELS: ${WITH_CAM_MODELS}")
+
+status("  WITH_BOOST: ${WITH_BOOST}")
+if(WITH_BOOST)
+  if(Boost_FOUND)
+    status("    Boost: YES")
+    status("    Boost_VERSION: ${Boost_VERSION_STRING}")
+    #status("    Boost_LIBRARIES: ${Boost_LIBRARIES}")
+  else()
+    status("    Boost: NO")
+  endif()
+endif()
+
+status("  WITH_GLOG: ${WITH_GLOG}")
+if(WITH_GLOG)
+  if(glog_FOUND)
+    status("    glog: YES")
+    status("    glog_VERSION: ${glog_VERSION}")
+  else()
+    status("    glog: NO")
+  endif()
+endif()
+
+status("")
+status("Features:")
+status("  Filesystem: "
+  IF WITH_BOOST_FILESYSTEM "boost"
+  ELIF WITH_NATIVE_FILESYSTEM "native"
+  ELSE "none"
+)
+
+status("")

cmake/TargetArch.cmake

@@ -0,0 +1,167 @@
+# Based on the Qt 5 processor detection code, so should be very accurate
+# http://code.qt.io/cgit/qt/qtbase.git/tree/src/corelib/global/qprocessordetection.h
+# Currently handles arm (v5, v6, v7, v8), x86 (32/64), ia64, and ppc (32/64)
+
+# Regarding POWER/PowerPC, just as is noted in the Qt source,
+# "There are many more known variants/revisions that we do not handle/detect."
+
+set(archdetect_c_code "
+#if defined(__arm__) || defined(__TARGET_ARCH_ARM) || defined(_M_ARM) \\
+    || defined(__aarch64__) || defined(__ARM64__)
+  #if defined(__aarch64__) || defined(__ARM64__)
+    #define cmake_ARM_64
+  #else
+    #define cmake_ARM_32
+  #endif
+  #if defined(__ARM_ARCH) && __ARM_ARCH > 1
+    #define cmake_ARM __ARM_ARCH
+  #elif defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM > 1
+    #define cmake_ARM __TARGET_ARCH_ARM
+  #elif defined(_M_ARM) && _M_ARM > 1
+    #define cmake_ARM _M_ARM
+  #elif defined(__ARM64_ARCH_8__) \\
+      || defined(__aarch64__) \\
+      || defined(__ARMv8__) \\
+      || defined(__ARMv8_A__)
+    #define cmake_ARM 8
+  #elif defined(__ARM_ARCH_7__) \\
+      || defined(__ARM_ARCH_7A__) \\
+      || defined(__ARM_ARCH_7R__) \\
+      || defined(__ARM_ARCH_7M__) \\
+      || defined(__ARM_ARCH_7S__) \\
+      || defined(_ARM_ARCH_7) \\
+      || defined(__CORE_CORTEXA__)
+    #define cmake_ARM 7
+  #elif defined(__ARM_ARCH_6__) \\
+      || defined(__ARM_ARCH_6J__) \\
+      || defined(__ARM_ARCH_6T2__) \\
+      || defined(__ARM_ARCH_6Z__) \\
+      || defined(__ARM_ARCH_6K__) \\
+      || defined(__ARM_ARCH_6ZK__) \\
+      || defined(__ARM_ARCH_6M__)
+    #define cmake_ARM 6
+  #elif defined(__ARM_ARCH_5TEJ__) \\
+      || defined(__ARM_ARCH_5TE__)
+    #define cmake_ARM 5
+  #else
+    #define cmake_ARM 0
+  #endif
+  #if cmake_ARM >= 8
+    #error cmake_ARCH armv8
+  #elif cmake_ARM >= 7
+    #error cmake_ARCH armv7
+  #elif cmake_ARM >= 6
+    #error cmake_ARCH armv6
+  #elif cmake_ARM >= 5
+    #error cmake_ARCH armv5
+  #else
+    #if defined(cmake_ARM_64)
+      #error cmake_ARCH arm64
+    #else
+      #error cmake_ARCH arm
+    #endif
+  #endif
+#elif defined(__i386) || defined(__i386__) || defined(_M_IX86)
+  #error cmake_ARCH i386
+#elif defined(__x86_64) || defined(__x86_64__) || defined(__amd64) || defined(_M_X64)
+  #error cmake_ARCH x86_64
+#elif defined(__ia64) || defined(__ia64__) || defined(_M_IA64)
+  #error cmake_ARCH ia64
+#elif defined(__ppc__) || defined(__ppc) || defined(__powerpc__) \\
+    || defined(_ARCH_COM) || defined(_ARCH_PWR) || defined(_ARCH_PPC) \\
+    || defined(_M_MPPC) || defined(_M_PPC)
+  #if defined(__ppc64__) || defined(__powerpc64__) || defined(__64BIT__)
+    #error cmake_ARCH ppc64
+  #else
+    #error cmake_ARCH ppc
+  #endif
+#endif
+
+#error cmake_ARCH unknown
+")
+
+# Set ppc_support to TRUE before including this file or ppc and ppc64
+# will be treated as invalid architectures since they are no longer supported by Apple
+
+function(target_architecture output_var)
+  if(APPLE AND CMAKE_OSX_ARCHITECTURES)
+    # On OS X we use CMAKE_OSX_ARCHITECTURES *if* it was set
+    # First let's normalize the order of the values
+
+    # Note that it's not possible to compile PowerPC applications if you are using
+    # the OS X SDK version 10.6 or later - you'll need 10.4/10.5 for that, so we
+    # disable it by default
+    # See this page for more information:
+    # http://stackoverflow.com/questions/5333490/how-can-we-restore-ppc-ppc64-as-well-as-full-10-4-10-5-sdk-support-to-xcode-4
+
+    # Architecture defaults to i386 or ppc on OS X 10.5 and earlier, depending on the CPU type detected at runtime.
+    # On OS X 10.6+ the default is x86_64 if the CPU supports it, i386 otherwise.
+
+    foreach(osx_arch ${CMAKE_OSX_ARCHITECTURES})
+      if("${osx_arch}" STREQUAL "ppc" AND ppc_support)
+        set(osx_arch_ppc TRUE)
+      elseif("${osx_arch}" STREQUAL "i386")
+        set(osx_arch_i386 TRUE)
+      elseif("${osx_arch}" STREQUAL "x86_64")
+        set(osx_arch_x86_64 TRUE)
+      elseif("${osx_arch}" STREQUAL "ppc64" AND ppc_support)
+        set(osx_arch_ppc64 TRUE)
+      else()
+        message(FATAL_ERROR "Invalid OS X arch name: ${osx_arch}")
+      endif()
+    endforeach()
+
+    # Now add all the architectures in our normalized order
+    if(osx_arch_ppc)
+      list(APPEND ARCH ppc)
+    endif()
+
+    if(osx_arch_i386)
+      list(APPEND ARCH i386)
+    endif()
+
+    if(osx_arch_x86_64)
+      list(APPEND ARCH x86_64)
+    endif()
+
+    if(osx_arch_ppc64)
+      list(APPEND ARCH ppc64)
+    endif()
+  else()
+    file(WRITE "${CMAKE_BINARY_DIR}/arch.c" "${archdetect_c_code}")
+
+    enable_language(C)
+
+    # Detect the architecture in a rather creative way...
+    # This compiles a small C program which is a series of ifdefs that selects a
+    # particular #error preprocessor directive whose message string contains the
+    # target architecture. The program will always fail to compile (both because
+    # file is not a valid C program, and obviously because of the presence of the
+    # #error preprocessor directives... but by exploiting the preprocessor in this
+    # way, we can detect the correct target architecture even when cross-compiling,
+    # since the program itself never needs to be run (only the compiler/preprocessor)
+    try_run(
+      run_result_unused
+      compile_result_unused
+      "${CMAKE_BINARY_DIR}"
+      "${CMAKE_BINARY_DIR}/arch.c"
+      COMPILE_OUTPUT_VARIABLE ARCH
+      CMAKE_FLAGS CMAKE_OSX_ARCHITECTURES=${CMAKE_OSX_ARCHITECTURES}
+    )
+
+    # Parse the architecture name from the compiler output
+    string(REGEX MATCH "cmake_ARCH ([a-zA-Z0-9_]+)" ARCH "${ARCH}")
+
+    # Get rid of the value marker leaving just the architecture name
+    string(REPLACE "cmake_ARCH " "" ARCH "${ARCH}")
+
+    # If we are compiling with an unknown architecture this variable should
+    # already be set to "unknown" but in the case that it's empty (i.e. due
+    # to a typo in the code), then set it to unknown
+    if (NOT ARCH)
+      set(ARCH unknown)
+    endif()
+  endif()
+
+  set(${output_var} "${ARCH}" PARENT_SCOPE)
+endfunction()

cmake/Utils.cmake

@@ -0,0 +1,136 @@
+# 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.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+include(${CMAKE_CURRENT_LIST_DIR}/Common.cmake)
+
+# make_executable(NAME
+#                 [SRCS src1 src2 ...]
+#                 [LINK_LIBS lib1 lib2 ...]
+#                 [DLL_SEARCH_PATHS path1 path2 ...]
+#                 [WITH_THREAD])
+macro(make_executable NAME)
+  set(options WITH_THREAD)
+  set(oneValueArgs)
+  set(multiValueArgs SRCS LINK_LIBS DLL_SEARCH_PATHS)
+  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
+                        "${multiValueArgs}" ${ARGN})
+
+  add_executable(${NAME} ${THIS_SRCS})
+  target_link_libraries(${NAME} ${THIS_LINK_LIBS})
+  target_create_scripts(${NAME} DLL_SEARCH_PATHS ${THIS_DLL_SEARCH_PATHS})
+
+  if(OS_WIN)
+    target_compile_definitions(${NAME}
+      PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES
+    )
+  endif()
+
+  if(THIS_WITH_THREAD)
+    #find_package(Threads REQUIRED)
+    if(THREADS_HAVE_PTHREAD_ARG)
+      target_compile_options(PUBLIC ${NAME} "-pthread")
+    endif()
+    if(CMAKE_THREAD_LIBS_INIT)
+      target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}")
+    endif()
+  endif()
+endmacro()
+
+# set_default_value(VARIABLE DEFAULT)
+macro(set_default_value VARIABLE DEFAULT)
+  if(NOT ${VARIABLE})
+    set(${VARIABLE} ${DEFAULT})
+  endif()
+endmacro()
+
+# set_version_values(VARIABLE)
+macro(set_version_values VARIABLE)
+  string(REPLACE "." ";" __version_list "${${VARIABLE}}")
+  list(LENGTH __version_list __len)
+  if(${__len} GREATER 0)
+    list(GET __version_list 0 ${VARIABLE}_MAJOR)
+  endif()
+  if(${__len} GREATER 1)
+    list(GET __version_list 1 ${VARIABLE}_MINOR)
+  endif()
+  if(${__len} GREATER 2)
+    list(GET __version_list 2 ${VARIABLE}_PATCH)
+  endif()
+  if(${__len} GREATER 3)
+    list(GET __version_list 3 ${VARIABLE}_TWEAK)
+  endif()
+endmacro()
+
+# status(TEXT [IF cond text [ELIF cond text] [ELSE cond text]])
+macro(status TEXT)
+  set(options)
+  set(oneValueArgs)
+  set(multiValueArgs IF ELIF ELSE)
+  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
+                        "${multiValueArgs}" ${ARGN})
+
+  #message(STATUS "TEXT: ${TEXT}")
+  #message(STATUS "THIS_IF: ${THIS_IF}")
+  #message(STATUS "THIS_ELIF: ${THIS_ELIF}")
+  #message(STATUS "THIS_ELSE: ${THIS_ELSE}")
+
+  set(__msg_list "${TEXT}")
+  set(__continue TRUE)
+
+  if(__continue AND DEFINED THIS_IF)
+    #message(STATUS "-- THIS_IF: ${THIS_IF}")
+    list(LENGTH THIS_IF __if_len)
+    if(${__if_len} GREATER 1)
+      list(GET THIS_IF 0 __if_cond)
+      if(${__if_cond})
+        list(REMOVE_AT THIS_IF 0)
+        list(APPEND __msg_list ${THIS_IF})
+        set(__continue FALSE)
+      endif()
+    else()
+      message(FATAL_ERROR "status() IF must have cond and text, >= 2 items")
+    endif()
+  endif()
+
+  if(__continue AND DEFINED THIS_ELIF)
+    #message(STATUS "-- THIS_ELIF: ${THIS_ELIF}")
+    list(LENGTH THIS_ELIF __elif_len)
+    if(${__elif_len} GREATER 1)
+      list(GET THIS_ELIF 0 __elif_cond)
+      if(${__elif_cond})
+        list(REMOVE_AT THIS_ELIF 0)
+        list(APPEND __msg_list ${THIS_ELIF})
+        set(__continue FALSE)
+      endif()
+    else()
+      message(FATAL_ERROR "status() ELIF must have cond and text, >= 2 items")
+    endif()
+  endif()
+
+  if(__continue AND DEFINED THIS_ELSE)
+    #message(STATUS "-- THIS_ELSE: ${THIS_ELSE}")
+    list(LENGTH THIS_ELSE __else_len)
+    if(${__else_len} GREATER 0)
+      list(APPEND __msg_list ${THIS_ELSE})
+    else()
+      message(FATAL_ERROR "status() ELSE must have text, >= 1 items")
+    endif()
+  endif()
+
+  string(REPLACE ";" "" __msg_list "${__msg_list}")
+  message(STATUS "${__msg_list}")
+endmacro()

cmake/templates/build.info.in

@@ -0,0 +1,27 @@
+%YAML:1.0
+---
+HOST_OS: "@HOST_OS@"
+HOST_NAME: "@HOST_NAME@"
+HOST_ARCH: "@HOST_ARCH@"
+HOST_COMPILER: "@CMAKE_CXX_COMPILER_ID@"
+COMPILER_VERSION: "@CMAKE_CXX_COMPILER_VERSION@"
+COMPILER_VERSION_MAJOR: @CMAKE_CXX_COMPILER_VERSION_MAJOR@
+COMPILER_VERSION_MINOR: @CMAKE_CXX_COMPILER_VERSION_MINOR@
+COMPILER_VERSION_PATCH: @CMAKE_CXX_COMPILER_VERSION_PATCH@
+COMPILER_VERSION_TWEAK: @CMAKE_CXX_COMPILER_VERSION_TWEAK@
+CUDA_VERSION: "@CUDA_VERSION@"
+CUDA_VERSION_MAJOR: @CUDA_VERSION_MAJOR@
+CUDA_VERSION_MINOR: @CUDA_VERSION_MINOR@
+CUDA_VERSION_STRING: "@CUDA_VERSION_STRING@"
+OpenCV_VERSION: "@OpenCV_VERSION@"
+OpenCV_VERSION_MAJOR: @OpenCV_VERSION_MAJOR@
+OpenCV_VERSION_MINOR: @OpenCV_VERSION_MINOR@
+OpenCV_VERSION_PATCH: @OpenCV_VERSION_PATCH@
+OpenCV_VERSION_TWEAK: @OpenCV_VERSION_TWEAK@
+OpenCV_VERSION_STATUS: "@OpenCV_VERSION_STATUS@"
+OpenCV_WITH_WORLD: "@WITH_OPENCV_WORLD@"
+MYNTEYE_VERSION: "@mynteye_VERSION@"
+MYNTEYE_VERSION_MAJOR: @mynteye_VERSION_MAJOR@
+MYNTEYE_VERSION_MINOR: @mynteye_VERSION_MINOR@
+MYNTEYE_VERSION_PATCH: @mynteye_VERSION_PATCH@
+MYNTEYE_VERSION_TWEAK: @mynteye_VERSION_TWEAK@

cmake/templates/exe.bat.in

@@ -0,0 +1,13 @@
+@echo off
+set "MY_DIR=%~dp0"
+set "MY_PWD=%cd%"
+
+if "%MY_PATH_SET_@__exe_name@%"=="" (
+  set "MY_PATH_SET_@__exe_name@=1"
+  set "PATH=@__dll_search_paths@;%PATH%"
+)
+
+::cd "%MY_DIR%"
+"%MY_DIR%@__exe_name@.exe" %*
+::cd "%MY_PWD%"
+::pause >nul

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

@@ -1,50 +0,0 @@
-#!/usr/bin/env bash
-# _VERBOSE_=1
-# _TEST_=1
-
-BASE_DIR=$(cd "$(dirname "$0")" && pwd)
-ROOT_DIR=$(realpath "$BASE_DIR/..")
-SCRIPTS_DIR="$ROOT_DIR/scripts"
-
-source "$SCRIPTS_DIR/common/echo.sh"
-source "$SCRIPTS_DIR/common/mkdir.sh"
-source "$SCRIPTS_DIR/common/detect.sh"
-
-_detect "doxygen"
-_detect "pdflatex" 1
-
-source "$BASE_DIR/langs.sh"
-DOXYFILE="api.doxyfile"
-OUTPUT="$BASE_DIR/_output"
-
-# \usepackage{CJKutf8}
-# \begin{document}
-# \begin{CJK}{UTF8}{gbsn}
-# ...
-# \end{CJK}
-# \end{document}
-_texcjk() {
-  tex="$1"; shift;
-  _echo_in "add cjk to $tex"
-  sed -i "" -e $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
-  sed -i "" -e $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
-}
-
-for lang in "${LANGS[@]}"; do
-  _echo_s "Build doc $lang"
-  [ -d "$BASE_DIR/$lang" ] || continue
-  cd "$BASE_DIR/$lang"
-  if [ -f "$DOXYFILE" ]; then
-    _mkdir "$OUTPUT/$lang"
-    _echo_i "doxygen $DOXYFILE"
-    doxygen $DOXYFILE
-    if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
-      _echo_in "doxygen make latex"
-      cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
-      [ -f "refman.pdf" ] && mv "refman.pdf" "../mynteye-apidoc.pdf"
-    fi
-    _echo_d "doxygen completed"
-  else
-    _echo_e "$DOXYFILE not found"
-  fi
-done

doc/langs.sh

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-LANGS=(
-  en
-  zh-Hans
-)
-[ $# -gt 0 ] && echo "LANGS=(${LANGS[@]})"

doc/static/custom.css

@@ -1,3 +0,0 @@
-#projectlogo img {
-  margin: 1em 0.5em 1em 1em;
-}

doc/zh-Hans/guide_build_linux.md

@@ -1,30 +0,0 @@
-# 编译 on Linux {#guide_build_linux}
-
-## 获取代码
-
-```bash
-git clone https://github.com/slightech/MYNT-EYE-SDK-2.git
-```
-
-## 准备依赖
-
-```bash
-cd mynt-eye-sdk-2/
-make init
-```
-
-## 编译代码
-
-```bash
-make install
-```
-
-结果：
-
-![make install](make_install.png)
-
-\latexonly
-\includegraphics[width=0.6\textwidth,keepaspectratio]{make_install.png}
-\endlatexonly
-
-> CMake 如何引入编译好的库，可参考 `samples/CMakeLists.txt` 里的配置。

doc/zh-Hans/guide_log.md

@@ -1,6 +0,0 @@
-# 日志 {#guide_log}
-
-日志系统用的 `glog` ，通用配置在头文件 `glog_init.h` 里。
-
-* 日志文件会存储在当前工作目录， `make cleanlog` 可以清理。
-* 如果需要打开详细日志，请取消 `glog_init.h` 里注释的 `FLAGS_v = 2;` ，重新编译。

doc/zh-Hans/guide_opencv.md

@@ -1,3 +0,0 @@
-# OpenCV 依赖 {#guide_opencv}
-
-目前 SDK 本身未依赖 OpenCV ，仅是样例依赖其显示图像。

doc/zh-Hans/guide_ros.md

@@ -1,30 +0,0 @@
-# ROS 封装 {#guide_ros}
-
-ROS 封装实现在 ``<sdk>/wrappers/ros`` 目录。
-
-## 依赖
-
-* [ROS](http://www.ros.org/) 环境。
-
-## 编译
-
-```bash
-cd <sdk>
-make ros
-```
-
-## 运行
-
-运行发布节点，
-
-```bash
-source wrappers/ros/devel/setup.bash
-roslaunch mynt_eye_ros_wrapper mynteye.launch
-```
-
-运行发布节点，同时打开 RViz 预览图像，
-
-```bash
-source wrappers/ros/devel/setup.bash
-roslaunch mynt_eye_ros_wrapper display.launch
-```

doc/zh-Hans/guide_samples.md

@@ -1,27 +0,0 @@
-# 样例 {#guide_samples}
-
-样例在 `<sdk>/samples` 目录，其提供了不同接口层的使用范例。
-
-* `api`， API 层接口，依赖 OpenCV 。
-* `device`，中间层接口，不依赖 OpenCV 。
-* `uvc`，底层接口。
-
-> 目前 API 层接口，正在实现中。
-
-## 依赖
-
-* [OpenCV](https://opencv.org/)，用于显示图像。
-
-## 编译
-
-```bash
-make samples
-```
-
-## 运行
-
-运行 `device` 层接口样例，显示图像并输出 IMU 。
-
-```bash
-./samples/_output/bin/device/camera_d
-```

doc/zh-Hans/guide_tools.md

@@ -1,51 +0,0 @@
-# 工具 {#guide_tools}
-
-样例在 `<sdk>/tools` 目录，其提供一些有用的工具。
-
-## 准备
-
-```bash
-make tools
-
-cd tools/
-sudo pip install -r requirements.txt
-```
-
-## 录制数据集
-
-```bash
-./tools/_output/bin/dataset/record
-```
-
-默认录制进 `dataset` 目录，加参数可指定该目录。
-
-## 分析数据集
-
-分析 IMU 数据，
-
-```bash
-python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
--al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
-```
-
-![imu analytics](imu_analytics.png)
-
-\latexonly
-\includegraphics[width=0.6\textwidth,keepaspectratio]{imu_analytics.png}
-\endlatexonly
-
-分析图像 & IMU 时间戳，
-
-```bash
-python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
-```
-
-![stamp analytics](stamp_analytics.png)
-
-\latexonly
-\includegraphics[width=0.6\textwidth,keepaspectratio]{stamp_analytics.png}
-\endlatexonly
-
-## 结语
-
-如果用 ROS ，分析脚本也支持 ROS Bag 格式。关于 ROS 的录制和分析，请见 `tools/README.md` 。

doc/zh-Hans/guides.md

@@ -1,8 +0,0 @@
-# SDK 指导 {#guides}
-
-* @subpage guide_build_linux
-* @subpage guide_samples
-* @subpage guide_tools
-* @subpage guide_log
-* @subpage guide_opencv
-* @subpage guide_ros

doc/zh-Hans/mainpage.md

@@ -1,9 +0,0 @@
-# MYNT EYE SDK {#mainpage}
-
-* API 模块
-  * \link enumerations 枚举类型\endlink
-  * \link datatypes 数据类型\endlink
-  * \link calibration 内参与外参\endlink
-* 设备说明
-  * @subpage specs_data
-  * @subpage specs_ctrl

doc/zh-Hans/spec_control_api.md

@@ -1,28 +0,0 @@
-# 控制 API 说明 {#spec_contorl_api}
-
-控制有两种实现方式，一是通过 UVC 标准协议，二是通过 UVC 拓展通道自定义协议。
-
-## 标准协议
-
-| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 |
-| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
-| 增益 | gain | 2 | 24 | 0 | 48 | √ | 0x12 | 关闭自动曝光，手动设定的参数 |
-| 亮度 | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
-| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | |
-
-> UVC 标准协议实现的控制，有现成的 API 进行 Get & Set ，包括 Min, Max, Default 。
-
-## 自定义协议
-
-| 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 | 通道地址 | 说明 |
-| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
-| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 0x0100 | 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 | 0x0100 | 有效值为{100,200,250,333,500} |
-| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
-| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 期望亮度 | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
-| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | 0x0100 | |
-| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0x0100 | 0：10-bit；1：12-bit |
-| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
-| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |

doc/zh-Hans/spec_control_channel.md

@@ -1,53 +0,0 @@
-# 拓展通道说明 {#spec_contorl_channel}
-
-| 名称 | 字段 | 地址 | 带宽 | 说明 |
-| :----- | :----- | :----- | :----- | :----- |
-| 相机控制通道 | XU_CAM_CTRL_CHANNEL | 0x0100 | 3 | |
-| 半双工通道 | XU_HALF_DUPLEX_CHANNEL | 0x0200 | 20 | |
-| IMU 请求通道 | XU_IMUDATA_WRITE_CHANNEL | 0x0300 | 5 | |
-| IMU 响应通道 | XU_IMUDATA_READ_CHANNEL | 0x0400 | 2000 | |
-| 文件通道 | XU_FILE_CHANNEL | 0x0500 | 2000 | |
-
-## 相机控制通道
-
-相机控制通道是那些需要 Get & Set & Query 的控制通道，其中 Query 细分为 Min, Max, Default 。
-
-## 半双工通道
-
-半双工通道是那些仅需 Get 或 Set 的控制通道，如请求零漂矫正。
-
-## IMU 通道
-
-用来请求和响应 IMU 数据的通道，可参见 @ref spec_imu_data 。
-
-## 文件通道
-
-用来读写硬件信息、图像参数、 IMU 参数的通道。
-
-| Name | Header | Size | File | Checksum |
-| :--- | :- | :--- | :--- | :-------- |
-| 字节数 | 1 | 2 | - | 1 |
-| 类型 | uint8_t | uint16_t | - | uint8_t |
-| 描述 | 标识 | 文件内容大小 | 文件内容 | 校验码（文件内容所有字节异或） |
-
-| Header bit | Description |
-| :--------- | :---------- |
-| 0 | 0: Get; 1: Set |
-| 1~4 | 未定义 |
-| 5 | IMU 参数 |
-| 6 | 图像参数 |
-| 7 | 硬件信息 |
-
-### 文件内容包
-
-| Name | ID | Size | Content |
-| :--- | :- | :--- | :------ |
-| 字节数 | 1 | 2 | - |
-| 类型 | uint8_t | uint16_t | - |
-| 描述 | 内容 ID | 内容大小 | 内容 |
-
-| File | ID | Max Size |
-| :--- | :- | :------- |
-| 硬件信息 | 1 | 250 |
-| 图像参数 | 2 | 250 |
-| IMU 参数 | 4 | 500 |

doc/zh-Hans/spec_hardware_info.md

@@ -1,17 +0,0 @@
-# 硬件信息说明 {#spec_hardware_info}
-
-| 名称 | 字段 | 固定值 | 描述符获取 | 拓展通道获取 | 字节数 | 说明 |
-| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
-| VID | vid | 0x04B4 | √ | × | 2 | |
-| PID | pid | 0x00F9 | √ | × | 2 | |
-| 设备名称 | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
-| 序列号  | serial_number | - | √ | √ Get | 16 | |
-| 固件版本 | firmware_version | - | √ | √ Get | 2 | major,minor |
-| 硬件版本 | hardware_version | - | × | √ Get | 3 | major,minor,flag |
-| 协议版本 | spec_version | - | × | √ Get | 2 | major,minor |
-| 镜头类型 | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
-| IMU 类型 | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
-| 基线长度 | nominal_baseline | - | × | √ Get/Set | 2 | 单位 mm ，未 set 默认 0 |
-
-* 描述符获取：指通用 USB 设备信息，可用工具查看。
-* 拓展通道获取：指通过拓展通道（UVC Extension Unit）问硬件获取到的信息，需要读取。

doc/zh-Hans/spec_image_data.md

@@ -1,22 +0,0 @@
-# 图像数据说明 {#spec_image_data}
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] |
-| 时间戳 | timestamp | 10 us | 4 | uint32_t |
-| 曝光时间 | exposure_time | 10 us | 2 | uint16_t |
-
-> 图像数据传输方式：倒序排在图像尾部。
-
-## 图像数据包
-
-| Name | Header | Size | FrameID | Timestamp | ExposureTime | Checksum |
-| :--- | :----- | :--- | :------ | :-------- | :----------- | :------- |
-| 字节数 | 1 | 1 | 2 | 4 | 2 | 1 |
-| 类型 | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
-| 描述 | 0x3B | 0x08 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
-
-* 数据包校验不过，会丢弃该帧。
-* 时间的单位精度为： 0.01 ms / 10 us 。
-  * 4 字节能表示的最大时间约是 11.9 小时，溢出后将重累计。
-* 时间累计是从上电时从开始，而不是从打开时开始。

doc/zh-Hans/spec_image_params.md

@@ -1,25 +0,0 @@
-# 图像参数说明 {#spec_image_params}
-
-## 图像内参
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 宽度 | width | px | 2 | uint16_t; [0,65535] |
-| 高度 | height | px | 2 | uint16_t; [0,65535] |
-| 焦距 | fx | - | 8 | double |
-| ^ | fy | - | 8 | double |
-| 图像中心 | cx | - | 8 | double |
-| ^ | cy | - | 8 | double |
-| 畸变模型 | model | - | 1 | uint8_t; pinhole,... |
-| 畸变参数 | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
-
-> 图像内参不同分辨率会不同。如果多分辨率的话，就会有多个。
-
-## 图像外参
-
-Left Image 到 Right Image 的变换矩阵。
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 旋转矩阵 | rotation[3][3] | - | 72 | double |
-| 平移矩阵 | translation[3] | - | 24 | double |

doc/zh-Hans/spec_imu_data.md

@@ -1,42 +0,0 @@
-# IMU 数据说明 {#spec_imu_data}
-
-## IMU 请求数据包
-
-| Name | Header | Serial Number |
-| :--- | :----- | :------------ |
-| 字节数 | 1 | 4 |
-| 类型 | uint8_t | uint32_t |
-| 描述 | 0x5A | 首次请求写 0 ，不然写上次响应数据包最后一个 IMU 包的序列号 |
-
-## IMU 响应数据包
-
-IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
-
-| Name | Header | State | Size | IMU Packets | Checksum |
-| :--- | :----- | :---- | :--- | :---------- | :------- |
-| 字节数 | 1 | 1 | 2 | ... | 1 |
-| 类型 | uint8_t | uint8_t | uint16_t | - | uint8_t |
-| 描述 | 0x5B | 正常状态为 0 ，否则错误 | 数据内容大小 | 所包含的 IMU 包 | 校验码（数据内容所有字节异或） |
-
-### IMU 包
-
-IMU 包/小包，是一组 IMU 数据。
-
-| Name | Serial Number | Timestamp | Count | IMU Datas |
-| :--- | :------------ | :-------- | :---- | :-------- |
-| 字节数 | 4 | 4 | 1 | ... |
-| 类型 | uint32_t | uint32_t | uint8_t | - |
-| 描述 | 序列号 | IMU 基准时间戳 | IMU 段数量 | 所包含的 IMU 段 |
-
-### IMU 段
-
-| Name | Offset | FrameID | Accelerometer | Temperature | Gyroscope |
-| :--- | :----- | :------ | :------------ | :---------- | :-------- |
-| 字节数 | 2 | 2 | 6 | 2 | 6 |
-| 类型 | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
-| Description | 相对基准时间戳的偏移量 | 图像帧 ID | 加速度计 x y z 三轴的值 | IMU 的温度 | 陀螺仪 x y z 三轴的值 |
-
-* 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。
-  * 加速度计量程默认值为 **8 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
-* 温度计量值换算成物理值公式： **real = data / ratio + offset** 。
-  * ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。

doc/zh-Hans/spec_imu_params.md

@@ -1,23 +0,0 @@
-# IMU 参数说明 {#spec_imu_params}
-
-## IMU 内参
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 比例因子 | acc_scale[3][3] | - | 72 | double |
-| ^ | gyro_scale[3][3] | - | 72 | double |
-| 零漂 | acc_drift[3] | - | 24 | double |
-| ^ | gyro_drift[3] | - | 24 | double |
-| 噪声密度 | acc_noise[3] | - | 24 | double |
-| ^ | gyro_noise[3] | - | 24 | double |
-| 随机游走 | acc_bias[3] | - | 24 | double |
-| ^ | gyro_bias[3] | - | 24 | double |
-
-## IMU 外参
-
-Left Image 到 IMU 的变换矩阵。
-
-| 名称 | 字段 | 单位 | 字节数 | 说明 |
-| :----- | :----- | :----- | :-------- | :----- |
-| 旋转矩阵 | rotation[3][3] | - | 72 | double |
-| 平移矩阵 | translation[3] | - | 24 | double |

doc/zh-Hans/specs_ctrl.md

@@ -1,4 +0,0 @@
-# 设备控制说明 {#specs_ctrl}
-
-* @subpage spec_contorl_api
-* @subpage spec_contorl_channel

doc/zh-Hans/specs_data.md

@@ -1,7 +0,0 @@
-# 设备数据说明 {#specs_data}
-
-* @subpage spec_hardware_info
-* @subpage spec_image_params
-* @subpage spec_imu_params
-* @subpage spec_image_data
-* @subpage spec_imu_data

docs/Doxyfile

@@ -1,4 +1,4 @@
-# Doxyfile 1.8.13
+# Doxyfile 1.8.14
 
 # This file describes the settings to be used by the documentation system
 # doxygen (www.doxygen.org) for a project.
@@ -20,8 +20,8 @@
 # This tag specifies the encoding used for all characters in the config file
 # that follow. The default is UTF-8 which is also the encoding used for all text
 # before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
-# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
-# for the list of possible encodings.
+# built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
 # The default value is: UTF-8.
 
 DOXYFILE_ENCODING      = UTF-8
@@ -32,33 +32,33 @@ 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         = v2.0
+PROJECT_NUMBER         = 2.5.0
 
 # 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          = https://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
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = ../static/images/icon.png
+PROJECT_LOGO           =
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       = ../_output/zh-Hans
+OUTPUT_DIRECTORY       = _doxygen
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and
@@ -91,7 +91,7 @@ ALLOW_UNICODE_NAMES    = NO
 # Ukrainian and Vietnamese.
 # The default value is: English.
 
-OUTPUT_LANGUAGE        = Chinese
+OUTPUT_LANGUAGE        = English
 
 # If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
 # descriptions after the members that are listed in the file and class
@@ -236,7 +236,8 @@ TAB_SIZE               = 2
 # will allow you to put the command \sideeffect (or @sideeffect) in the
 # documentation, which will result in a user-defined paragraph with heading
 # "Side Effects:". You can put \n's in the value part of an alias to insert
-# newlines.
+# newlines (in the resulting output). You can put ^^ in the value part of an
+# alias to insert a newline as if a physical newline was in the original file.
 
 ALIASES                =
 
@@ -337,7 +338,7 @@ BUILTIN_STL_SUPPORT    = NO
 CPP_CLI_SUPPORT        = NO
 
 # Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
-# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
 # will parse them like normal C++ but will assume all classes use public instead
 # of private inheritance when no explicit protection keyword is present.
 # The default value is: NO.
@@ -708,7 +709,7 @@ LAYOUT_FILE            =
 # The CITE_BIB_FILES tag can be used to specify one or more bib files containing
 # the reference definitions. This must be a list of .bib files. The .bib
 # extension is automatically appended if omitted. This requires the bibtex tool
-# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
 # For LaTeX the style of the bibliography can be controlled using
 # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
 # search path. See also \cite for info how to create references.
@@ -790,29 +791,12 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = mainpage.md \
-                         guides.md \
-                         guide_build_linux.md \
-                         guide_samples.md \
-                         guide_tools.md \
-                         guide_log.md \
-                         guide_opencv.md \
-                         guide_ros.md \
-                         specs_data.md \
-                         spec_hardware_info.md \
-                         spec_image_params.md \
-                         spec_imu_params.md \
-                         spec_image_data.md \
-                         spec_imu_data.md \
-                         specs_ctrl.md \
-                         spec_control_api.md \
-                         spec_control_channel.md \
-                         ../../_install/include
+INPUT                  = ../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
 # libiconv (or the iconv built into libc) for the transcoding. See the libiconv
-# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# documentation (see: https://www.gnu.org/software/libiconv/) for the list of
 # possible encodings.
 # The default value is: UTF-8.
 
@@ -890,7 +874,8 @@ 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
@@ -943,7 +928,7 @@ EXAMPLE_RECURSIVE      = NO
 # that contain images that are to be included in the documentation (see the
 # \image command).
 
-IMAGE_PATH             = ../static/images
+IMAGE_PATH             =
 
 # The INPUT_FILTER tag can be used to specify a program that doxygen should
 # invoke to filter for each input file. Doxygen will invoke the filter program
@@ -1060,7 +1045,7 @@ SOURCE_TOOLTIPS        = YES
 # If the USE_HTAGS tag is set to YES then the references to source code will
 # point to the HTML generated by the htags(1) tool instead of doxygen built-in
 # source browser. The htags tool is part of GNU's global source tagging system
-# (see http://www.gnu.org/software/global/global.html). You will need version
+# (see https://www.gnu.org/software/global/global.html). You will need version
 # 4.8.6 or higher.
 #
 # To use it do the following:
@@ -1120,7 +1105,7 @@ IGNORE_PREFIX          =
 # If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
 # The default value is: YES.
 
-GENERATE_HTML          = YES
+GENERATE_HTML          = NO
 
 # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@@ -1190,7 +1175,7 @@ HTML_STYLESHEET        =
 # list). For an example see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_STYLESHEET  = ../static/custom.css
+HTML_EXTRA_STYLESHEET  =
 
 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note
@@ -1205,7 +1190,7 @@ HTML_EXTRA_FILES       =
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to
 # this color. Hue is specified as an angle on a colorwheel, see
-# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
 # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
 # purple, and 360 is red again.
 # Minimum value: 0, maximum value: 359, default value: 220.
@@ -1241,6 +1226,17 @@ HTML_COLORSTYLE_GAMMA  = 80
 
 HTML_TIMESTAMP         = NO
 
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via Javascript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have Javascript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
 # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
 # documentation will contain sections that can be hidden and shown after the
 # page has loaded.
@@ -1264,12 +1260,12 @@ HTML_INDEX_NUM_ENTRIES = 100
 
 # If the GENERATE_DOCSET tag is set to YES, additional index files will be
 # generated that can be used as input for Apple's Xcode 3 integrated development
-# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# environment (see: https://developer.apple.com/tools/xcode/), introduced with
 # OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
 # Makefile in the HTML output directory. Running make will produce the docset in
 # that directory and running make install will install the docset in
 # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
-# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# startup. See https://developer.apple.com/tools/creatingdocsetswithdoxygen.html
 # for more information.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1304,7 +1300,7 @@ 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
@@ -1385,7 +1381,7 @@ QCH_FILE               =
 
 # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
 # Project output. For more information please see Qt Help Project / Namespace
-# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# (see: http://doc.qt.io/qt-4.8/qthelpproject.html#namespace).
 # The default value is: org.doxygen.Project.
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
@@ -1393,8 +1389,7 @@ QHP_NAMESPACE          = com.slightech.mynteye
 
 # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
 # Help Project output. For more information please see Qt Help Project / Virtual
-# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
-# folders).
+# Folders (see: http://doc.qt.io/qt-4.8/qthelpproject.html#virtual-folders).
 # The default value is: doc.
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
@@ -1402,23 +1397,21 @@ QHP_VIRTUAL_FOLDER     = doc
 
 # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
 # filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
-# filters).
+# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_CUST_FILTER_NAME   =
 
 # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
 # custom filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
-# filters).
+# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_CUST_FILTER_ATTRS  =
 
 # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
 # project's filter section matches. Qt Help Project / Filter Attributes (see:
-# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# http://doc.qt.io/qt-4.8/qthelpproject.html#filter-attributes).
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_SECT_FILTER_ATTRS  =
@@ -1511,7 +1504,7 @@ EXT_LINKS_IN_WINDOW    = NO
 
 FORMULA_FONTSIZE       = 10
 
-# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
 # generated for formulas are transparent PNGs. Transparent PNGs are not
 # supported properly for IE 6.0, but are supported on all modern browsers.
 #
@@ -1523,7 +1516,7 @@ FORMULA_FONTSIZE       = 10
 FORMULA_TRANSPARENT    = YES
 
 # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
-# http://www.mathjax.org) which uses client side Javascript for the rendering
+# https://www.mathjax.org) which uses client side Javascript for the rendering
 # instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
 # installed or if you want to formulas look prettier in the HTML output. When
 # enabled you may also need to install MathJax separately and configure the path
@@ -1550,11 +1543,11 @@ MATHJAX_FORMAT         = HTML-CSS
 # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
 # Content Delivery Network so you can quickly see the result without installing
 # MathJax. However, it is strongly recommended to install a local copy of
-# MathJax from http://www.mathjax.org before deployment.
-# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# MathJax from https://www.mathjax.org before deployment.
+# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/.
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
-MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+MATHJAX_RELPATH        = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/
 
 # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
 # extension names that should be enabled during MathJax rendering. For example
@@ -1612,7 +1605,7 @@ SERVER_BASED_SEARCH    = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/).
+# Xapian (see: https://xapian.org/).
 #
 # See the section "External Indexing and Searching" for details.
 # The default value is: NO.
@@ -1625,7 +1618,7 @@ EXTERNAL_SEARCH        = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Xapian (see: https://xapian.org/). See the section "External Indexing and
 # Searching" for details.
 # This tag requires that the tag SEARCHENGINE is set to YES.
 
@@ -1664,7 +1657,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.
 
-GENERATE_LATEX         = YES
+GENERATE_LATEX         = NO
 
 # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@@ -1765,9 +1758,7 @@ LATEX_EXTRA_STYLESHEET =
 # markers available.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
-LATEX_EXTRA_FILES      = ../static/images/make_install.png \
-                         ../static/images/imu_analytics.png \
-                         ../static/images/stamp_analytics.png
+LATEX_EXTRA_FILES      =
 
 # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
 # prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
@@ -1814,7 +1805,7 @@ LATEX_SOURCE_CODE      = NO
 
 # The LATEX_BIB_STYLE tag can be used to specify the style to use for the
 # bibliography, e.g. plainnat, or ieeetr. See
-# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
 # The default value is: plain.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
@@ -1946,7 +1937,7 @@ MAN_LINKS              = NO
 # captures the structure of the code including all documentation.
 # The default value is: NO.
 
-GENERATE_XML           = NO
+GENERATE_XML           = YES
 
 # The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@@ -1997,9 +1988,9 @@ DOCBOOK_PROGRAMLISTING = NO
 #---------------------------------------------------------------------------
 
 # If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
-# AutoGen Definitions (see http://autogen.sf.net) file that captures the
-# structure of the code including all documentation. Note that this feature is
-# still experimental and incomplete at the moment.
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
 # The default value is: NO.
 
 GENERATE_AUTOGEN_DEF   = NO
@@ -2099,7 +2090,10 @@ INCLUDE_FILE_PATTERNS  =
 # recursively expanded use the := operator instead of the = operator.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-PREDEFINED             = DOXYGEN_WORKING
+PREDEFINED             = DOXYGEN_WORKING \
+                         "MYNTEYE_BEGIN_NAMESPACE=namespace mynteye {" \
+                         "MYNTEYE_END_NAMESPACE=}" \
+                         "MYNTEYE_API=" "LAST="
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The

docs/Makefile

@@ -0,0 +1,19 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/api/api.rst

@@ -0,0 +1,25 @@
+.. _api:
+
+API
+===
+
+API
+---
+
+.. doxygenclass:: mynteye::API
+   :project: mynteyes
+   :members:
+
+api::StreamData
+---------------
+
+.. doxygenstruct:: mynteye::api::StreamData
+   :project: mynteyes
+   :members:
+
+api::MotionData
+---------------
+
+.. doxygenstruct:: mynteye::api::MotionData
+   :project: mynteyes
+   :members:

docs/api/contents.rst

@@ -0,0 +1,10 @@
+API DOCS
+==============
+
+.. toctree::
+
+   api
+   device
+   enums
+   types
+   utils

docs/api/device.rst

@@ -0,0 +1,32 @@
+.. _device:
+
+Device
+======
+
+Device
+------
+
+.. doxygenclass:: mynteye::Device
+   :project: mynteyes
+   :members:
+
+device::Frame
+-------------
+
+.. doxygenclass:: mynteye::device::Frame
+   :project: mynteyes
+   :members:
+
+device::StreamData
+------------------
+
+.. doxygenstruct:: mynteye::device::StreamData
+   :project: mynteyes
+   :members:
+
+device::MotionData
+------------------
+
+.. doxygenstruct:: mynteye::device::MotionData
+   :project: mynteyes
+   :members:

docs/api/enums.rst

@@ -0,0 +1,69 @@
+.. _enums:
+
+Enums
+=====
+
+..
+  .. doxygengroup:: enumerations
+    :project: mynteyes
+
+Model
+-----
+
+.. doxygenenum:: mynteye::Model
+  :project: mynteyes
+
+Stream
+------
+
+.. doxygenenum:: mynteye::Stream
+  :project: mynteyes
+
+
+Capabilities
+------------
+
+.. doxygenenum:: mynteye::Capabilities
+  :project: mynteyes
+
+Info
+----
+
+.. doxygenenum:: mynteye::Info
+  :project: mynteyes
+
+Option
+------
+
+.. doxygenenum:: mynteye::Option
+  :project: mynteyes
+
+Source
+------
+
+.. doxygenenum:: mynteye::Source
+  :project: mynteyes
+
+AddOns
+------
+
+.. doxygenenum:: mynteye::AddOns
+  :project: mynteyes
+
+Format
+------
+
+.. doxygenenum:: mynteye::Format
+  :project: mynteyes
+
+CalibrationModel
+----------------
+
+.. doxygenenum:: mynteye::CalibrationModel
+  :project: mynteyes
+
+DisparityComputingMethod
+------------------------
+
+.. doxygenenum:: mynteye::DisparityComputingMethod
+  :project: mynteyes

docs/api/types.rst

@@ -0,0 +1,77 @@
+.. _types:
+
+Types
+=====
+
+OptionInfo
+----------
+
+.. doxygenstruct:: mynteye::OptionInfo
+   :project: mynteyes
+   :members:
+
+Resolution
+----------
+
+.. doxygenstruct:: mynteye::Resolution
+   :project: mynteyes
+   :members:
+
+StreamRequest
+-------------
+
+.. doxygenstruct:: mynteye::StreamRequest
+   :project: mynteyes
+   :members:
+
+Intrinsics
+----------
+
+IntrinsicsPinhole
+~~~~~~~~~~~~~~~~~
+
+.. doxygenstruct:: mynteye::IntrinsicsPinhole
+   :project: mynteyes
+   :members:
+
+IntrinsicsEquidistant
+~~~~~~~~~~~~~~~~~~~~~
+
+.. doxygenstruct:: mynteye::IntrinsicsEquidistant
+   :project: mynteyes
+   :members:
+
+ImuIntrinsics
+~~~~~~~~~~~~~
+
+.. doxygenstruct:: mynteye::ImuIntrinsics
+   :project: mynteyes
+   :members:
+
+MotionIntrinsics
+~~~~~~~~~~~~~~~~~
+
+.. doxygenstruct:: mynteye::MotionIntrinsics
+   :project: mynteyes
+   :members:
+
+Extrinsics
+----------
+
+.. doxygenstruct:: mynteye::Extrinsics
+   :project: mynteyes
+   :members:
+
+ImgData
+-------
+
+.. doxygenstruct:: mynteye::ImgData
+   :project: mynteyes
+   :members:
+
+ImuData
+-------
+
+.. doxygenstruct:: mynteye::ImuData
+   :project: mynteyes
+   :members:

docs/api/utils.rst

@@ -0,0 +1,34 @@
+.. _utils:
+
+Utils
+=====
+
+select
+------
+
+.. doxygenfunction:: select
+   :project: mynteyes
+
+select_request
+--------------
+
+.. doxygenfunction:: select_request
+   :project: mynteyes
+
+get_real_exposure_time
+----------------------
+
+.. doxygenfunction:: get_real_exposure_time
+   :project: mynteyes
+
+get_sdk_root_dir
+----------------
+
+.. doxygenfunction:: get_sdk_root_dir
+   :project: mynteyes
+
+get_sdk_install_dir
+-------------------
+
+.. doxygenfunction:: get_sdk_install_dir
+   :project: mynteyes

docs/conf.py

@@ -0,0 +1,194 @@
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'MYNT® EYE S SDK'
+copyright = '2019, MYNTAI'
+author = 'MYNTAI'
+
+# The short X.Y version
+version = '2.5.0'
+# The full version, including alpha/beta/rc tags
+release = version
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'breathe',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = 'en'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# on_rtd is whether we are on readthedocs.org
+import os
+on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
+
+import subprocess
+subprocess.call('doxygen', shell=True)
+
+
+# -- Options for HTML output -------------------------------------------------
+
+if not on_rtd:  # only import and set the theme if we're building docs locally
+    import sphinx_rtd_theme
+
+    # The theme to use for HTML and HTML Help pages.  See the documentation for
+    # a list of builtin themes.
+    #
+    # html_theme = 'alabaster'
+    html_theme = 'sphinx_rtd_theme'
+    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+    # Theme options are theme-specific and customize the look and feel of a theme
+    # further.  For a list of options available for each theme, see the
+    # documentation.
+    #
+    # html_theme_options = {}
+
+    # Add any paths that contain custom static files (such as style sheets) here,
+    # relative to this directory. They are copied after the builtin static files,
+    # so a file named "default.css" will overwrite the builtin "default.css".
+    # html_static_path = ['_static']
+
+    # Custom sidebar templates, must be a dictionary that maps document names
+    # to template names.
+    #
+    # The default sidebars (for documents that don't match any pattern) are
+    # defined by theme itself.  Builtin themes are using these templates by
+    # default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+    # 'searchbox.html']``.
+    #
+    # html_sidebars = {}
+
+# otherwise, readthedocs.org uses their theme by default, so no need to specify it
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'MYNTEYESSDKdoc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, 'MYNTEYESSDK.tex', 'MYNT® EYE S SDK Documentation',
+     'MYNTAI', 'manual'),
+]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'mynteyessdk', 'MYNT® EYE S SDK Documentation',
+     [author], 1)
+]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'MYNTEYESSDK', 'MYNT® EYE S SDK Documentation',
+     author, 'MYNTEYESSDK', 'One line description of project.',
+     'Miscellaneous'),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+breathe_projects = { 'mynteyes': '_doxygen/xml' }

docs/files/libmynteye.conf

@@ -0,0 +1,7 @@
+# libmynteye configuration
+#
+# 1) Copy this file to: /etc/ld.so.conf.d/libmynteye.conf
+# 2) Run this cmd in Terminal: sudo /sbin/ldconfig
+
+/usr/local/cuda/lib64
+$HOME/opencv-3.4.1/lib