Update doc version

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.0.0 LANGUAGES C CXX)
+project(mynteye VERSION 2.0.1 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -48,23 +48,6 @@ LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build)
 find_package(glog REQUIRED)
 message(STATUS "Found glog: ${glog_VERSION}")
 
-if(WITH_API)
-  include(cmake/DetectOpenCV.cmake)
-endif()
-
-find_package(Boost COMPONENTS filesystem)
-if(Boost_FOUND)
-  set(WITH_BOOST_FILESYSTEM true)
-  add_definitions(-DWITH_FILESYSTEM)
-  add_definitions(-DWITH_BOOST_FILESYSTEM)
-  message(STATUS "With boost filesystem: ${Boost_VERSION}")
-  #message(STATUS "  Boost_LIBRARIES: ${Boost_LIBRARIES}")
-elseif(OS_WIN)
-  add_definitions(-DWITH_FILESYSTEM)
-  add_definitions(-DWITH_NATIVE_FILESYSTEM)
-  message(STATUS "With native filesystem")
-endif()
-
 LIST(APPEND CMAKE_MODULE_PATH cmake)
 
 include(CMakePackageConfigHelpers)
@@ -254,32 +237,7 @@ install(EXPORT ${MYNTEYE_NAME}-targets
 
 ## build.info
 
-macro(set_default_value VARIABLE DEFAULT)
-  if(NOT ${VARIABLE})
-    set(${VARIABLE} ${DEFAULT})
-  endif()
-endmacro()
-
-macro(set_version_values VARIABLE)
-  string(REPLACE "." ";" __version_list "${${VARIABLE}}")
-  list(LENGTH __version_list __len)
-  if(${__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()
-
-find_package(CUDA QUIET)
-
-set_version_values(CMAKE_CXX_COMPILER_VERSION)
+# 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)

Makefile

@@ -16,6 +16,12 @@ include CommonDefs.mk
 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}
+
 .DEFAULT_GOAL := help
 
 help:
@@ -54,7 +60,10 @@ opendoc: apidoc
 		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
 	done
 
-.PHONY: apidoc opendoc
+cleandoc:
+	@$(call rm,./doc/_output/)
+
+.PHONY: apidoc opendoc cleandoc
 
 # deps
 
@@ -80,7 +89,8 @@ init: submodules
 
 build: third_party
 	@$(call echo,Make $@)
-	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+	@$(call cmake_build,./_build,..)
+	@# @$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
 
 .PHONY: build
 
@@ -112,10 +122,10 @@ ifeq ($(HOST_OS),Win)
 ifneq ($(HOST_NAME),MinGW)
 	@cd ./_build; msbuild.exe INSTALL.vcxproj /property:Configuration=Release
 else
-	@cd ./_build; make install
+	@cd ./_build; sudo make install
 endif
 else
-	@cd ./_build; make install
+	@cd ./_build; sudo make install
 endif
 
 .PHONY: install
@@ -225,8 +235,7 @@ cleanlog:
 	@$(call rm_f,*ERROR*)
 	@$(call rm_f,*FATAL*)
 
-cleanall: clean
-	@$(call rm,./doc/_output/)
+cleanall: clean cleandoc
 	@$(call rm,./test/gtest/_build/)
 	@$(call rm,./third_party/glog/_build/)
 	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f

README.md

@@ -1,5 +1,7 @@
 # MYNT® EYE SDK
 
+[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.1--rc0-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
+
 ## Overview
 
 MYNT® EYE SDK 2.0 is a cross-platform library for MYNT® EYE cameras.
@@ -15,16 +17,19 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations
 
 * [API Doc](https://github.com/slightech/MYNT-EYE-SDK-2/releases): API reference, some guides and data spec.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2203869/mynt-eye-sdk-apidoc-2.0.1-rc0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2203870/mynt-eye-sdk-apidoc-2.0.1-rc0-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2203872/mynt-eye-sdk-apidoc-2.0.1-rc0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2203874/mynt-eye-sdk-apidoc-2.0.1-rc0-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-sdk-apidoc-2.0.1-rc0-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc0-html-zh-Hans/index.html)
 * [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases): How to install and start using the SDK.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2203877/mynt-eye-sdk-guide-2.0.1-rc0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2203879/mynt-eye-sdk-guide-2.0.1-rc0-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2203880/mynt-eye-sdk-guide-2.0.1-rc0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2203881/mynt-eye-sdk-guide-2.0.1-rc0-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-sdk-guide-2.0.1-rc0-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc0-html-zh-Hans/index.html	)
 
-> Supported languages: `zh-Hans`.
+> Supported languages: `en`, `zh-Hans`.
 
 ## Firmwares
 
-[Google Drive]: https://drive.google.com/drive/folders/1tdFCcTBMNcImEGZ39tdOZmlX2SHKCr2f
-[百度网盘]: https://pan.baidu.com/s/1yPQDp2r0x4jvNwn2UjlMUQ
+[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
 
-Get firmwares from our online disks: [Google Drive][], [百度网盘][]. The latest version is `2.0.0-rc`.
+Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.0.1`.
 
 ## Usage
 

cmake/Option.cmake

@@ -12,7 +12,125 @@
 # 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)
 
-message(STATUS "Options:")
-message(STATUS "  WITH_API: ${WITH_API}")
+option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
+
+# 3rdparty components
+
+option(WITH_BOOST "Include Boost support" ON)
+
+
+# packages
+
+if(WITH_API)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
+endif()
+
+if(WITH_DEVICE_INFO_REQUIRED)
+  add_definitions(-DWITH_DEVICE_INFO_REQUIRED)
+endif()
+
+if(WITH_BOOST)
+  find_package(Boost 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)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_BOOST_FILESYSTEM)
+  endif()
+endif()
+
+if(NOT WITH_FILESYSTEM)
+  if(MSVC OR MSYS OR MINGW)  # win
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_NATIVE_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_NATIVE_FILESYSTEM)
+  endif()
+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_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("")
+status("Features:")
+status("  Filesystem: "
+  IF WITH_BOOST_FILESYSTEM "boost"
+  ELIF WITH_NATIVE_FILESYSTEM "native"
+  ELSE "none"
+)
+
+status("")

cmake/Utils.cmake

@@ -49,3 +49,88 @@ macro(make_executable NAME)
     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()

doc/build.sh

@@ -40,8 +40,8 @@ OUTPUT="$BASE_DIR/_output"
 _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
+  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 "${LANGS[@]}"; do
@@ -54,8 +54,13 @@ for lang in "${LANGS[@]}"; do
     doxygen $DOXYFILE
     if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
       _echo_in "doxygen make latex"
+      version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
+        sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
+      filename="mynt-eye-sdk-apidoc"; \
+        [ -n "$version" ] && filename="$filename-$version"; \
+        filename="$filename-$lang.pdf"
       cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
-      [ -f "refman.pdf" ] && mv "refman.pdf" "../mynteye-apidoc.pdf"
+      [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
     fi
     _echo_d "doxygen completed"
   else

doc/en/mainpage.md

@@ -0,0 +1,11 @@
+# MYNT EYE SDK {#mainpage}
+
+* <a class="el" href="annotated.html">API Classes</a>
+* <a class="el" href="modules.html">API Modules</a>
+  * \link enumerations Enumerations\endlink
+  * \link datatypes Datatypes\endlink
+  * \link utils Utiliities\endlink
+  * \link calibration Intrinsics & Extrinsics\endlink
+* <span style="font-weight:bold">Device Specifications</span>
+  * @subpage specs_data
+  * @subpage specs_ctrl

doc/en/spec_control_api.md

@@ -0,0 +1,26 @@
+# Control Protocols {#spec_control_api}
+
+There are two control modes, one is through UVC standard protocol, the other is through UVC custom protocol with extension unit.
+
+## Standard Protocol
+
+| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Note |
+| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :--- |
+| Gain | gain | 2 | 24 | 0 | 48 | √ | 0x12 | valid if manual-exposure |
+| Brightness | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | valid if manual-exposure |
+| Contrast | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | valid if manual-exposure |
+
+## Custom Protocol
+
+| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note |
+| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- |
+| Frame rate | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55} |
+| IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
+| Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
+| Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |
+| Max exposure time | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | valid if auto-exposure |
+| Desired brightness | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | valid if auto-exposure |
+| IR control | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
+| HDR mode | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0: 10-bit; 1: 12-bit |
+| Zero drift calibration | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| Erase chip | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |

doc/en/spec_control_channel.md

@@ -0,0 +1,53 @@
+# Control Channels {#spec_control_channel}
+
+| Name | Field | Address | Bandwidth | Node |
+| :----- | :----- | :----- | :----- | :----- |
+| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
+| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
+| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
+| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
+| File channel | XU_FILE_CHANNEL | 5 | 2000 | |
+
+## Camera Control Channel
+
+The channel provides get, set and query (min, max, default).
+
+## Half-Duplex Channel
+
+The channel only provides set, such as zero drift correction.
+
+## IMU Channel
+
+The channel is used to request and response IMU data, see @ref spec_imu_data.
+
+## File Channel
+
+The channel is used to read and write device information, image params, and IMU params.
+
+| Name | Header | Size | File | Checksum |
+| :--- | :- | :--- | :--- | :-------- |
+| Bytes | 1 | 2 | - | 1 |
+| Type | uint8_t | uint16_t | - | uint8_t |
+| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes |
+
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | Device information |
+| 1 | Image params |
+| 2 | IMU params |
+| 3~6 | Undefined |
+| 7 | 0: Get; 1: Set |
+
+### File Content Packet
+
+| Name | ID | Size | Content |
+| :--- | :- | :--- | :------ |
+| Bytes | 1 | 2 | - |
+| Type | uint8_t | uint16_t | - |
+| Description | Content ID | Content size | Content data |
+
+| File | ID | Max Size |
+| :--- | :- | :------- |
+| Device information | 1 | 250 |
+| Image params | 2 | 250 |
+| IMU params | 4 | 500 |

doc/en/spec_hardware_info.md

@@ -0,0 +1,14 @@
+# Device Information {#spec_hardware_info}
+
+| Name | Field | Fixed Value | USB Descriptor | UVC Extension Unit | Bytes | Note |
+| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
+| VID | vid | 0x04B4 | √ | × | 2 | |
+| PID | pid | 0x00F9 | √ | × | 2 | |
+| Device name | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
+| Serial number | serial_number | - | √ | √ Get | 16 | |
+| Firmware version | firmware_version | - | √ | √ Get | 2 | major,minor |
+| Hardware version | hardware_version | - | × | √ Get | 3 | major,minor,flag |
+| Spec version | spec_version | - | × | √ Get | 2 | major,minor |
+| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
+| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
+| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 |

doc/en/spec_image_data.md

@@ -0,0 +1,20 @@
+# Image Data {#spec_image_data}
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] |
+| Timestamp | timestamp | 10 us | 4 | uint32_t |
+| Exposure Time | exposure_time | 10 us | 2 | uint16_t |
+
+## Image Packet
+
+| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
+| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
+| Bytes | 1 | 1 | 2 | 4 | 2 | 1 |
+| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
+| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes |
+
+* The image packet will be dropped, if checksum is incorrect.
+* The accuracy of the time unit: 0.01 ms / 10 us.
+  * The timestamp could indicate 11.9 hours, it will accumulate again after overflow.
+* The timestamp accumulation starts from the time of power-on, instead of opening.

doc/en/spec_image_params.md

@@ -0,0 +1,23 @@
+# Image Params {#spec_image_params}
+
+## Image Intrinsics
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Image width | width | px | 2 | uint16_t; [0,65535] |
+| Image height | height | px | 2 | uint16_t; [0,65535] |
+| Focal length | fx | - | 8 | double |
+| ^ | fy | - | 8 | double |
+| Principal point | cx | - | 8 | double |
+| ^ | cy | - | 8 | double |
+| Distortion model | model | - | 1 | uint8_t; pinhole,... |
+| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
+
+## Image Extrinsics
+
+Transformation matrix from left image to right image.
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Rotation matrix | rotation[3][3] | - | 72 | double |
+| Translation vector | translation[3] | - | 24 | double |

doc/en/spec_imu_data.md

@@ -0,0 +1,42 @@
+# IMU Data {#spec_imu_data}
+
+## IMU Request Packet
+
+| Name | Header | Serial Number |
+| :--- | :----- | :------------ |
+| Bytes | 1 | 4 |
+| Type | uint8_t | uint32_t |
+| Description | 0x5A | First request should be 0, otherwise the last one |
+
+## IMU Response Packet
+
+The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.
+
+| Name | Header | State | Size | IMU Packets | Checksum |
+| :--- | :----- | :---- | :--- | :---------- | :------- |
+| Bytes | 1 | 1 | 2 | ... | 1 |
+| Type | uint8_t | uint8_t | uint16_t | - | uint8_t |
+| Description | 0x5B | 0 is success, others are failed | Content size | IMU packets | Checksum, XOR of all content bytes |
+
+### IMU Packet
+
+The IMU packet is an array of IMU datas.
+
+| Name | Serial Number | Timestamp | Count | IMU Datas |
+| :--- | :------------ | :-------- | :---- | :-------- |
+| Bytes | 4 | 4 | 1 | ... |
+| Type | uint32_t | uint32_t | uint8_t | - |
+| Description | Serial number | IMU basic timestamp | The number of IMU datas | IMU datas |
+
+### IMU Segment
+
+| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
+| :--- | :----- | :------- | :------------ | :---------- | :-------- |
+| Bytes | 2 | 2 | 6 | 2 | 6 |
+| Type | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
+| Description | The timestamp offset | Image frame ID | Accel x,y,z values | IMU temperature | Gyro x,y,z values |
+
+* Formula for converting the accel & gyro values to real ones: **real = data * range / 0x10000** .
+  * ``accel`` default ``range`` is **8 g**, ``gyro`` default ``range`` is **1000 deg/s**.
+* Formula for converting the temperature to real value: **real = data / ratio + offset** .
+  * default ``ratio`` is **326.8**, default ``offset`` is **25℃**.

doc/en/spec_imu_params.md

@@ -0,0 +1,23 @@
+# IMU Params {#spec_imu_params}
+
+## IMU Intrinsics
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Scale matrix | acc_scale[3][3] | - | 72 | double |
+| ^ | gyro_scale[3][3] | - | 72 | double |
+| Zero-drift | acc_drift[3] | - | 24 | double |
+| ^ | gyro_drift[3] | - | 24 | double |
+| Noise density | acc_noise[3] | - | 24 | double |
+| ^ | gyro_noise[3] | - | 24 | double |
+| Random walk | acc_bias[3] | - | 24 | double |
+| ^ | gyro_bias[3] | - | 24 | double |
+
+## IMU Extrinsics
+
+Transformation matrix from left image to IMU.
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Rotation matrix | rotation[3][3] | - | 72 | double |
+| Translation vector | translation[3] | - | 24 | double |

doc/en/specs_ctrl.md

@@ -0,0 +1,4 @@
+# Device Control Specification {#specs_ctrl}
+
+* @subpage spec_control_api
+* @subpage spec_control_channel

doc/en/specs_data.md

@@ -0,0 +1,7 @@
+# Device Data Specification {#specs_data}
+
+* @subpage spec_hardware_info
+* @subpage spec_image_params
+* @subpage spec_imu_params
+* @subpage spec_image_data
+* @subpage spec_imu_data

doc/zh-Hans/api.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
@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.0.0-rc
+PROJECT_NUMBER         = 2.0.1-rc1
 
 # 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
@@ -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.
@@ -791,14 +792,6 @@ WARN_LOGFILE           =
 # Note: If this tag is empty the current directory is searched.
 
 INPUT                  = mainpage.md \
-                         guides.md \
-                         guide_build_linux.md \
-                         guide_build_win.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 \
@@ -813,7 +806,7 @@ INPUT                  = mainpage.md \
 # 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.
 
@@ -1061,7 +1054,7 @@ 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:
@@ -1206,7 +1199,7 @@ 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.
@@ -1242,6 +1235,17 @@ 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.
@@ -1265,12 +1269,12 @@ 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.
@@ -1386,7 +1390,7 @@ 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.
 
@@ -1394,8 +1398,7 @@ 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.
 
@@ -1403,23 +1406,21 @@ 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  =
@@ -1512,7 +1513,7 @@ 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.
 #
@@ -1524,7 +1525,7 @@ 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
@@ -1551,11 +1552,11 @@ 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
@@ -1613,7 +1614,7 @@ 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.
@@ -1626,7 +1627,7 @@ 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.
 
@@ -1815,7 +1816,7 @@ 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.
 
@@ -1998,9 +1999,9 @@ 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

doc/zh-Hans/mainpage.md

@@ -1,9 +1,11 @@
 # MYNT EYE SDK {#mainpage}
 
-* API 模块
+* <a class="el" href="annotated.html">API 类</a>
+* <a class="el" href="modules.html">API 模块</a>
   * \link enumerations 枚举类型\endlink
   * \link datatypes 数据类型\endlink
+  * \link utils 工具函数\endlink
   * \link calibration 内参与外参\endlink
-* 设备说明
+* <span style="font-weight:bold">设备说明</span>
   * @subpage specs_data
   * @subpage specs_ctrl

doc/zh-Hans/spec_control_api.md

@@ -1,4 +1,4 @@
-# 控制 API 说明 {#spec_contorl_api}
+# 控制 API 说明 {#spec_control_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。
 
@@ -8,21 +8,21 @@
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
 | 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 | |
+| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | 关闭自动曝光，手动设定的参数 |
 
 > 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 | |
+| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 说明 |
+| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----- |
+| 图像帧率 | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55} |
+| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} |
+| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 |
+| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
+| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 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 | 开始自动曝光，可设定的阈值 |
+| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
+| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0：10-bit；1：12-bit |
+| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |

doc/zh-Hans/spec_control_channel.md

@@ -1,4 +1,4 @@
-# 拓展通道说明 {#spec_contorl_channel}
+# 拓展通道说明 {#spec_control_channel}
 
 | 名称 | 字段 | 地址 | 带宽 | 说明 |
 | :----- | :----- | :----- | :----- | :----- |
@@ -14,7 +14,7 @@
 
 ## 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。
+半双工通道是那些仅需 Set 的控制通道，如请求零漂矫正。
 
 ## IMU 通道
 
@@ -25,18 +25,18 @@
 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 |
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | 硬件信息 |
+| 1 | 图像参数 |
+| 2 | IMU 参数 |
+| 3~6 | 未定义 |
+| 7 | 0: Get; 1: Set |
 
 ### 文件内容包
 

doc/zh-Hans/spec_image_data.md

@@ -11,12 +11,12 @@
 ## 图像数据包
 
 | Name | Header | Size | Frame ID | Timestamp | Exposure Time | 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 。
+* 时间单位的精度为： 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

@@ -13,7 +13,7 @@
 | 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。
+> 图像分辨率不同，内参不同。多分辨率的话，需有多个内参。
 
 ## 图像外参
 

doc/zh-Hans/spec_imu_data.md

@@ -31,10 +31,10 @@ IMU 包/小包，是一组 IMU 数据。
 ### IMU 段
 
 | Name | Offset | Frame ID | 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 |
+| 描述 | 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** 。

doc/zh-Hans/specs_ctrl.md

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

include/mynteye/glog_init.h

@@ -25,14 +25,30 @@ struct glog_init {
   glog_init(int argc, char *argv[]) {
     (void)argc;
 
-    // FLAGS_logtostderr = true;
-    FLAGS_alsologtostderr = true;
+    // Set whether log messages go to stderr instead of logfiles
+    FLAGS_logtostderr = true;
+
+    // Set whether log messages go to stderr in addition to logfiles.
+    // FLAGS_alsologtostderr = true;
+
+    // Set color messages logged to stderr (if supported by terminal).
     FLAGS_colorlogtostderr = true;
 
-    // FLAGS_log_dir = ".";
+    // Log suppression level: messages logged at a lower level than this
+    // are suppressed.
+    FLAGS_minloglevel = google::GLOG_INFO;
+
+    // If specified, logfiles are written into this directory instead of the
+    // default logging directory.
+    FLAGS_log_dir = ".";
+
+    // Sets the maximum log file size (in MB).
     FLAGS_max_log_size = 1024;
+
+    // Sets whether to avoid logging to the disk if the disk is full.
     FLAGS_stop_logging_if_full_disk = true;
 
+    // Show all VLOG(m) messages for m <= this.
     // FLAGS_v = 2;
 
     google::InitGoogleLogging(argv[0]);

include/mynteye/mynteye.h.in

@@ -58,7 +58,7 @@ MYNTEYE_API_VERSION_CHECK( \
 # define MYNTEYE_USE_NAMESPACE
 #endif
 
-constexpr char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
-constexpr char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
+const char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
+const char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
 
 #endif  // MYNTEYE_MYNTEYE_H_

include/mynteye/types.h

@@ -144,7 +144,7 @@ enum class Option : std::uint8_t {
   /**
    * Image frame rate, must set IMU_FREQUENCY together
    *
-   *   values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
+   *   values: {10,15,20,25,30,35,40,45,50,55}, default: 25
    */
   FRAME_RATE,
   /**

samples/CMakeLists.txt

@@ -79,4 +79,6 @@ add_subdirectory(uvc)
 
 # tutorials
 
+if(WITH_API)
   add_subdirectory(tutorials)
+endif()

samples/api/get_depth_with_region.cc

@@ -18,9 +18,6 @@
 
 #include "mynteye/api.h"
 
-#define WIN_FLAGS \
-  cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
-
 namespace {
 
 class DepthRegion {
@@ -159,9 +156,9 @@ int main(int argc, char *argv[]) {
 
   api->Start(Source::VIDEO_STREAMING);
 
-  cv::namedWindow("frame", WIN_FLAGS);
-  cv::namedWindow("depth", WIN_FLAGS);
-  cv::namedWindow("region", WIN_FLAGS);
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+  cv::namedWindow("region");
 
   DepthRegion depth_region(3);
   auto depth_info = [](

samples/tutorials/CMakeLists.txt

@@ -63,7 +63,7 @@ macro(make_executable2 NAME)
   endif()
 endmacro()
 
-if(WITH_API)
+# packages
 
 # If you install PCL to different directory, please set CMAKE_PREFIX_PATH to find it.
 #LIST(APPEND CMAKE_PREFIX_PATH /usr/local/share)
@@ -124,10 +124,10 @@ make_executable2(ctrl_manual_exposure
 )
 make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 
-endif()
-
 # intermediate level
 
+make_executable2(get_all_device_info SRCS intermediate/get_all_device_info.cc WITH_OPENCV)
+
 if(PCL_FOUND)
 
 if(OpenCV_VERSION VERSION_LESS 4.0)

samples/tutorials/control/framerate.cc

@@ -30,7 +30,7 @@ int main(int argc, char *argv[]) {
   // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
   // succeed.
 
-  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
+  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55
   api->SetOptionValue(Option::FRAME_RATE, 25);
   // IMU_FREQUENCY values: 100, 200, 250, 333, 500
   api->SetOptionValue(Option::IMU_FREQUENCY, 500);

samples/tutorials/data/get_img_params.cc

@@ -25,8 +25,8 @@ int main(int argc, char *argv[]) {
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";
-  LOG(INFO) << "Extrinsics left to right: {"
-            << api->GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+  LOG(INFO) << "Extrinsics right to left: {"
+            << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
 
   return 0;
 }

samples/tutorials/intermediate/get_all_device_info.cc

@@ -0,0 +1,50 @@
+// 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 "mynteye/context.h"
+#include "mynteye/device.h"
+#include "mynteye/glog_init.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  glog_init _(argc, argv);
+
+  LOG(INFO) << "Detecting MYNT EYE devices";
+  Context context;
+  auto &&devices = context.devices();
+
+  size_t n = devices.size();
+  if (n <= 0) {
+    LOG(ERROR) << "No MYNT EYE devices :(";
+    return 1;
+  }
+
+  for (size_t i = 0; i < n; i++) {
+    auto &&device = devices[i];
+    LOG(INFO) << "MYNT EYE device index: " << i;
+    LOG(INFO) << "  Device name: " << device->GetInfo(Info::DEVICE_NAME);
+    LOG(INFO) << "  Serial number: " << device->GetInfo(Info::SERIAL_NUMBER);
+    LOG(INFO) << "  Firmware version: "
+              << device->GetInfo(Info::FIRMWARE_VERSION);
+    LOG(INFO) << "  Hardware version: "
+              << device->GetInfo(Info::HARDWARE_VERSION);
+    LOG(INFO) << "  Spec version: " << device->GetInfo(Info::SPEC_VERSION);
+    LOG(INFO) << "  Lens type: " << device->GetInfo(Info::LENS_TYPE);
+    LOG(INFO) << "  IMU type: " << device->GetInfo(Info::IMU_TYPE);
+    LOG(INFO) << "  Nominal baseline: "
+              << device->GetInfo(Info::NOMINAL_BASELINE);
+  }
+
+  return 0;
+}

samples/tutorials/intermediate/get_depth_and_points.cc

@@ -21,9 +21,6 @@
 #include "util/cv_painter.h"
 #include "util/pc_viewer.h"
 
-#define WIN_FLAGS \
-  cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
-
 namespace {
 
 class DepthRegion {
@@ -162,9 +159,9 @@ int main(int argc, char *argv[]) {
 
   api->Start(Source::VIDEO_STREAMING);
 
-  cv::namedWindow("frame", WIN_FLAGS);
-  cv::namedWindow("depth", WIN_FLAGS);
-  cv::namedWindow("region", WIN_FLAGS);
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+  cv::namedWindow("region");
 
   DepthRegion depth_region(3);
   auto depth_info = [](

scripts/init.sh

@@ -24,11 +24,17 @@ source "$BASE_DIR/common/host.sh"
 
 PYTHON="python"
 if [ "$HOST_OS" = "Win" ]; then
-  # default python on MSYS
-  PYTHON="python2"
+  if ! _detect_cmd $PYTHON; then
+    PYTHON="python2"  # try python2 on MSYS
+  fi
 fi
 
-_detect $PYTHON
+_detect $PYTHON 1
+
+PYTHON_FOUND="${PYTHON}_FOUND"
+if [ -z "${!PYTHON_FOUND}" ]; then
+  _echo_en "$PYTHON not found"
+fi
 
 if [ "$HOST_OS" = "Linux" ]; then
   _detect_install() {
@@ -137,13 +143,21 @@ fi
 
 # detect pip
 if ! _detect_cmd pip; then
+  if [ -n "${!PYTHON_FOUND}" ]; then
     _echo_sn "Install pip"
     [ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
     $SUDO $PYTHON get-pip.py
+  else
+    _echo_en "Skipped install pip, as $PYTHON not found"
+  fi
 fi
 # pip install
+if _detect_cmd pip; then
   _echo_d "pip install --upgrade autopep8 cpplint pylint requests"
   $SUDO pip install --upgrade autopep8 cpplint pylint requests
+else
+  _echo_en "Skipped pip install packages, as pip not found"
+fi
 
 ## realpath
 
@@ -168,8 +182,12 @@ ROOT_DIR=$(realpath "$BASE_DIR/..")
 
 ## init
 
+if [ -n "${!PYTHON_FOUND}" ]; then
   _echo_s "Init git hooks"
   $PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
+else
+  _echo_en "Skipped init git hooks, as $PYTHON not found"
+fi
 
 ## cmake version
 

src/api/api.cc

@@ -29,6 +29,7 @@
 #include "api/plugin.h"
 #include "api/synthetic.h"
 #include "device/device.h"
+#include "device/device_s.h"
 #include "internal/dl.h"
 
 #if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
@@ -73,12 +74,14 @@ bool dir_exists(const fs::path &p) {
 
 bool file_exists(const std::string &p) {
   DWORD attrs = GetFileAttributes(p.c_str());
-  return (attrs != INVALID_FILE_ATTRIBUTES && !(attrs & FILE_ATTRIBUTE_DIRECTORY));
+  return (attrs != INVALID_FILE_ATTRIBUTES) &&
+         !(attrs & FILE_ATTRIBUTE_DIRECTORY);
 }
 
 bool dir_exists(const std::string &p) {
   DWORD attrs = GetFileAttributes(p.c_str());
-  return (attrs != INVALID_FILE_ATTRIBUTES && (attrs & FILE_ATTRIBUTE_DIRECTORY));
+  return (attrs != INVALID_FILE_ATTRIBUTES) &&
+         (attrs & FILE_ATTRIBUTE_DIRECTORY);
 }
 
 #else
@@ -207,9 +210,29 @@ std::vector<std::string> get_plugin_paths() {
 
 }  // namespace
 
-API::API(std::shared_ptr<Device> device)
-    : device_(device), synthetic_(new Synthetic(this)) {
+API::API(std::shared_ptr<Device> device) : device_(device) {
   VLOG(2) << __func__;
+  if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
+    bool in_l_ok, in_r_ok, ex_r2l_ok;
+    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
+    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
+    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT, &ex_r2l_ok);
+    if (!in_l_ok || !in_r_ok || !ex_r2l_ok) {
+#if defined(WITH_DEVICE_INFO_REQUIRED)
+      LOG(FATAL)
+#else
+      LOG(WARNING)
+#endif
+          << "Image params not found, but we need it to process the "
+             "images. Please `make tools` and use `img_params_writer` "
+             "to write the image params. If you update the SDK from "
+             "1.x, the `SN*.conf` is the file contains them. Besides, "
+             "you could also calibrate them by yourself. Read the guide "
+             "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+             "to learn more.";
+    }
+  }
+  synthetic_.reset(new Synthetic(this));
 }
 
 API::~API() {

src/api/api.h

@@ -246,12 +246,12 @@ class MYNTEYE_API API {
   void DisableStreamData(const Stream &stream);
 
   /**
-   * Get the datas of stream.
-   * @note default cache 4 datas at most.
+   * Get the latest data of stream.
    */
   api::StreamData GetStreamData(const Stream &stream);
   /**
-   * Get the latest data of stream.
+   * Get the datas of stream.
+   * @note default cache 4 datas at most.
    */
   std::vector<api::StreamData> GetStreamDatas(const Stream &stream);
 

src/api/processor/depth_processor.cc

@@ -19,6 +19,8 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DepthProcessor::NAME[] = "DepthProcessor";
+
 DepthProcessor::DepthProcessor(std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;

src/api/processor/depth_processor.h

@@ -23,7 +23,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DepthProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DepthProcessor";
+  static const char NAME[];
 
   explicit DepthProcessor(std::int32_t proc_period = 0);
   virtual ~DepthProcessor();

src/api/processor/disparity_normalized_processor.cc

@@ -21,6 +21,9 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DisparityNormalizedProcessor::NAME[] =
+    "DisparityNormalizedProcessor";
+
 DisparityNormalizedProcessor::DisparityNormalizedProcessor(
     std::int32_t proc_period)
     : Processor(std::move(proc_period)) {

src/api/processor/disparity_normalized_processor.h

@@ -23,7 +23,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DisparityNormalizedProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DisparityNormalizedProcessor";
+  static const char NAME[];
 
   explicit DisparityNormalizedProcessor(std::int32_t proc_period = 0);
   virtual ~DisparityNormalizedProcessor();

src/api/processor/disparity_processor.cc

@@ -21,6 +21,8 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DisparityProcessor::NAME[] = "DisparityProcessor";
+
 DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;

src/api/processor/disparity_processor.h

@@ -29,7 +29,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DisparityProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DisparityProcessor";
+  static const char NAME[];
 
   explicit DisparityProcessor(std::int32_t proc_period = 0);
   virtual ~DisparityProcessor();

src/api/processor/object.h

@@ -17,6 +17,8 @@
 
 #include <opencv2/core/core.hpp>
 
+#include <memory>
+
 #include "mynteye/mynteye.h"
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -29,6 +31,7 @@ struct MYNTEYE_API Object {
   virtual ~Object() = default;
 
   virtual Object *Clone() const = 0;
+  virtual bool DecValidity() const = 0;
 
   /** Cast the obj to T pointer */
   template <typename T>
@@ -41,6 +44,11 @@ struct MYNTEYE_API Object {
   static const T *Cast(const Object *obj) {
     return dynamic_cast<const T *>(obj);
   }
+
+  template <typename T>
+  static std::shared_ptr<T> Cast(const std::shared_ptr<Object> &obj) {
+    return std::dynamic_pointer_cast<T>(obj);
+  }
 };
 
 /**
@@ -58,6 +66,10 @@ struct MYNTEYE_API ObjMat : public Object {
     mat->value = value.clone();
     return mat;
   }
+
+  bool DecValidity() const {
+    return !value.empty();
+  }
 };
 
 /**
@@ -80,6 +92,10 @@ struct MYNTEYE_API ObjMat2 : public Object {
     mat2->second = second.clone();
     return mat2;
   }
+
+  bool DecValidity() const {
+    return !first.empty() && !second.empty();
+  }
 };
 
 MYNTEYE_END_NAMESPACE

src/api/processor/points_processor.cc

@@ -21,6 +21,8 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char PointsProcessor::NAME[] = "PointsProcessor";
+
 PointsProcessor::PointsProcessor(cv::Mat Q, std::int32_t proc_period)
     : Processor(std::move(proc_period)), Q_(std::move(Q)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;

src/api/processor/points_processor.h

@@ -25,7 +25,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class PointsProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "PointsProcessor";
+  static const char NAME[];
 
   explicit PointsProcessor(cv::Mat Q, std::int32_t proc_period = 0);
   virtual ~PointsProcessor();

src/api/processor/processor.cc

@@ -15,8 +15,10 @@
 
 #include <glog/logging.h>
 
+#include <exception>
 #include <utility>
 
+#include "internal/strings.h"
 #include "internal/times.h"
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -128,6 +130,10 @@ bool Processor::Process(const Object &in) {
       return false;
     }
   }
+  if (!in.DecValidity()) {
+    LOG(WARNING) << Name() << " process with invalid input";
+    return false;
+  }
   {
     std::lock_guard<std::mutex> lk(mtx_input_ready_);
     input_.reset(in.Clone());
@@ -137,9 +143,9 @@ bool Processor::Process(const Object &in) {
   return true;
 }
 
-Object *Processor::GetOutput() {
+std::shared_ptr<Object> Processor::GetOutput() {
   std::lock_guard<std::mutex> lk(mtx_result_);
-  return output_result_.get();
+  return std::shared_ptr<Object>(std::move(output_result_));
 }
 
 std::uint64_t Processor::GetDroppedCount() {
@@ -192,6 +198,7 @@ void Processor::Run() {
       pre_callback_(input_.get());
     }
     bool ok = false;
+    try {
       if (callback_) {
         if (callback_(input_.get(), output_.get(), parent_)) {
           ok = true;
@@ -201,6 +208,12 @@ void Processor::Run() {
       } else {
         ok = OnProcess(input_.get(), output_.get(), parent_);
       }
+      // CV_Assert(false);
+    } catch (const std::exception &e) {
+      std::string msg(e.what());
+      strings::rtrim(msg);
+      LOG(ERROR) << Name() << " process error \"" << msg << "\"";
+    }
     if (!ok) {
       VLOG(2) << Name() << " process failed";
       continue;

src/api/processor/processor.h

@@ -65,7 +65,7 @@ class Processor /*: public std::enable_shared_from_this<Processor>*/ {
    * Returns the last output.
    * @note Returns null if not output now.
    */
-  Object *GetOutput();
+  std::shared_ptr<Object> GetOutput();
 
   std::uint64_t GetDroppedCount();
 

src/api/processor/rectify_processor.cc

@@ -24,13 +24,15 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char RectifyProcessor::NAME[] = "RectifyProcessor";
+
 RectifyProcessor::RectifyProcessor(
     std::shared_ptr<Device> device, std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
   InitParams(
       device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
-      device->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
+      device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
 }
 
 RectifyProcessor::~RectifyProcessor() {
@@ -56,7 +58,7 @@ bool RectifyProcessor::OnProcess(
 }
 
 void RectifyProcessor::InitParams(
-    Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right) {
+    Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left) {
   cv::Size size{in_left.width, in_left.height};
 
   cv::Mat M1 =
@@ -68,12 +70,12 @@ void RectifyProcessor::InitParams(
   cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
   cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
   cv::Mat R =
-      (cv::Mat_<double>(3, 3) << ex_left_to_right.rotation[0][0],
-       ex_left_to_right.rotation[0][1], ex_left_to_right.rotation[0][2],
-       ex_left_to_right.rotation[1][0], ex_left_to_right.rotation[1][1],
-       ex_left_to_right.rotation[1][2], ex_left_to_right.rotation[2][0],
-       ex_left_to_right.rotation[2][1], ex_left_to_right.rotation[2][2]);
-  cv::Mat T(3, 1, CV_64F, ex_left_to_right.translation);
+      (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
+       ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
+       ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
+       ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
+       ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
+  cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
 
   VLOG(2) << "InitParams size: " << size;
   VLOG(2) << "M1: " << M1;

src/api/processor/rectify_processor.h

@@ -29,7 +29,7 @@ class Device;
 
 class RectifyProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "RectifyProcessor";
+  static const char NAME[];
 
   RectifyProcessor(
       std::shared_ptr<Device> device, std::int32_t proc_period = 0);
@@ -47,7 +47,7 @@ class RectifyProcessor : public Processor {
 
  private:
   void InitParams(
-      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right);
+      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
 };
 
 MYNTEYE_END_NAMESPACE

src/api/synthetic.cc

@@ -49,6 +49,15 @@ api::StreamData data2api(const device::StreamData &data) {
   return {data.img, frame2mat(data.frame), data.frame};
 }
 
+void process_childs(
+    const std::shared_ptr<Processor> &proc, const std::string &name,
+    const Object &obj) {
+  auto &&processor = find_processor<Processor>(proc, name);
+  for (auto child : processor->GetChilds()) {
+    child->Process(obj);
+  }
+}
+
 }  // namespace
 
 Synthetic::Synthetic(API *api) : api_(api), plugin_(nullptr) {
@@ -146,30 +155,30 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
     auto &&device = api_->device();
     return data2api(device->GetLatestStreamData(stream));
   } else if (mode == MODE_SYNTHETIC) {
-    switch (stream) {
-      case Stream::LEFT_RECTIFIED: {
+    if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
+      static std::shared_ptr<ObjMat2> output = nullptr;
       auto &&processor = find_processor<RectifyProcessor>(processor_);
-        Object *out = processor->GetOutput();
+      auto &&out = processor->GetOutput();
       if (out != nullptr) {
-          ObjMat2 *output = Object::Cast<ObjMat2>(out);
-          return {nullptr, output->first, nullptr};
+        // Obtain the output, out will be nullptr if get again immediately.
+        output = Object::Cast<ObjMat2>(out);
       }
-        VLOG(2) << "Rectify not ready now";
-      } break;
-      case Stream::RIGHT_RECTIFIED: {
-        auto &&processor = find_processor<RectifyProcessor>(processor_);
-        Object *out = processor->GetOutput();
-        if (out != nullptr) {
-          ObjMat2 *output = Object::Cast<ObjMat2>(out);
+      if (output != nullptr) {
+        if (stream == Stream::LEFT_RECTIFIED) {
+          return {nullptr, output->first, nullptr};
+        } else {
           return {nullptr, output->second, nullptr};
         }
+      }
       VLOG(2) << "Rectify not ready now";
-      } break;
+      return {};
+    }
+    switch (stream) {
       case Stream::DISPARITY: {
         auto &&processor = find_processor<DisparityProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
         if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
+          auto &&output = Object::Cast<ObjMat>(out);
           return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Disparity not ready now";
@@ -177,27 +186,27 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
       case Stream::DISPARITY_NORMALIZED: {
         auto &&processor =
             find_processor<DisparityNormalizedProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
         if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
+          auto &&output = Object::Cast<ObjMat>(out);
           return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Disparity normalized not ready now";
       } break;
       case Stream::POINTS: {
         auto &&processor = find_processor<PointsProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
         if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
+          auto &&output = Object::Cast<ObjMat>(out);
           return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Points not ready now";
       } break;
       case Stream::DEPTH: {
         auto &&processor = find_processor<DepthProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
         if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
+          auto &&output = Object::Cast<ObjMat>(out);
           return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Depth not ready now";
@@ -437,60 +446,50 @@ void Synthetic::InitProcessors() {
 
 void Synthetic::ProcessNativeStream(
     const Stream &stream, const api::StreamData &data) {
-  bool done = false;
+  if (stream == Stream::LEFT || stream == Stream::RIGHT) {
     static api::StreamData left_data, right_data;
     if (stream == Stream::LEFT) {
       left_data = data;
-    done = true;
     } else if (stream == Stream::RIGHT) {
       right_data = data;
-    done = true;
     }
-  if (done && left_data.img && right_data.img &&
+    if (left_data.img && right_data.img &&
         left_data.img->frame_id == right_data.img->frame_id) {
       auto &&processor = find_processor<RectifyProcessor>(processor_);
       processor->Process(ObjMat2{left_data.frame, right_data.frame});
     }
-  if (done)
     return;
-
-  auto &&process_childs = [this, &stream](
-      const std::string &name, const Object &obj) {
-    auto &&processor = find_processor<Processor>(processor_, name);
-    for (auto child : processor->GetChilds()) {
-      child->Process(obj);
   }
-  };
 
+  if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
     static api::StreamData left_rect_data, right_rect_data;
     if (stream == Stream::LEFT_RECTIFIED) {
       left_rect_data = data;
-    done = true;
     } else if (stream == Stream::RIGHT_RECTIFIED) {
       right_rect_data = data;
-    done = true;
     }
-  if (done && left_rect_data.img && right_rect_data.img &&
+    if (left_rect_data.img && right_rect_data.img &&
         left_rect_data.img->frame_id == right_rect_data.img->frame_id) {
       process_childs(
-        RectifyProcessor::NAME,
+          processor_, RectifyProcessor::NAME,
           ObjMat2{left_rect_data.frame, right_rect_data.frame});
     }
-  if (done)
     return;
+  }
 
   switch (stream) {
     case Stream::DISPARITY: {
-      process_childs(DisparityProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, DisparityProcessor::NAME, ObjMat{data.frame});
     } break;
     case Stream::DISPARITY_NORMALIZED: {
-      process_childs(DisparityNormalizedProcessor::NAME, ObjMat{data.frame});
+      process_childs(
+          processor_, DisparityNormalizedProcessor::NAME, ObjMat{data.frame});
     } break;
     case Stream::POINTS: {
-      process_childs(PointsProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, PointsProcessor::NAME, ObjMat{data.frame});
     } break;
     case Stream::DEPTH: {
-      process_childs(DepthProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, DepthProcessor::NAME, ObjMat{data.frame});
     } break;
     default:
       break;

src/device/device.cc

@@ -16,6 +16,7 @@
 #include <glog/logging.h>
 
 #include <algorithm>
+#include <iterator>
 #include <stdexcept>
 #include <utility>
 
@@ -54,6 +55,27 @@ struct DeviceModel {
   }
 };
 
+bool CheckSupports(
+    const Device *const device, const Stream &stream, bool fatal = true) {
+  if (device->Supports(stream)) {
+    return true;
+  } else {
+    auto &&supports = stream_supports_map.at(device->GetModel());
+    std::ostringstream ss;
+    std::copy(
+        supports.begin(), supports.end(),
+        std::ostream_iterator<Stream>(ss, ", "));
+    if (fatal) {
+      LOG(FATAL) << "Unsupported stream: " << stream
+                 << ". Please use these: " << ss.str();
+    } else {
+      LOG(WARNING) << "Unsupported stream: " << stream
+                   << ". Please use these: " << ss.str();
+    }
+    return false;
+  }
+}
+
 }  // namespace
 
 Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
@@ -176,21 +198,47 @@ std::string Device::GetInfo(const Info &info) const {
 }
 
 Intrinsics Device::GetIntrinsics(const Stream &stream) const {
+  bool ok;
+  return GetIntrinsics(stream, &ok);
+}
+
+Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
+  bool ok;
+  return GetExtrinsics(from, to, &ok);
+}
+
+MotionIntrinsics Device::GetMotionIntrinsics() const {
+  bool ok;
+  return GetMotionIntrinsics(&ok);
+}
+
+Extrinsics Device::GetMotionExtrinsics(const Stream &from) const {
+  bool ok;
+  return GetMotionExtrinsics(from, &ok);
+}
+
+Intrinsics Device::GetIntrinsics(const Stream &stream, bool *ok) const {
   try {
+    *ok = true;
     return stream_intrinsics_.at(stream);
   } catch (const std::out_of_range &e) {
+    *ok = false;
     LOG(WARNING) << "Intrinsics of " << stream << " not found";
     return {};
   }
 }
 
-Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
+Extrinsics Device::GetExtrinsics(
+    const Stream &from, const Stream &to, bool *ok) const {
   try {
+    *ok = true;
     return stream_from_extrinsics_.at(from).at(to);
   } catch (const std::out_of_range &e) {
     try {
+      *ok = true;
       return stream_from_extrinsics_.at(to).at(from).Inverse();
     } catch (const std::out_of_range &e) {
+      *ok = false;
       LOG(WARNING) << "Extrinsics from " << from << " to " << to
                    << " not found";
       return {};
@@ -198,19 +246,23 @@ Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
   }
 }
 
-MotionIntrinsics Device::GetMotionIntrinsics() const {
+MotionIntrinsics Device::GetMotionIntrinsics(bool *ok) const {
   if (motion_intrinsics_) {
+    *ok = true;
     return *motion_intrinsics_;
   } else {
+    *ok = false;
     LOG(WARNING) << "Motion intrinsics not found";
     return {};
   }
 }
 
-Extrinsics Device::GetMotionExtrinsics(const Stream &from) const {
+Extrinsics Device::GetMotionExtrinsics(const Stream &from, bool *ok) const {
   try {
+    *ok = true;
     return motion_from_extrinsics_.at(from);
   } catch (const std::out_of_range &e) {
+    *ok = false;
     LOG(WARNING) << "Motion extrinsics from " << from << " not found";
     return {};
   }
@@ -275,8 +327,7 @@ bool Device::RunOptionAction(const Option &option) const {
 
 void Device::SetStreamCallback(
     const Stream &stream, stream_callback_t callback, bool async) {
-  if (!Supports(stream)) {
-    LOG(WARNING) << "Unsupported stream: " << stream;
+  if (!CheckSupports(this, stream, false)) {
     return;
   }
   if (callback) {
@@ -284,7 +335,7 @@ void Device::SetStreamCallback(
     if (async)
       stream_async_callbacks_[stream] =
           std::make_shared<stream_async_callback_t>(
-              to_string(stream), callback);
+              to_string(stream), callback);  // max_data_size = 1
   } else {
     stream_callbacks_.erase(stream);
     stream_async_callbacks_.erase(stream);
@@ -296,7 +347,8 @@ void Device::SetMotionCallback(motion_callback_t callback, bool async) {
   if (callback) {
     if (async)
       motion_async_callback_ =
-          std::make_shared<motion_async_callback_t>("motion", callback, true);
+          std::make_shared<motion_async_callback_t>("motion", callback, 1000);
+    // will drop old motion datas after callback cost > 2 s (1000 / 500 Hz)
   } else {
     motion_async_callback_ = nullptr;
   }
@@ -351,6 +403,7 @@ void Device::WaitForStreams() {
 std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
   CHECK(video_streaming_);
   CHECK_NOTNULL(streams_);
+  CheckSupports(this, stream);
   std::lock_guard<std::mutex> _(mtx_streams_);
   return streams_->GetStreamDatas(stream);
 }
@@ -358,6 +411,7 @@ std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
 device::StreamData Device::GetLatestStreamData(const Stream &stream) {
   CHECK(video_streaming_);
   CHECK_NOTNULL(streams_);
+  CheckSupports(this, stream);
   std::lock_guard<std::mutex> _(mtx_streams_);
   return streams_->GetLatestStreamData(stream);
 }
@@ -488,8 +542,13 @@ void Device::ReadAllInfos() {
   Channels::img_params_t img_params;
   Channels::imu_params_t imu_params;
   if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
-    LOG(FATAL) << "Read device infos failed. Please upgrade your firmware to "
-                  "the latest version.";
+#if defined(WITH_DEVICE_INFO_REQUIRED)
+    LOG(FATAL)
+#else
+    LOG(WARNING)
+#endif
+        << "Read device infos failed. Please upgrade your firmware to the "
+           "latest version.";
   }
   VLOG(2) << "Device info: {name: " << device_info_->name
           << ", serial_number: " << device_info_->serial_number
@@ -506,11 +565,11 @@ void Device::ReadAllInfos() {
   if (img_params.ok) {
     SetIntrinsics(Stream::LEFT, img_params.in_left);
     SetIntrinsics(Stream::RIGHT, img_params.in_right);
-    SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_left_to_right);
+    SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
     VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
     VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
-    VLOG(2) << "Extrinsics left to right: {"
-            << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+    VLOG(2) << "Extrinsics right to left: {"
+            << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
   } else {
     LOG(WARNING) << "Intrinsics & extrinsics not exist";
   }

src/device/device.h

@@ -140,6 +140,24 @@ class MYNTEYE_API Device {
    */
   Extrinsics GetMotionExtrinsics(const Stream &from) const;
 
+  /**
+   * Get the intrinsics of stream.
+   */
+  Intrinsics GetIntrinsics(const Stream &stream, bool *ok) const;
+  /**
+   * Get the extrinsics from one stream to another.
+   */
+  Extrinsics GetExtrinsics(
+      const Stream &from, const Stream &to, bool *ok) const;
+  /**
+   * Get the intrinsics of motion.
+   */
+  MotionIntrinsics GetMotionIntrinsics(bool *ok) const;
+  /**
+   * Get the extrinsics from one stream to motion.
+   */
+  Extrinsics GetMotionExtrinsics(const Stream &from, bool *ok) const;
+
   /**
    * Set the intrinsics of stream.
    */

src/internal/async_callback.h

@@ -31,7 +31,8 @@ class AsyncCallback {
  public:
   using callback_t = std::function<void(Data data)>;
 
-  AsyncCallback(std::string name, callback_t callback, bool concat = false);
+  AsyncCallback(
+      std::string name, callback_t callback, std::size_t max_data_size = 0);
   ~AsyncCallback();
 
   void PushData(Data data);
@@ -50,8 +51,8 @@ class AsyncCallback {
   std::thread thread_;
 
   std::uint32_t count_;
-  bool concat_;
   std::vector<Data> datas_;
+  std::size_t max_data_size_;
 };
 
 MYNTEYE_END_NAMESPACE

src/internal/async_callback_impl.h

@@ -24,11 +24,11 @@ MYNTEYE_BEGIN_NAMESPACE
 
 template <class Data>
 AsyncCallback<Data>::AsyncCallback(
-    std::string name, callback_t callback, bool concat)
+    std::string name, callback_t callback, std::size_t max_data_size)
     : name_(std::move(name)),
       callback_(std::move(callback)),
       count_(0),
-      concat_(concat) {
+      max_data_size_(max_data_size) {
   VLOG(2) << __func__;
   running_ = true;
   thread_ = std::thread(&AsyncCallback<Data>::Run, this);
@@ -51,8 +51,10 @@ AsyncCallback<Data>::~AsyncCallback() {
 template <class Data>
 void AsyncCallback<Data>::PushData(Data data) {
   std::lock_guard<std::mutex> _(mtx_);
-  if (!concat_) {
+  if (max_data_size_ <= 0) {
     datas_.clear();
+  } else if (max_data_size_ == datas_.size()) {  // >= 1
+    datas_.erase(datas_.begin());
   }
   datas_.push_back(data);
   ++count_;

src/internal/channels.cc

@@ -224,7 +224,7 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
     } break;
     case Option::FRAME_RATE: {
       if (!in_range() ||
-          !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60}))
+          !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55}))
         break;
       XuCamCtrlSet(option, value);
     } break;
@@ -515,7 +515,7 @@ std::size_t from_data(
   std::size_t i = 0;
   i += from_data(&img_params->in_left, data + i, spec_version);
   i += from_data(&img_params->in_right, data + i, spec_version);
-  i += from_data(&img_params->ex_left_to_right, data + i, spec_version);
+  i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
   return i;
 }
 
@@ -787,7 +787,7 @@ std::size_t to_data(
   std::size_t i = 3;  // skip id, size
   i += to_data(&img_params->in_left, data + i, spec_version);
   i += to_data(&img_params->in_right, data + i, spec_version);
-  i += to_data(&img_params->ex_left_to_right, data + i, spec_version);
+  i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
   // others
   std::size_t size = i - 3;
   data[0] = Channels::FID_IMG_PARAMS;

src/internal/channels.h

@@ -72,7 +72,7 @@ class MYNTEYE_API Channels {
     bool ok;
     Intrinsics in_left;
     Intrinsics in_right;
-    Extrinsics ex_left_to_right;
+    Extrinsics ex_right_to_left;
   } img_params_t;
 
   typedef struct ImuParams {

src/public/utils.cc

@@ -36,8 +36,9 @@ std::shared_ptr<Device> select() {
   LOG(INFO) << "MYNT EYE devices:";
   for (size_t i = 0; i < n; i++) {
     auto &&device = devices[i];
-    auto &&name = device->GetInfo(Info::DEVICE_NAME);
-    LOG(INFO) << "  index: " << i << ", name: " << name;
+    LOG(INFO) << "  index: " << i
+              << ", name: " << device->GetInfo(Info::DEVICE_NAME)
+              << ", sn: " << device->GetInfo(Info::SERIAL_NUMBER);
   }
 
   std::shared_ptr<Device> device = nullptr;
@@ -99,9 +100,6 @@ float get_real_exposure_time(
     case 55:
       real_max = 16.325;
       break;
-    case 60:
-      real_max = 15;
-      break;
     default:
       LOG(ERROR) << "Invalid frame rate: " << frame_rate;
       return exposure_time;

tools/writer/config/img.params

@@ -22,7 +22,7 @@ in_right:
       model: 0
       coeffs: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0.,
           0. ]
-ex_left_to_right:
+ex_right_to_left:
    rotation: [ 9.9701893306553813e-01, -9.5378124886236681e-04,
        -7.7151392794850615e-02, 1.4493996762830500e-03,
        9.9997867219985104e-01, 6.3682325649414354e-03,

tools/writer/device_writer.cc

@@ -72,7 +72,7 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
     LOG(INFO) << "Write img params success";
     LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
     LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
-    LOG(INFO) << "Extrinsics left to right: {" << params.ex_left_to_right
+    LOG(INFO) << "Extrinsics right to left: {" << params.ex_right_to_left
               << "}";
     return true;
   } else {
@@ -185,8 +185,8 @@ bool DeviceWriter::SaveImgParams(
     return false;
   }
   fs << "in_left" << std::vector<Intrinsics>{params.in_left} << "in_right"
-     << std::vector<Intrinsics>{params.in_right} << "ex_left_to_right"
-     << params.ex_left_to_right;
+     << std::vector<Intrinsics>{params.in_right} << "ex_right_to_left"
+     << params.ex_right_to_left;
   fs.release();
   return true;
 }
@@ -213,7 +213,7 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
   SaveImgParams(
       {false, device_->GetIntrinsics(Stream::LEFT),
        device_->GetIntrinsics(Stream::RIGHT),
-       device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT)},
+       device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT)},
       dir + OS_SEP "img.params");
   auto &&m_in = device_->GetMotionIntrinsics();
   SaveImuParams(
@@ -311,8 +311,8 @@ DeviceWriter::dev_info_t DeviceWriter::LoadDeviceInfo(
     LOG(FATAL) << "Failed to load file: " << filepath;
   }
   DeviceInfo info;
-  info.lens_type = Type(fs["lens_type"].string());
-  info.imu_type = Type(fs["imu_type"].string());
+  info.lens_type = Type(std::string(fs["lens_type"]));
+  info.imu_type = Type(std::string(fs["imu_type"]));
   fs["nominal_baseline"] >> info.nominal_baseline;
   fs.release();
   return info;
@@ -348,11 +348,11 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
 
     to_intrinsics(w, h, m, M1, D1, &params.in_left);
     to_intrinsics(w, h, m, M2, D2, &params.in_right);
-    to_extrinsics(R, T, &params.ex_left_to_right);
+    to_extrinsics(R, T, &params.ex_right_to_left);
   } else {
     fs["in_left"][0] >> params.in_left;
     fs["in_right"][0] >> params.in_right;
-    fs["ex_left_to_right"] >> params.ex_left_to_right;
+    fs["ex_right_to_left"] >> params.ex_right_to_left;
   }
 
   fs.release();

wrappers/python/samples/mynteye.py

@@ -99,7 +99,7 @@ def main():
   # set_option_value
 
   def set_rate(frame_rate=25, imu_frequency=500):  # pylint: disable=unused-variable
-    # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
+    # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55
     api.set_option_value(mynteye.FRAME_RATE, frame_rate)
     # IMU_FREQUENCY values: 100, 200, 250, 333, 500
     api.set_option_value(mynteye.IMU_FREQUENCY, imu_frequency)

wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch

@@ -54,7 +54,7 @@
   <arg name="contrast" default="-1" />
   <!-- <arg name="contrast" default="127" /> -->
 
-  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
+  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55} -->
   <arg name="frame_rate" default="-1" />
   <!-- <arg name="frame_rate" default="25" /> -->
 

wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz

@@ -61,7 +61,7 @@ Visualization Manager:
           Min Value: 0
           Name: Left
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -73,7 +73,7 @@ Visualization Manager:
           Min Value: 0
           Name: Right
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -87,7 +87,7 @@ Visualization Manager:
               Min Value: 0
               Name: LeftRect
               Normalize Range: true
-              Queue Size: 2
+              Queue Size: 1
               Transport Hint: raw
               Unreliable: false
               Value: true
@@ -99,7 +99,7 @@ Visualization Manager:
               Min Value: 0
               Name: RightRect
               Normalize Range: true
-              Queue Size: 2
+              Queue Size: 1
               Transport Hint: raw
               Unreliable: false
               Value: true
@@ -117,7 +117,7 @@ Visualization Manager:
           Min Value: 0
           Name: Disparity
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -129,7 +129,7 @@ Visualization Manager:
           Min Value: 0
           Name: DisparityNorm
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -143,7 +143,7 @@ Visualization Manager:
       Min Value: 0
       Name: Depth
       Normalize Range: true
-      Queue Size: 2
+      Queue Size: 1
       Transport Hint: raw
       Unreliable: false
       Value: true
@@ -167,7 +167,7 @@ Visualization Manager:
       Min Intensity: 0
       Name: Points
       Position Transformer: XYZ
-      Queue Size: 10
+      Queue Size: 1
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.00999999978

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -23,6 +23,8 @@
 #include <tf/tf.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 
+#include <opencv2/calib3d/calib3d.hpp>
+
 #include <mynt_eye_ros_wrapper/GetInfo.h>
 #include <mynt_eye_ros_wrapper/Temp.h>
 
@@ -71,6 +73,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
   }
 
+  ros::Time hardTimeToSoftTime(double _hard_time) {
+    static bool isInited = false;
+    static double soft_time_begin(0), hard_time_begin(0);
+
+    if (false == isInited) {
+      soft_time_begin = ros::Time::now().toSec();
+      hard_time_begin = _hard_time;
+      isInited = true;
+    }
+
+    return ros::Time(
+        soft_time_begin + (_hard_time - hard_time_begin) * 0.00001f);
+  }
+
   void onInit() override {
     initDevice();
     NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
@@ -94,7 +110,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
       stream_topics[it->first] = it->second;
       private_nh_.getParam(it->second + "_topic", stream_topics[it->first]);
+
+      // if published init
+      is_published_[it->first] = false;
     }
+    is_motion_published_ = false;
+    is_started_ = false;
 
     std::string imu_topic = "imu";
     std::string temp_topic = "temp";
@@ -150,20 +171,17 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
       auto &&topic = stream_topics[it->first];
-      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
-        camera_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
-      } else if (it->first == Stream::POINTS) {  // pointcloud
+      if (it->first == Stream::POINTS) {  // pointcloud
         points_publisher_ = nh_.advertise<sensor_msgs::PointCloud2>(topic, 1);
-      } else {  // image
-        image_publishers_[it->first] = it_mynteye.advertise(topic, 1);
+      } else {  // camera
+        camera_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
       }
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
 
     camera_encodings_ = {{Stream::LEFT, enc::MONO8},
-                         {Stream::RIGHT, enc::MONO8}};
-
-    image_encodings_ = {{Stream::LEFT_RECTIFIED, enc::MONO8},
+                         {Stream::RIGHT, enc::MONO8},
+                         {Stream::LEFT_RECTIFIED, enc::MONO8},
                          {Stream::RIGHT_RECTIFIED, enc::MONO8},
                          {Stream::DISPARITY, enc::MONO8},  // float
                          {Stream::DISPARITY_NORMALIZED, enc::MONO8},
@@ -178,9 +196,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     // stream toggles
 
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
-      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
-        continue;
-      } else {  // image, pointcloud
+      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {
+        continue;  // native streams
+      } else {
         if (!api_->Supports(it->first))
           continue;
         bool enabled = false;
@@ -200,8 +218,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     NODELET_INFO_STREAM("Advertized service " << DEVICE_INFO_SERVICE);
 
     publishStaticTransforms();
+    while (private_nh_.ok()) {
       publishTopics();
     }
+  }
 
   bool getInfo(
       mynt_eye_ros_wrapper::GetInfo::Request &req,     // NOLINT
@@ -240,12 +260,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
   void publishTopics() {
+    if (camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 &&
+        !is_published_[Stream::LEFT]) {
       api_->SetStreamCallback(
           Stream::LEFT, [this](const api::StreamData &data) {
-          static double ros_time_beg = ros::Time::now().toSec();
-          static double img_time_beg = data.img->timestamp;
-          ros::Time stamp(
-              ros_time_beg + (data.img->timestamp - img_time_beg) * 0.00001f);
+            ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
 
             // static double img_time_prev = -1;
             // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
@@ -254,7 +273,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
             //     << ((data.img->timestamp - img_time_beg) * 0.00001f)
             //     << ", img_time_diff: " << FULL_PRECISION
             //     << ((img_time_prev < 0) ? 0
-          //         : (data.img->timestamp - img_time_prev) * 0.01f) << " ms");
+            //         : (data.img->timestamp - img_time_prev) * 0.01f) << "
+            //         ms");
             // img_time_prev = data.img->timestamp;
 
             ++left_count_;
@@ -265,51 +285,63 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                              << ", timestamp: " << data.img->timestamp
                              << ", exposure_time: " << data.img->exposure_time);
           });
+      is_published_[Stream::LEFT] = true;
+    }
 
+    if (camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 &&
+        !is_published_[Stream::RIGHT]) {
       api_->SetStreamCallback(
           Stream::RIGHT, [this](const api::StreamData &data) {
-          static double ros_time_beg = ros::Time::now().toSec();
-          static double img_time_beg = data.img->timestamp;
-          ros::Time stamp(
-              ros_time_beg + (data.img->timestamp - img_time_beg) * 0.00001f);
+            ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
 
             ++right_count_;
             publishCamera(Stream::RIGHT, data, right_count_, stamp);
             NODELET_DEBUG_STREAM(
-              Stream::RIGHT << ", count: " << right_count_
-                            << ", frame_id: " << data.img->frame_id
-                            << ", timestamp: " << data.img->timestamp
+                Stream::RIGHT
+                << ", count: " << right_count_ << ", frame_id: "
+                << data.img->frame_id << ", timestamp: " << data.img->timestamp
                 << ", exposure_time: " << data.img->exposure_time);
           });
+      is_published_[Stream::RIGHT] = true;
+    }
 
-    std::vector<Stream> image_streams{
+    std::vector<Stream> other_streams{
         Stream::LEFT_RECTIFIED, Stream::RIGHT_RECTIFIED, Stream::DISPARITY,
         Stream::DISPARITY_NORMALIZED, Stream::DEPTH};
 
-    for (auto &&stream : image_streams) {
+    for (auto &&stream : other_streams) {
+      if (camera_publishers_[stream].getNumSubscribers() == 0 &&
+          is_published_[stream]) {
+        continue;
+      }
       api_->SetStreamCallback(
           stream, [this, stream](const api::StreamData &data) {
+            // data.img is null, not hard timestamp
             static std::size_t count = 0;
             ++count;
-            publishImage(stream, data, count, ros::Time::now());
+            publishCamera(stream, data, count, ros::Time::now());
           });
+      is_published_[stream] = true;
     }
 
+    if (camera_publishers_[Stream::POINTS].getNumSubscribers() > 0 &&
+        !is_published_[Stream::POINTS]) {
       api_->SetStreamCallback(
           Stream::POINTS, [this](const api::StreamData &data) {
             static std::size_t count = 0;
             ++count;
             publishPoints(data, count, ros::Time::now());
           });
+      is_published_[Stream::POINTS] = true;
+    }
 
+    if (!is_motion_published_) {
       api_->SetMotionCallback([this](const api::MotionData &data) {
-      static double ros_time_beg = ros::Time::now().toSec();
-      static double imu_time_beg = data.imu->timestamp;
-      ros::Time stamp(
-          ros_time_beg + (data.imu->timestamp - imu_time_beg) * 0.00001f);
+        ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);
 
         // static double imu_time_prev = -1;
-      // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << ros_time_beg
+        // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
+        // ros_time_beg
         //     << ", imu_time_elapsed: " << FULL_PRECISION
         //     << ((data.imu->timestamp - imu_time_beg) * 0.00001f)
         //     << ", imu_time_diff: " << FULL_PRECISION
@@ -333,16 +365,21 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         // Sleep 1ms, otherwise publish may drop some datas.
         ros::Duration(0.001).sleep();
       });
+      is_motion_published_ = true;
+    }
 
     time_beg_ = ros::Time::now().toSec();
+    if (!is_started_) {
       api_->Start(Source::ALL);
+      is_started_ = true;
+    }
   }
 
   void publishCamera(
       const Stream &stream, const api::StreamData &data, std::uint32_t seq,
       ros::Time stamp) {
-    if (camera_publishers_[stream].getNumSubscribers() == 0)
-      return;
+    // if (camera_publishers_[stream].getNumSubscribers() == 0)
+    //   return;
     std_msgs::Header header;
     header.seq = seq;
     header.stamp = stamp;
@@ -358,6 +395,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     camera_publishers_[stream].publish(msg, info);
   }
 
+  /*
   void publishImage(
       const Stream &stream, const api::StreamData &data, std::uint32_t seq,
       ros::Time stamp) {
@@ -375,11 +413,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         cv_bridge::CvImage(header, image_encodings_[stream], img).toImageMsg();
     image_publishers_[stream].publish(msg);
   }
+  */
 
   void publishPoints(
       const api::StreamData &data, std::uint32_t seq, ros::Time stamp) {
-    if (points_publisher_.getNumSubscribers() == 0)
-      return;
+    // if (points_publisher_.getNumSubscribers() == 0)
+    //   return;
 
     auto &&in = api_->GetIntrinsics(Stream::LEFT);
 
@@ -413,9 +452,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       for (std::size_t x = 0; x < in.width; ++x) {
         auto &&point = data.frame.at<cv::Vec3f>(y, x);
 
-        *iter_x = point[0];
-        *iter_y = point[1];
-        *iter_z = point[2];
+        *iter_x = point[0] * 0.001;
+        *iter_y = point[1] * 0.001;
+        *iter_z = point[2] * 0.001;
 
         *iter_r = static_cast<uint8_t>(255);
         *iter_g = static_cast<uint8_t>(255);
@@ -529,6 +568,43 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
 
     api_ = API::Create(device);
+
+    computeRectTransforms();
+  }
+
+  void computeRectTransforms() {
+    ROS_ASSERT(api_);
+    auto &&in_left = api_->GetIntrinsics(Stream::LEFT);
+    auto &&in_right = api_->GetIntrinsics(Stream::RIGHT);
+    auto &&ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);
+
+    cv::Size size{in_left.width, in_left.height};
+
+    cv::Mat M1 =
+        (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
+         in_left.cy, 0, 0, 1);
+    cv::Mat M2 =
+        (cv::Mat_<double>(3, 3) << in_right.fx, 0, in_right.cx, 0, in_right.fy,
+         in_right.cy, 0, 0, 1);
+    cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
+    cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
+    cv::Mat R =
+        (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
+         ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
+         ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
+         ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
+         ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
+    cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
+
+    cv::stereoRectify(
+        M1, D1, M2, D2, size, R, T, left_r_, right_r_, left_p_, right_p_, q_,
+        cv::CALIB_ZERO_DISPARITY, 0, size, &left_roi_, &right_roi_);
+
+    NODELET_DEBUG_STREAM("left_r: " << left_r_);
+    NODELET_DEBUG_STREAM("right_r: " << right_r_);
+    NODELET_DEBUG_STREAM("left_p: " << left_p_);
+    NODELET_DEBUG_STREAM("right_p: " << right_p_);
+    NODELET_DEBUG_STREAM("q: " << q_);
   }
 
   sensor_msgs::CameraInfoPtr getCameraInfo(const Stream &stream) {
@@ -536,10 +612,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       return camera_info_ptrs_[stream];
     }
 
+    // http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/CameraInfo.html
     sensor_msgs::CameraInfo *camera_info = new sensor_msgs::CameraInfo();
     camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info);
 
-    auto &&in = api_->GetIntrinsics(stream);
+    Intrinsics in;
+    if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
+      in = api_->GetIntrinsics(Stream::RIGHT);
+    } else {
+      in = api_->GetIntrinsics(Stream::LEFT);
+    }
 
     camera_info->header.frame_id = frame_ids_[stream];
     camera_info->width = in.width;
@@ -557,26 +639,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     //     [fx'  0  cx' Tx]
     // P = [ 0  fy' cy' Ty]
     //     [ 0   0   1   0]
-    camera_info->P.at(0) = camera_info->K.at(0);
-    camera_info->P.at(1) = 0;
-    camera_info->P.at(2) = camera_info->K.at(2);
-    camera_info->P.at(3) = 0;
-
-    camera_info->P.at(4) = 0;
-    camera_info->P.at(5) = camera_info->K.at(4);
-    camera_info->P.at(6) = camera_info->K.at(5);
-    camera_info->P.at(7) = 0;
-
-    camera_info->P.at(8) = 0;
-    camera_info->P.at(9) = 0;
-    camera_info->P.at(10) = 1;
-    camera_info->P.at(11) = 0;
-
-    if (stream == Stream::RIGHT) {
-      auto &&ex = api_->GetExtrinsics(stream, Stream::LEFT);
-      camera_info->P.at(3) = ex.translation[0];
-      camera_info->P.at(7) = ex.translation[1];
-      camera_info->P.at(11) = ex.translation[2];
+    cv::Mat p = left_p_;
+    if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
+      p = right_p_;
+    }
+    for (int i = 0; i < p.rows; i++) {
+      for (int j = 0; j < p.cols; j++) {
+        camera_info->P.at(i * p.cols + j) = p.at<double>(i, j);
+      }
     }
 
     camera_info->distortion_model = "plumb_bob";
@@ -754,16 +824,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   ros::NodeHandle nh_;
   ros::NodeHandle private_nh_;
 
-  // camera: LEFT, RIGHT
+  // camera:
+  //   LEFT, RIGHT, LEFT_RECTIFIED, RIGHT_RECTIFIED,
+  //   DISPARITY, DISPARITY_NORMALIZED,
+  //   DEPTH
   std::map<Stream, image_transport::CameraPublisher> camera_publishers_;
   std::map<Stream, sensor_msgs::CameraInfoPtr> camera_info_ptrs_;
   std::map<Stream, std::string> camera_encodings_;
 
-  // image: LEFT_RECTIFIED, RIGHT_RECTIFIED, DISPARITY, DISPARITY_NORMALIZED,
-  // DEPTH
-  std::map<Stream, image_transport::Publisher> image_publishers_;
-  std::map<Stream, std::string> image_encodings_;
-
   // pointcloud: POINTS
   ros::Publisher points_publisher_;
 
@@ -787,10 +855,18 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
   std::shared_ptr<API> api_;
 
+  // rectification transforms
+  cv::Mat left_r_, right_r_, left_p_, right_p_, q_;
+  cv::Rect left_roi_, right_roi_;
+
   double time_beg_ = -1;
   std::size_t left_count_ = 0;
   std::size_t right_count_ = 0;
   std::size_t imu_count_ = 0;
+
+  std::map<Stream, bool> is_published_;
+  bool is_motion_published_;
+  bool is_started_;
 };
 
 MYNTEYE_END_NAMESPACE