Update version

.gitmodules

@@ -1,9 +1,6 @@
 [submodule "test/gtest"]
 	path = test/gtest
 	url = https://github.com/google/googletest.git
-[submodule "third_party/glog"]
-  path = third_party/glog
-  url = https://github.com/google/glog.git
 [submodule "tools/linter"]
   path = tools/linter
   url = https://github.com/slightech/linter.git

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.0.0 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.1 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -44,26 +44,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
+find_package(Threads QUIET)
 
-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()
+macro(target_link_threads NAME)
+  if(THREADS_HAVE_PTHREAD_ARG)
+    target_compile_options(PUBLIC ${NAME} "-pthread")
+  endif()
+  if(CMAKE_THREAD_LIBS_INIT)
+    target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}")
+  endif()
+endmacro()
 
 LIST(APPEND CMAKE_MODULE_PATH cmake)
 
@@ -107,19 +97,28 @@ set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
 
 ## main
 
-add_executable(main src/main.cc)
-target_link_libraries(main glog::glog)
-target_include_directories(main PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-  ${CMAKE_CURRENT_BINARY_DIR}/include
-)
+if(WITH_GLOG)
+  add_executable(main src/main.cc)
+  target_link_libraries(main glog::glog)
+  target_include_directories(main PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_BINARY_DIR}/include
+  )
+endif()
 
 ## libmynteye
 
+if(NOT WITH_GLOG AND NOT OS_WIN)
+  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
+  unset(__MINIGLOG_FLAGS)
+endif()
+
 set(MYNTEYE_PUBLIC_H
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/glog_init.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
   ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h
@@ -136,6 +135,11 @@ if(WITH_API)
     ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
   )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_PUBLIC_H
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+  )
+endif()
 
 if(OS_WIN)
   set(UVC_SRC src/uvc/uvc-wmf.cc)
@@ -180,21 +184,25 @@ if(WITH_API)
     src/api/processor/points_processor.cc
   )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
+endif()
 
-set(MYNTEYE_LINKLIBS
-  glog::glog
-  ${UVC_LIB}
-)
+set(MYNTEYE_LINKLIBS ${UVC_LIB})
 if(WITH_API)
   list(APPEND MYNTEYE_LINKLIBS ${OpenCV_LIBS})
 endif()
 if(WITH_BOOST_FILESYSTEM)
   list(APPEND MYNTEYE_LINKLIBS ${Boost_LIBRARIES})
 endif()
+if(WITH_GLOG)
+  list(APPEND MYNTEYE_LINKLIBS glog::glog)
+endif()
 #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")
 
 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
 target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
+target_link_threads(${MYNTEYE_NAME})
 
 if(OS_WIN)
   target_compile_definitions(${MYNTEYE_NAME}
@@ -254,32 +262,7 @@ 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)

CPPLINT.cfg

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

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:
@@ -25,8 +31,8 @@ help:
 	@echo "  make opendoc         open api doc (html)"
 	@echo "  make init            init project"
 	@echo "  make build           build project"
-	@echo "  make test            build test and run"
 	@echo "  make install         install project"
+	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
 	@echo "  make ros             build ros wrapper"
@@ -35,7 +41,7 @@ help:
 
 .PHONY: help
 
-all: test tools samples
+all: test samples tools
 
 .PHONY: all
 
@@ -43,7 +49,8 @@ all: test tools samples
 
 apidoc:
 	@$(call echo,Make $@)
-	@[ -e ./_install/include ] || $(MAKE) install
+	@# @[ -e ./_install/include ] || $(MAKE) install
+	@[ -e /usr/local/include/mynteye ] || $(MAKE) install
 	@$(SH) ./doc/build.sh
 
 opendoc: apidoc
@@ -54,19 +61,17 @@ opendoc: apidoc
 		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
 	done
 
-.PHONY: apidoc opendoc
+cleandoc:
+	@$(call rm,./doc/_output/)
+
+.PHONY: apidoc opendoc cleandoc
 
 # deps
 
 submodules:
 	@git submodule update --init
 
-third_party: submodules
-	@$(call echo,Make $@)
-	@$(call echo,Make glog,33)
-	@$(call cmake_build,./third_party/glog/_build)
-
-.PHONY: submodules third_party
+.PHONY: submodules
 
 # init
 
@@ -78,9 +83,13 @@ init: submodules
 
 # build
 
-build: third_party
+build: submodules
 	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
 	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+else
+	@$(call cmake_build,./_build,..)
+endif
 
 .PHONY: build
 
@@ -114,9 +123,13 @@ ifneq ($(HOST_NAME),MinGW)
 else
 	@cd ./_build; make install
 endif
+else
+ifeq ($(HOST_OS),Linux)
+	@cd ./_build; sudo make install
 else
 	@cd ./_build; make install
 endif
+endif
 
 .PHONY: install
 
@@ -225,8 +238,7 @@ 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--rc2-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/2422149/mynt-eye-sdk-apidoc-2.0.1-rc2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422151/mynt-eye-sdk-apidoc-2.0.1-rc2-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/2422152/mynt-eye-sdk-apidoc-2.0.1-rc2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422153/mynt-eye-sdk-apidoc-2.0.1-rc2-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-rc2-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc2-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/2422160/mynt-eye-sdk-guide-2.0.1-rc2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422161/mynt-eye-sdk-guide-2.0.1-rc2-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/2422162/mynt-eye-sdk-guide-2.0.1-rc2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422164/mynt-eye-sdk-guide-2.0.1-rc2-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-rc2-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc2-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/DetectGLog.cmake

@@ -0,0 +1,26 @@
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+get_filename_component(__pro_dir ${CMAKE_CURRENT_LIST_DIR} DIRECTORY)
+LIST(APPEND CMAKE_PREFIX_PATH ${__pro_dir}/third_party/glog/_build)
+
+find_package(glog REQUIRED)
+if(glog_FOUND)
+  add_definitions(-DWITH_GLOG)
+endif()
+
+unset(__pro_dir)

cmake/Option.cmake

@@ -12,7 +12,143 @@
 # 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: ${WITH_API}")
+option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
+
+# 3rdparty components
+
+option(WITH_BOOST "Include Boost support" ON)
+
+# How to install glog?
+#   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
+option(WITH_GLOG "Include glog support" OFF)
+
+
+# packages
+
+if(WITH_API)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
+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}.${Boost_SUBMINOR_VERSION}")
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_BOOST_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_BOOST_FILESYSTEM)
+  endif()
+endif()
+
+if(NOT WITH_FILESYSTEM)
+  if(MSVC OR MSYS OR MINGW)  # win
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_NATIVE_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_NATIVE_FILESYSTEM)
+  endif()
+endif()
+
+if(WITH_GLOG)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectGLog.cmake)
+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("  WITH_GLOG: ${WITH_GLOG}")
+if(WITH_GLOG)
+  if(glog_FOUND)
+    status("    glog: YES")
+    status("    glog_VERSION: ${glog_VERSION}")
+  else()
+    status("    glog: NO")
+  endif()
+endif()
+
+status("")
+status("Features:")
+status("  Filesystem: "
+  IF WITH_BOOST_FILESYSTEM "boost"
+  ELIF WITH_NATIVE_FILESYSTEM "native"
+  ELSE "none"
+)
+
+status("")

cmake/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 "${LANGS[@]}"; do
@@ -52,11 +52,30 @@ for lang in "${LANGS[@]}"; do
     _mkdir "$OUTPUT/$lang"
     _echo_i "doxygen $DOXYFILE"
     doxygen $DOXYFILE
+
+    version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
+      sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
+
+    # html
+    if [ -d "$OUTPUT/$lang/html" ]; then
+      dirname="mynt-eye-sdk-apidoc"; \
+        [ -n "$version" ] && dirname="$dirname-$version"; \
+        dirname="$dirname-$lang"
+      cd "$OUTPUT/$lang"
+      [ -d "$dirname" ] && rm -rf "$dirname"
+      mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
+    fi
+
+    # latex
     if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
       _echo_in "doxygen make latex"
+      filename="mynt-eye-sdk-apidoc"; \
+        [ -n "$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" "../$filename"
     fi
+
     _echo_d "doxygen completed"
   else
     _echo_e "$DOXYFILE not found"

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 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
+| IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
+| Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
+| Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |
+| 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         = 2.2.1-rc
 
 # 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 \
@@ -808,12 +801,12 @@ INPUT                  = mainpage.md \
                          specs_ctrl.md \
                          spec_control_api.md \
                          spec_control_channel.md \
-                         ../../_install/include
+                         /usr/local/include/mynteye
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
 # 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.
 
@@ -891,7 +884,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = /usr/local/include/mynteye/logger.h \
+                         /usr/local/include/mynteye/miniglog.h
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -1061,7 +1055,7 @@ 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 +1200,7 @@ 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 +1236,17 @@ 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 +1270,12 @@ 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 +1391,7 @@ 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 +1399,7 @@ 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 +1407,21 @@ 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 +1514,7 @@ 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 +1526,7 @@ 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 +1553,11 @@ 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 +1615,7 @@ 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 +1628,7 @@ 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 +1817,7 @@ 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 +2000,9 @@ 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/guide_log.md

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

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 | 60 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
+| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} |
+| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 |
+| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
+| 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_hardware_info.md

@@ -5,7 +5,7 @@
 | VID | vid | 0x04B4 | √ | × | 2 | |
 | PID | pid | 0x00F9 | √ | × | 2 | |
 | 设备名称 | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
-| 序列号  | serial_number | - | √ | √ Get | 16 | |
+| 序列号 | serial_number | - | √ | √ Get | 16 | |
 | 固件版本 | firmware_version | - | √ | √ Get | 2 | major,minor |
 | 硬件版本 | hardware_version | - | × | √ Get | 3 | major,minor,flag |
 | 协议版本 | spec_version | - | × | √ Get | 2 | major,minor |

doc/zh-Hans/spec_image_data.md

@@ -10,13 +10,13 @@
 
 ## 图像数据包
 
-| Name | Header | Size | FrameID | Timestamp | ExposureTime | Checksum |
-| :--- | :----- | :--- | :------ | :-------- | :----------- | :------- |
+| 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

@@ -30,11 +30,11 @@ IMU 包/小包，是一组 IMU 数据。
 
 ### IMU 段
 
-| Name | Offset | FrameID | Accelerometer | Temperature | Gyroscope |
-| :--- | :----- | :------ | :------------ | :---------- | :-------- |
+| 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/global.h

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

include/mynteye/logger.h

@@ -11,10 +11,12 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_GLOG_INIT_H_  // NOLINT
-#define MYNTEYE_GLOG_INIT_H_
+#ifndef MYNTEYE_LOGGER_H_
+#define MYNTEYE_LOGGER_H_
 #pragma once
 
+#ifdef WITH_GLOG
+
 #include <glog/logging.h>
 
 /** Helper to init glog with args. */
@@ -25,14 +27,30 @@ 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 = ".";
-    FLAGS_max_log_size = 1024;
+    // 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 = 8;
+
+    // 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]);
@@ -46,4 +64,20 @@ struct glog_init {
   }
 };
 
-#endif  // MYNTEYE_GLOG_INIT_H_ NOLINT
+#else
+
+struct glog_init {
+  glog_init(int argc, char *argv[]) {
+    (void)argc;
+    (void)argv;
+    // Do nothing.
+  }
+};
+
+#define MYNTEYE_MAX_LOG_LEVEL google::INFO
+
+#include "mynteye/miniglog.h"
+
+#endif
+
+#endif  // MYNTEYE_LOGGER_H_

include/mynteye/miniglog.h

@@ -0,0 +1,469 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: settinger@google.com (Scott Ettinger)
+//         mierle@gmail.com (Keir Mierle)
+//
+// Simplified Glog style logging with Android support. Supported macros in
+// decreasing severity level per line:
+//
+//   VLOG(2), VLOG(N)
+//   VLOG(1),
+//   LOG(INFO), VLOG(0), LG
+//   LOG(WARNING),
+//   LOG(ERROR),
+//   LOG(FATAL),
+//
+// With VLOG(n), the output is directed to one of the 5 Android log levels:
+//
+//   2 - Verbose
+//   1 - Debug
+//   0 - Info
+//  -1 - Warning
+//  -2 - Error
+//  -3 - Fatal
+//
+// Any logging of level 2 and above is directed to the Verbose level. All
+// Android log output is tagged with the string "native".
+//
+// If the symbol ANDROID is not defined, all output goes to std::cerr.
+// This allows code to be built on a different system for debug.
+//
+// Portions of this code are taken from the GLOG package.  This code is only a
+// small subset of the GLOG functionality. Notable differences from GLOG
+// behavior include lack of support for displaying unprintable characters and
+// lack of stack trace information upon failure of the CHECK macros.  On
+// non-Android systems, log output goes to std::cerr and is not written to a
+// file.
+//
+// CHECK macros are defined to test for conditions within code.  Any CHECK that
+// fails will log the failure and terminate the application.
+// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging
+//      "Check failed 3 >= 4".
+//
+// The following CHECK macros are defined:
+//
+//   CHECK(condition)        - fails if condition is false and logs condition.
+//   CHECK_NOTNULL(variable) - fails if the variable is NULL.
+//
+// The following binary check macros are also defined :
+//
+//   Macro                     Operator equivalent
+//   --------------------      -------------------
+//   CHECK_EQ(val1, val2)      val1 == val2
+//   CHECK_NE(val1, val2)      val1 != val2
+//   CHECK_GT(val1, val2)      val1 > val2
+//   CHECK_GE(val1, val2)      val1 >= val2
+//   CHECK_LT(val1, val2)      val1 < val2
+//   CHECK_LE(val1, val2)      val1 <= val2
+//
+// Debug only versions of all of the check macros are also defined.  These
+// macros generate no code in a release build, but avoid unused variable
+// warnings / errors.
+//
+// To use the debug only versions, prepend a D to the normal check macros, e.g.
+// DCHECK_EQ(a, b).
+#ifndef MYNTEYE_MINIGLOG_H_
+#define MYNTEYE_MINIGLOG_H_
+
+#include <algorithm>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "mynteye/mynteye.h"
+
+#ifdef MYNTEYE_OS_ANDROID
+#  include <android/log.h>
+#endif  // ANDROID
+
+// Log severity level constants.
+#ifdef MYNTEYE_OS_WIN
+
+const int FATAL   = -1;
+#ifndef ERROR  // NOT windows.h
+const int ERROR   = 0;
+#endif
+const int WARNING = 1;
+const int INFO    = 2;
+
+#else
+
+const int FATAL   = -3;
+const int ERROR   = -2;
+const int WARNING = -1;
+const int INFO    =  0;
+
+#endif
+
+// ------------------------- Glog compatibility ------------------------------
+
+namespace google {
+
+typedef int LogSeverity;
+const int FATAL   = ::FATAL;
+#ifndef ERROR  // NOT windows.h
+const int ERROR   = ::ERROR;
+#endif
+const int WARNING = ::WARNING;
+const int INFO    = ::INFO;
+
+// Sink class used for integration with mock and test functions. If sinks are
+// added, all log output is also sent to each sink through the send function.
+// In this implementation, WaitTillSent() is called immediately after the send.
+// This implementation is not thread safe.
+class MYNTEYE_API LogSink {
+ public:
+  virtual ~LogSink() {}
+  virtual void send(LogSeverity severity,
+                    const char* full_filename,
+                    const char* base_filename,
+                    int line,
+                    const struct tm* tm_time,
+                    const char* message,
+                    size_t message_len) = 0;
+  virtual void WaitTillSent() = 0;
+};
+
+// Global set of log sinks. The actual object is defined in logging.cc.
+MYNTEYE_API extern std::set<LogSink *> log_sinks_global;
+
+// Added by chachi - a runtime global maximum log level. Defined in logging.cc
+MYNTEYE_API extern int log_severity_global;
+
+inline void InitGoogleLogging(char */*argv*/) {
+  // Do nothing; this is ignored.
+}
+
+// Note: the Log sink functions are not thread safe.
+inline void AddLogSink(LogSink *sink) {
+  // TODO(settinger): Add locks for thread safety.
+  log_sinks_global.insert(sink);
+}
+inline void RemoveLogSink(LogSink *sink) {
+  log_sinks_global.erase(sink);
+}
+
+}  // namespace google
+
+// ---------------------------- Logger Class --------------------------------
+
+// Class created for each use of the logging macros.
+// The logger acts as a stream and routes the final stream contents to the
+// Android logcat output at the proper filter level.  If ANDROID is not
+// defined, output is directed to std::cerr.  This class should not
+// be directly instantiated in code, rather it should be invoked through the
+// use of the log macros LG, LOG, or VLOG.
+class MYNTEYE_API MessageLogger {
+ public:
+  MessageLogger(const char *file, int line, const char *tag, int severity)
+    : file_(file), line_(line), tag_(tag), severity_(severity) {
+    // Pre-pend the stream with the file and line number.
+    StripBasename(std::string(file), &filename_only_);
+    stream_ << SeverityLabel() << "/" << filename_only_ << ":" << line << " ";
+  }
+
+  // Output the contents of the stream to the proper channel on destruction.
+  ~MessageLogger() {
+    stream_ << "\n";
+
+#ifdef MYNTEYE_OS_ANDROID
+    static const int android_log_levels[] = {
+        ANDROID_LOG_FATAL,    // LOG(FATAL)
+        ANDROID_LOG_ERROR,    // LOG(ERROR)
+        ANDROID_LOG_WARN,     // LOG(WARNING)
+        ANDROID_LOG_INFO,     // LOG(INFO), LG, VLOG(0)
+        ANDROID_LOG_DEBUG,    // VLOG(1)
+        ANDROID_LOG_VERBOSE,  // VLOG(2) .. VLOG(N)
+    };
+
+    // Bound the logging level.
+    const int kMaxVerboseLevel = 2;
+    int android_level_index = std::min(std::max(FATAL, severity_),
+                                       kMaxVerboseLevel) - FATAL;
+    int android_log_level = android_log_levels[android_level_index];
+
+    // Output the log string the Android log at the appropriate level.
+    __android_log_write(android_log_level, tag_.c_str(), stream_.str().c_str());
+
+    // Indicate termination if needed.
+    if (severity_ == FATAL) {
+      __android_log_write(ANDROID_LOG_FATAL,
+                          tag_.c_str(),
+                          "terminating.\n");
+    }
+#else
+    // If not building on Android, log all output to std::cerr.
+    std::cerr << stream_.str();
+#endif  // ANDROID
+
+    LogToSinks(severity_);
+    WaitForSinks();
+
+    // Android logging at level FATAL does not terminate execution, so abort()
+    // is still required to stop the program.
+    if (severity_ == FATAL) {
+      abort();
+    }
+  }
+
+  // Return the stream associated with the logger object.
+  std::stringstream &stream() { return stream_; }
+
+ private:
+  void LogToSinks(int severity) {
+    time_t rawtime;
+    struct tm* timeinfo;
+
+    time (&rawtime);
+    timeinfo = localtime(&rawtime);
+    std::set<google::LogSink*>::iterator iter;
+    // Send the log message to all sinks.
+    for (iter = google::log_sinks_global.begin();
+         iter != google::log_sinks_global.end(); ++iter) {
+      (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
+                    timeinfo, stream_.str().c_str(), stream_.str().size());
+    }
+  }
+
+  void WaitForSinks() {
+    // TODO(settinger): Add locks for thread safety.
+    std::set<google::LogSink *>::iterator iter;
+
+    // Call WaitTillSent() for all sinks.
+    for (iter = google::log_sinks_global.begin();
+         iter != google::log_sinks_global.end(); ++iter) {
+      (*iter)->WaitTillSent();
+    }
+  }
+
+  void StripBasename(const std::string &full_path, std::string *filename) {
+    // TODO(settinger): Add support for OSs with different path separators.
+    // const char kSeparator = '/';
+    size_t pos = full_path.rfind(MYNTEYE_OS_SEP);
+    if (pos != std::string::npos) {
+      *filename = full_path.substr(pos + 1, std::string::npos);
+    } else {
+      *filename = full_path;
+    }
+  }
+
+  char SeverityLabel() {
+    switch (severity_) {
+      case INFO:
+        return 'I';
+      case WARNING:
+        return 'W';
+      case ERROR:
+        return 'E';
+      case FATAL:
+        return 'F';
+      default:
+        return 'V';
+    }
+  }
+
+  std::string file_;
+  std::string filename_only_;
+  int line_;
+  std::string tag_;
+  std::stringstream stream_;
+  int severity_;
+};
+
+// ---------------------- Logging Macro definitions --------------------------
+
+// This class is used to explicitly ignore values in the conditional
+// logging macros.  This avoids compiler warnings like "value computed
+// is not used" and "statement has no effect".
+class MYNTEYE_API LoggerVoidify {
+ public:
+  LoggerVoidify() { }
+  // This has to be an operator with a precedence lower than << but
+  // higher than ?:
+  void operator&(const std::ostream &/*s*/) { }
+};
+
+// Log only if condition is met.  Otherwise evaluates to void.
+#define LOG_IF(severity, condition) \
+  (static_cast<int>(severity) > google::log_severity_global || !(condition)) ? \
+  (void) 0 : LoggerVoidify() &                                          \
+  MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+
+// Log only if condition is NOT met.  Otherwise evaluates to void.
+#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
+
+// LG is a convenient shortcut for LOG(INFO). Its use is in new
+// google3 code is discouraged and the following shortcut exists for
+// backward compatibility with existing code.
+#ifdef MYNTEYE_MAX_LOG_LEVEL
+#  define LOG(n)  LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
+#  define VLOG(n) LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
+#  define LG      LOG_IF(INFO, (INFO <= MYNTEYE_MAX_LOG_LEVEL))
+#  define VLOG_IF(n, condition)                                         \
+    LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL) && condition)
+#else
+#  define LOG(n)  LOG_IF(n, true)
+#  define VLOG(n) LOG_IF(n, true)
+#  define LG      LOG_IF(INFO, true)
+#  define VLOG_IF(n, condition) LOG_IF(n, condition)
+#endif
+
+// Currently, VLOG is always on for levels below MYNTEYE_MAX_LOG_LEVEL.
+#ifndef MYNTEYE_MAX_LOG_LEVEL
+#  define VLOG_IS_ON(x) (1)
+#else
+#  define VLOG_IS_ON(x) (x <= MYNTEYE_MAX_LOG_LEVEL)
+#endif
+
+#ifdef MYNTEYE_OS_WIN  // INFO is 2, change VLOG(2) to VLOG(4)
+#undef VLOG
+#undef VLOG_IF
+#undef VLOG_IS_ON
+
+#ifdef MYNTEYE_MAX_LOG_LEVEL
+#  define VLOG(n) LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL))
+#  define VLOG_IF(n, condition)                                         \
+    LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL) && condition)
+#else
+#  define VLOG(n) LOG_IF(n+2, true)
+#  define VLOG_IF(n, condition) LOG_IF(n+2, condition)
+#endif
+
+#ifndef MYNTEYE_MAX_LOG_LEVEL
+#  define VLOG_IS_ON(x) (1+2)
+#else
+#  define VLOG_IS_ON(x) (x+2 <= MYNTEYE_MAX_LOG_LEVEL)
+#endif
+
+#endif
+
+#ifndef NDEBUG
+#  define DLOG LOG
+#else
+#  define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
+      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+#endif
+
+
+// Log a message and terminate.
+template<class T>
+void LogMessageFatal(const char *file, int line, const T &message) {
+  MessageLogger(file, line, "native", FATAL).stream() << message;
+}
+
+// ---------------------------- CHECK macros ---------------------------------
+
+// Check for a given boolean condition.
+#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+        << "Check failed: " #condition " "
+
+#ifndef NDEBUG
+// Debug only version of CHECK
+#  define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+          << "Check failed: " #condition " "
+#else
+// Optimized version - generates no code.
+#  define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \
+          << "Check failed: " #condition " "
+#endif  // NDEBUG
+
+// ------------------------- CHECK_OP macros ---------------------------------
+
+// Generic binary operator check macro. This should not be directly invoked,
+// instead use the binary comparison macros defined below.
+#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, (val1 op val2)) \
+  << "Check failed: " #val1 " " #op " " #val2 " "
+
+// Check_op macro definitions
+#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+
+#ifndef NDEBUG
+// Debug only versions of CHECK_OP macros.
+#  define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#  define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#  define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#  define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#  define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#  define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+#else
+// These versions generate no code in optimized mode.
+#  define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
+#  define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
+#  define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
+#  define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
+#  define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
+#  define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
+#endif  // NDEBUG
+
+// ---------------------------CHECK_NOTNULL macros ---------------------------
+
+// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers
+// and smart pointers.
+template <typename T>
+T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) {
+  if (t == NULL) {
+    LogMessageFatal(file, line, std::string(names));
+  }
+  return t;
+}
+
+template <typename T>
+T* CheckNotNull(const char *file, int line, const char *names, T* t) {
+  return CheckNotNullCommon(file, line, names, t);
+}
+
+template <typename T>
+T& CheckNotNull(const char *file, int line, const char *names, T& t) {
+  return CheckNotNullCommon(file, line, names, t);
+}
+
+// Check that a pointer is not null.
+#define CHECK_NOTNULL(val) \
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+
+#ifndef NDEBUG
+// Debug only version of CHECK_NOTNULL
+#define DCHECK_NOTNULL(val) \
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#else
+// Optimized version - generates no code.
+#define DCHECK_NOTNULL(val) if (false)\
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#endif  // NDEBUG
+
+#endif  // MYNTEYE_MINIGLOG_H_

include/mynteye/mynteye.h.in

@@ -21,9 +21,9 @@
 # define MYNTEYE_API
 #else
 # ifdef MYNTEYE_EXPORTS
-#  define MYNTEYE_API DECL_EXPORT
+#  define MYNTEYE_API MYNTEYE_DECL_EXPORT
 # else
-#  define MYNTEYE_API DECL_IMPORT
+#  define MYNTEYE_API MYNTEYE_DECL_IMPORT
 # endif
 #endif
 
@@ -58,7 +58,14 @@ 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@";
+
+MYNTEYE_BEGIN_NAMESPACE
+
+template <typename... T>
+void UNUSED(T &&...) {}
+
+MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_MYNTEYE_H_

mynteye-config.cmake.in

@@ -14,4 +14,7 @@
 
 @PACKAGE_INIT@
 
+set(mynteye_WITH_API @WITH_API@)
+set(mynteye_WITH_GLOG @WITH_GLOG@)
+
 include("${CMAKE_CURRENT_LIST_DIR}/mynteye-targets.cmake")

samples/CMakeLists.txt

@@ -47,10 +47,6 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
@@ -79,4 +75,6 @@ add_subdirectory(uvc)
 
 # tutorials
 
-add_subdirectory(tutorials)
+if(WITH_API)
+  add_subdirectory(tutorials)
+endif()

samples/api/camera.cc

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

samples/api/get_depth_with_region.cc

@@ -14,13 +14,8 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
-#define WIN_FLAGS \
-  cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
-
 namespace {
 
 class DepthRegion {
@@ -34,7 +29,7 @@ class DepthRegion {
    * 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
    */
   void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
     if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
       return;
     }
@@ -159,14 +154,14 @@ 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 = [](
       const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
     std::ostringstream os;
     os << "depth pos: [" << point.y << ", " << point.x << "]"
        << "±" << n << ", unit: mm";

samples/device/camera.cc

@@ -14,7 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"

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/auto_exposure.cc

@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 #include "util/cv_painter.h"
 

samples/tutorials/control/framerate.cc

@@ -13,11 +13,10 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include <atomic>
 
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 #include "mynteye/times.h"
 
 MYNTEYE_USE_NAMESPACE

samples/tutorials/control/infrared.cc

@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/control/manual_exposure.cc

@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 #include "util/cv_painter.h"
 

samples/tutorials/data/get_depth.cc

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE

samples/tutorials/data/get_device_info.cc

@@ -11,9 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_disparity.cc

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE

samples/tutorials/data/get_from_callbacks.cc

@@ -13,14 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <sstream>
 
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 #include "util/cv_painter.h"
 
@@ -53,7 +52,7 @@ int main(int argc, char *argv[]) {
   api->SetStreamCallback(
       Stream::DEPTH,
       [&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
-        UNUSED(data)
+        MYNTEYE_UNUSED(data)
         ++depth_count;
         {
           std::lock_guard<std::mutex> _(depth_mtx);

samples/tutorials/data/get_img_params.cc

@@ -11,9 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 
@@ -25,8 +24,8 @@ 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/data/get_imu.cc

@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 #include "util/cv_painter.h"
 

samples/tutorials/data/get_imu_params.cc

@@ -11,9 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_points.cc

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 #include "util/pc_viewer.h"

samples/tutorials/data/get_stereo.cc

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE

samples/tutorials/data/get_stereo_rectified.cc

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE

samples/tutorials/data/get_with_plugin.cc

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 MYNTEYE_USE_NAMESPACE

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/logger.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

@@ -14,16 +14,11 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 #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 {
@@ -37,7 +32,7 @@ class DepthRegion {
    * 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
    */
   void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
     if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
       return;
     }
@@ -162,14 +157,14 @@ 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 = [](
       const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
     std::ostringstream os;
     os << "depth pos: [" << point.y << ", " << point.x << "]"
        << "±" << n << ", unit: mm";

samples/tutorials/util/cv_painter.cc

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include "util/cv_painter.h"
 
-#include <glog/logging.h>
-
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include <iomanip>
@@ -22,6 +20,7 @@
 #include <memory>
 #include <utility>
 
+#include "mynteye/logger.h"
 #include "mynteye/utils.h"
 
 #define FONT_FACE cv::FONT_HERSHEY_PLAIN

samples/tutorials/util/pc_viewer.cc

@@ -13,12 +13,12 @@
 // limitations under the License.
 #include "util/pc_viewer.h"
 
-#include <glog/logging.h>
-
 // #include <pcl/common/common_headers.h>
 
 #include <cmath>
 
+#include "mynteye/logger.h"
+
 std::shared_ptr<pcl::visualization::PCLVisualizer> CustomColorVis(
     pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc) {
   // --------------------------------------------

samples/uvc/camera.cc

@@ -20,7 +20,7 @@
 #include <iostream>
 #include <mutex>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
 #include "uvc/uvc.h"
@@ -157,7 +157,7 @@ int main(int argc, char *argv[]) {
     t = static_cast<double>(cv::getTickCount() - t);
     fps = cv::getTickFrequency() / t;
   }
-  UNUSED(fps)
+  MYNTEYE_UNUSED(fps)
 
   uvc::stop_streaming(*device);
   // cv::destroyAllWindows();

scripts/init.sh

@@ -14,163 +14,29 @@
 # limitations under the License.
 
 # _VERBOSE_=1
+# _INIT_LINTER_=1
 # _FORCE_INSRALL_=1
 
 BASE_DIR=$(cd "$(dirname "$0")" && pwd)
 
-source "$BASE_DIR/common/echo.sh"
-source "$BASE_DIR/common/detect.sh"
-source "$BASE_DIR/common/host.sh"
-
-PYTHON="python"
-if [ "$HOST_OS" = "Win" ]; then
-  # default python on MSYS
-  PYTHON="python2"
-fi
-
-_detect $PYTHON
-
-if [ "$HOST_OS" = "Linux" ]; then
-  _detect_install() {
-    _detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
-        | grep -c "ok installed") -gt 0 ]
-  }
-elif [ "$HOST_OS" = "Mac" ]; then
-  _detect_install() {
-    _detect_cmd "$1" || brew ls --versions "$1" > /dev/null
-  }
-else
-  _detect_install() {
-    _detect_cmd "$1"
-  }
-fi
-
-_install_deps() {
-  _cmd="$1"; shift; _deps_all=($@)
-  _echo "Install cmd: $_cmd"
-  _echo "Install deps: ${_deps_all[*]}"
-  if [ -n "${_FORCE_INSRALL_}" ]; then
-    _echo_d "$_cmd ${_deps_all[*]}"
-    $_cmd ${_deps_all[@]}
-    return
-  fi
-  _deps=()
-  for _dep in "${_deps_all[@]}"; do
-    _detect_install $_dep || _deps+=($_dep)
-  done
-  if [ ${#_deps[@]} -eq 0 ]; then
-    _echo_i "All deps already exist"
-  else
-    _echo_d "$_cmd ${_deps[*]} (not exists)"
-    $_cmd ${_deps[@]}
-  fi
-}
+source "$BASE_DIR/init_tools.sh"
 
 ## deps
 
 _echo_s "Init deps"
 
 if [ "$HOST_OS" = "Linux" ]; then
-  # detect apt-get
-  _detect apt-get
-  # apt-get install
-  _install_deps "sudo apt-get install" build-essential curl cmake git clang-format
-  _install_deps "sudo apt-get install" libv4l-dev
-  if ! _detect_cmd clang-format; then
-    # on Ubuntu 14.04, apt-cache search clang-format
-    _install_deps "sudo apt-get install" clang-format-3.9
-    sudo ln -sf clang-format-3.9 /usr/bin/clang-format
-    sudo ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
-  fi
-  # sudo
-  SUDO="sudo"
+  _install_deps "$SUDO apt-get install" libv4l-dev
 elif [ "$HOST_OS" = "Mac" ]; then
-  # detect brew
-  if ! _detect_cmd brew; then
-    _echo_sn "Install brew"
-    _detect curl
-    _detect ruby
-    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
-  fi
-  # brew install
-  _install_deps "brew install" curl cmake git clang-format
-  # link clang-format-diff (if not compatible with Python 3, fix it by yourself)
-  [ -f "/usr/local/bin/clang-format-diff" ] || \
-    ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
   _install_deps "brew install" libuvc
 elif [ "$HOST_OS" = "Win" ]; then
-  # detect pacman on MSYS
-  _detect pacman
-  # pacman install (common)
-  _install_deps "pacman -S" curl git clang-format
-  if [ "$HOST_NAME" = "MINGW" ]; then
-    # pacman install (MINGW)
-    _deps=()
-    if [ "$HOST_ARCH" = "x64" ]; then
-      _deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
-    elif [ "$HOST_ARCH" = "x86" ]; then
-      _deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
-    else
-      _echo_e "Unknown host arch :("
-      exit 1
-    fi
-    if ! [ ${#_deps[@]} -eq 0 ]; then
-      _echo_d "pacman -S ${_deps[*]}"
-      pacman -S ${_deps[@]}
-    fi
-  else
-    # detect cmake on MSYS
-    _detect cmake
-  fi
-  # update
-  #   pacman -Syu
-  # search
-  #   pacman -Ss make
-  # autoremove
-  #   pacman -Qtdq | pacman -Rs -
+  # _install_deps "pacman -S" ?
+  _echo
 else  # unexpected
   _echo_e "Unknown host os :("
   exit 1
 fi
 
-## pip
-
-# detect pip
-if ! _detect_cmd pip; then
-  _echo_sn "Install pip"
-  [ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
-  $SUDO $PYTHON get-pip.py
-fi
-# pip install
-_echo_d "pip install --upgrade autopep8 cpplint pylint requests"
-$SUDO pip install --upgrade autopep8 cpplint pylint requests
-
-## realpath
-
-# detect realpath
-if ! _detect_cmd realpath; then
-  _echo_sn "Install realpath"
-  if [ "$HOST_OS" = "Linux" ]; then
-    # How to install realpath on Ubuntu 14.04
-    #   https://www.howtoinstall.co/en/ubuntu/trusty/realpath
-    sudo apt-get install coreutils realpath
-  elif [ "$HOST_OS" = "Mac" ]; then
-    brew install coreutils
-  elif [ "$HOST_OS" = "Win" ]; then
-    pacman -S coreutils
-  else  # unexpected
-    _echo_e "Unknown host os :("
-    exit 1
-  fi
-fi
-
-ROOT_DIR=$(realpath "$BASE_DIR/..")
-
-## init
-
-_echo_s "Init git hooks"
-$PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
-
 ## cmake version
 
 _echo_s "Expect cmake version >= 3.0"

scripts/init_tools.sh

@@ -0,0 +1,214 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Inc. 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.
+
+_INIT_BUILD_=1
+# _INIT_LINTER_=1
+# _FORCE_INSRALL_=1
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+
+source "$BASE_DIR/common/echo.sh"
+source "$BASE_DIR/common/detect.sh"
+source "$BASE_DIR/common/host.sh"
+
+## functions
+
+if [ "$HOST_OS" = "Linux" ]; then
+  _detect_install() {
+    _detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
+        | grep -c "ok installed") -gt 0 ]
+  }
+elif [ "$HOST_OS" = "Mac" ]; then
+  _detect_install() {
+    _detect_cmd "$1" || brew ls --versions "$1" > /dev/null
+  }
+else
+  _detect_install() {
+    _detect_cmd "$1"
+  }
+fi
+
+_install_deps() {
+  _cmd="$1"; shift; _deps_all=($@)
+  _echo "Install cmd: $_cmd"
+  _echo "Install deps: ${_deps_all[*]}"
+  if [ -n "${_FORCE_INSRALL_}" ]; then
+    _echo_d "$_cmd ${_deps_all[*]}"
+    $_cmd ${_deps_all[@]}
+    return
+  fi
+  _deps=()
+  for _dep in "${_deps_all[@]}"; do
+    _detect_install $_dep || _deps+=($_dep)
+  done
+  if [ ${#_deps[@]} -eq 0 ]; then
+    _echo_i "All deps already exist"
+  else
+    _echo_d "$_cmd ${_deps[*]} (not exists)"
+    $_cmd ${_deps[@]}
+  fi
+}
+
+## init tools
+
+_echo_s "Init tools"
+
+if [ "$HOST_OS" = "Linux" ]; then
+  # sudo
+  SUDO="sudo"
+  # detect apt-get
+  _detect apt-get
+  # apt-get install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "$SUDO apt-get install" build-essential curl cmake git make
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "$SUDO apt-get install" clang-format
+    if ! _detect_cmd clang-format; then
+      # on Ubuntu 14.04, apt-cache search clang-format
+      _install_deps "$SUDO apt-get install" clang-format-3.9
+      $SUDO ln -sf clang-format-3.9 /usr/bin/clang-format
+      $SUDO ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
+    fi
+  fi
+elif [ "$HOST_OS" = "Mac" ]; then
+  # detect brew
+  if ! _detect_cmd brew; then
+    _echo_sn "Install brew"
+    _detect curl
+    _detect ruby
+    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
+  fi
+  # brew install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "brew install" curl cmake git make
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "brew install" clang-format
+    # link clang-format-diff (if not compatible with Python 3, fix it by yourself)
+    [ -f "/usr/local/bin/clang-format-diff" ] || \
+      ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
+  fi
+elif [ "$HOST_OS" = "Win" ]; then
+  # detect pacman on MSYS
+  _detect pacman
+  # pacman install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "pacman -S" curl git make
+    if [ "$HOST_NAME" = "MINGW" ]; then
+      # MINGW: cmake
+      _deps=()
+      if [ "$HOST_ARCH" = "x64" ]; then
+        _deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
+      elif [ "$HOST_ARCH" = "x86" ]; then
+        _deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
+      else
+        _echo_e "Unknown host arch :("
+        exit 1
+      fi
+      if ! [ ${#_deps[@]} -eq 0 ]; then
+        _install_deps "pacman -S" ${_deps[@]}
+      fi
+    else
+      # Install CMake for Windows
+      #   https://cmake.org/
+      _detect cmake
+    fi
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "pacman -S" clang-format
+  fi
+  # update
+  #   pacman -Syu
+  # search
+  #   pacman -Ss make
+  # autoremove
+  #   pacman -Qtdq | pacman -Rs -
+else  # unexpected
+  _echo_e "Unknown host os :("
+  exit 1
+fi
+
+## init linter - optional
+
+if [ -n "${_INIT_LINTER_}" ]; then
+
+# python
+
+PYTHON="python"
+if [ "$HOST_OS" = "Win" ]; then
+  if ! _detect_cmd $PYTHON; then
+    PYTHON="python2"  # try python2 on MSYS
+  fi
+fi
+
+_detect $PYTHON 1
+
+PYTHON_FOUND="${PYTHON}_FOUND"
+if [ -z "${!PYTHON_FOUND}" ]; then
+  _echo_en "$PYTHON not found"
+fi
+
+# pip
+
+# 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"
+  $SUDO pip install --upgrade autopep8 cpplint pylint requests
+else
+  _echo_en "Skipped pip install packages, as pip not found"
+fi
+
+# realpath
+
+# detect realpath
+if ! _detect_cmd realpath; then
+  _echo_sn "Install realpath"
+  if [ "$HOST_OS" = "Linux" ]; then
+    # How to install realpath on Ubuntu 14.04
+    #   https://www.howtoinstall.co/en/ubuntu/trusty/realpath
+    $SUDO apt-get install coreutils realpath
+  elif [ "$HOST_OS" = "Mac" ]; then
+    brew install coreutils
+  elif [ "$HOST_OS" = "Win" ]; then
+    pacman -S coreutils
+  else  # unexpected
+    _echo_e "Unknown host os :("
+    exit 1
+  fi
+fi
+
+ROOT_DIR=$(realpath "$BASE_DIR/..")
+
+# init git hooks
+
+if [ -n "${!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
+
+fi  # _INIT_LINTER_

src/api/api.cc

@@ -18,21 +18,20 @@
 #include <boost/range/iterator_range.hpp>
 #endif
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <thread>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/utils.h"
 
 #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)
-#if defined(OS_WIN)
+#if defined(MYNTEYE_OS_WIN)
 #include <windows.h>
 #endif
 #endif
@@ -69,16 +68,18 @@ bool dir_exists(const fs::path &p) {
 
 #elif defined(WITH_NATIVE_FILESYSTEM)
 
-#if defined(OS_WIN)
+#if defined(MYNTEYE_OS_WIN)
 
 bool file_exists(const std::string &p) {
   DWORD attrs = GetFileAttributes(p.c_str());
-  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
@@ -89,7 +90,7 @@ bool dir_exists(const std::string &p) {
 
 std::vector<std::string> get_plugin_paths() {
   std::string info_path(MYNTEYE_SDK_INSTALL_DIR);
-  info_path.append(OS_SEP "share" OS_SEP "mynteye" OS_SEP "build.info");
+  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
@@ -186,13 +187,13 @@ std::vector<std::string> get_plugin_paths() {
   std::vector<std::string> dirs{MYNTEYE_SDK_ROOT_DIR, MYNTEYE_SDK_INSTALL_DIR};
   for (auto &&plat : plats) {
     for (auto &&dir : dirs) {
-      auto &&plat_dir = dir + OS_SEP "plugins" + OS_SEP + plat;
+      auto &&plat_dir = dir + MYNTEYE_OS_SEP "plugins" + MYNTEYE_OS_SEP + plat;
       // VLOG(2) << "plat_dir: " << plat_dir;
       if (!dir_exists(plat_dir))
         continue;
       for (auto &&name : names) {
         // VLOG(2) << "  name: " << name;
-        auto &&path = plat_dir + OS_SEP + name;
+        auto &&path = plat_dir + MYNTEYE_OS_SEP + name;
         if (!file_exists(path))
           continue;
         paths.push_back(path);
@@ -207,9 +208,29 @@ 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/plugin.h

@@ -53,8 +53,8 @@ class MYNTEYE_API Plugin {
    * @return `true` if you process rectify.
    */
   virtual bool OnRectifyProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -65,8 +65,8 @@ class MYNTEYE_API Plugin {
    * @return `true` if you process disparity.
    */
   virtual bool OnDisparityProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -78,8 +78,8 @@ class MYNTEYE_API Plugin {
    */
   virtual bool OnDisparityNormalizedProcess(
       Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -90,8 +90,8 @@ class MYNTEYE_API Plugin {
    * @return `true` if you process points.
    */
   virtual bool OnPointsProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 
@@ -102,8 +102,8 @@ class MYNTEYE_API Plugin {
    * @return `true` if you process depth.
    */
   virtual bool OnDepthProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
     return false;
   }
 

src/api/processor/depth_processor.cc

@@ -13,12 +13,14 @@
 // limitations under the License.
 #include "api/processor/depth_processor.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include <utility>
 
 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;
@@ -38,7 +40,7 @@ Object *DepthProcessor::OnCreateOutput() {
 
 bool DepthProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat *input = Object::Cast<ObjMat>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
   cv::Mat channels[3 /*input->value.channels()*/];

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

@@ -15,12 +15,15 @@
 
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DisparityNormalizedProcessor::NAME[] =
+    "DisparityNormalizedProcessor";
+
 DisparityNormalizedProcessor::DisparityNormalizedProcessor(
     std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
@@ -41,7 +44,7 @@ Object *DisparityNormalizedProcessor::OnCreateOutput() {
 
 bool DisparityNormalizedProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat *input = Object::Cast<ObjMat>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
   cv::normalize(input->value, output->value, 0, 255, cv::NORM_MINMAX, CV_8UC1);

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

@@ -15,12 +15,14 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 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;
@@ -72,7 +74,7 @@ Object *DisparityProcessor::OnCreateOutput() {
 
 bool DisparityProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat2 *input = Object::Cast<ObjMat2>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
 

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

@@ -15,12 +15,14 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 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;
@@ -40,7 +42,7 @@ Object *PointsProcessor::OnCreateOutput() {
 
 bool PointsProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat *input = Object::Cast<ObjMat>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
   cv::reprojectImageTo3D(input->value, output->value, Q_, true);

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

@@ -13,10 +13,12 @@
 // limitations under the License.
 #include "api/processor/processor.h"
 
-#include <glog/logging.h>
-
+#include <exception>
 #include <utility>
 
+#include "mynteye/logger.h"
+
+#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() {
@@ -192,14 +198,21 @@ void Processor::Run() {
       pre_callback_(input_.get());
     }
     bool ok = false;
-    if (callback_) {
-      if (callback_(input_.get(), output_.get(), parent_)) {
-        ok = true;
+    try {
+      if (callback_) {
+        if (callback_(input_.get(), output_.get(), parent_)) {
+          ok = true;
+        } else {
+          ok = OnProcess(input_.get(), output_.get(), parent_);
+        }
       } else {
         ok = OnProcess(input_.get(), output_.get(), parent_);
       }
-    } 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";

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

@@ -16,21 +16,23 @@
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 #include "device/device.h"
 
 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() {
@@ -47,7 +49,7 @@ Object *RectifyProcessor::OnCreateOutput() {
 
 bool RectifyProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat2 *input = Object::Cast<ObjMat2>(in);
   ObjMat2 *output = Object::Cast<ObjMat2>(out);
   cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
@@ -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

@@ -13,12 +13,12 @@
 // limitations under the License.
 #include "api/synthetic.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <functional>
 #include <stdexcept>
 
+#include "mynteye/logger.h"
+
 #include "api/plugin.h"
 #include "api/processor/depth_processor.h"
 #include "api/processor/disparity_normalized_processor.h"
@@ -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: {
-        auto &&processor = find_processor<RectifyProcessor>(processor_);
-        Object *out = processor->GetOutput();
-        if (out != nullptr) {
-          ObjMat2 *output = Object::Cast<ObjMat2>(out);
+    if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
+      static std::shared_ptr<ObjMat2> output = nullptr;
+      auto &&processor = find_processor<RectifyProcessor>(processor_);
+      auto &&out = processor->GetOutput();
+      if (out != nullptr) {
+        // Obtain the output, out will be nullptr if get again immediately.
+        output = Object::Cast<ObjMat2>(out);
+      }
+      if (output != nullptr) {
+        if (stream == Stream::LEFT_RECTIFIED) {
           return {nullptr, output->first, nullptr};
-        }
-        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);
+        } else {
           return {nullptr, output->second, nullptr};
         }
-        VLOG(2) << "Rectify not ready now";
-      } break;
+      }
+      VLOG(2) << "Rectify not ready now";
+      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;
-  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 &&
-      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 || stream == Stream::RIGHT) {
+    static api::StreamData left_data, right_data;
+    if (stream == Stream::LEFT) {
+      left_data = data;
+    } else if (stream == Stream::RIGHT) {
+      right_data = data;
+    }
+    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});
     }
-  };
-
-  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 &&
-      left_rect_data.img->frame_id == right_rect_data.img->frame_id) {
-    process_childs(
-        RectifyProcessor::NAME,
-        ObjMat2{left_rect_data.frame, right_rect_data.frame});
-  }
-  if (done)
     return;
+  }
+
+  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;
+    } else if (stream == Stream::RIGHT_RECTIFIED) {
+      right_rect_data = data;
+    }
+    if (left_rect_data.img && right_rect_data.img &&
+        left_rect_data.img->frame_id == right_rect_data.img->frame_id) {
+      process_childs(
+          processor_, RectifyProcessor::NAME,
+          ObjMat2{left_rect_data.frame, right_rect_data.frame});
+    }
+    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;
@@ -499,7 +498,7 @@ void Synthetic::ProcessNativeStream(
 
 bool Synthetic::OnRectifyProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnRectifyProcess(in, out)) {
     return true;
   }
@@ -509,7 +508,7 @@ bool Synthetic::OnRectifyProcess(
 
 bool Synthetic::OnDisparityProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnDisparityProcess(in, out)) {
     return true;
   }
@@ -518,7 +517,7 @@ bool Synthetic::OnDisparityProcess(
 
 bool Synthetic::OnDisparityNormalizedProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnDisparityNormalizedProcess(in, out)) {
     return true;
   }
@@ -527,7 +526,7 @@ bool Synthetic::OnDisparityNormalizedProcess(
 
 bool Synthetic::OnPointsProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnPointsProcess(in, out)) {
     return true;
   }
@@ -536,7 +535,7 @@ bool Synthetic::OnPointsProcess(
 
 bool Synthetic::OnDepthProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnDepthProcess(in, out)) {
     return true;
   }

src/device/context.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "device/context.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "device/device.h"
 #include "uvc/uvc.h"

src/device/device.cc

@@ -13,12 +13,13 @@
 // limitations under the License.
 #include "device/device.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
+#include <iterator>
 #include <stdexcept>
 #include <utility>
 
+#include "mynteye/logger.h"
+
 #include "device/device_s.h"
 #include "internal/async_callback.h"
 #include "internal/channels.h"
@@ -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 {};
@@ -198,20 +246,24 @@ 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 {
-    LOG(WARNING) << "Motion intrinsics not found";
+    *ok = false;
+    VLOG(2) << "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) {
-    LOG(WARNING) << "Motion extrinsics from " << from << " not found";
+    *ok = false;
+    VLOG(2) << "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";
   }
@@ -521,7 +580,7 @@ void Device::ReadAllInfos() {
     VLOG(2) << "Motion extrinsics left to imu: {"
             << GetMotionExtrinsics(Stream::LEFT) << "}";
   } else {
-    LOG(WARNING) << "Motion intrinsics & extrinsics not exist";
+    VLOG(2) << "Motion 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/device/device_s.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "device/device_s.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "internal/motions.h"
 

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

@@ -15,20 +15,20 @@
 #define MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_
 #pragma once
 
-#include <glog/logging.h>
-
 #include <string>
 #include <utility>
 
+#include "mynteye/logger.h"
+
 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

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include "internal/channels.h"
 
-#include <glog/logging.h>
-
 #include <bitset>
 #include <chrono>
 #include <iomanip>
@@ -22,6 +20,8 @@
 #include <sstream>
 #include <stdexcept>
 
+#include "mynteye/logger.h"
+
 #include "internal/strings.h"
 #include "internal/times.h"
 
@@ -453,7 +453,7 @@ std::size_t from_data(
   }
   i += 40;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -484,7 +484,7 @@ std::size_t from_data(
   }
   i += 24;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -505,7 +505,7 @@ std::size_t from_data(
   }
   i += 24;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -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;
 }
 
@@ -684,7 +684,7 @@ std::size_t to_data(
   _to_data(info->nominal_baseline, data + i);
   i += 2;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
 
   // others
   std::size_t size = i - 3;
@@ -725,7 +725,7 @@ std::size_t to_data(
   }
   i += 40;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -756,7 +756,7 @@ std::size_t to_data(
   }
   i += 24;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -777,7 +777,7 @@ std::size_t to_data(
   }
   i += 24;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(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/internal/dl.cc

@@ -13,11 +13,12 @@
 // limitations under the License.
 #include "internal/dl.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && \
+    !defined(MYNTEYE_OS_CYGWIN)
 
 namespace {
 
@@ -62,7 +63,8 @@ bool DL::Open(const char *filename) {
     // Close();
     return false;
   }
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && \
+    !defined(MYNTEYE_OS_CYGWIN)
   handle = LoadLibraryEx(filename, nullptr, 0);
 #else
   handle = dlopen(filename, RTLD_LAZY);
@@ -84,7 +86,7 @@ void *DL::Sym(const char *symbol) {
     VLOG(2) << "Not opened, do nothing";
     return nullptr;
   }
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && !defined(MYNTEYE_OS_CYGWIN)
   void *f = GetProcAddress(handle, symbol);
   if (f == nullptr) {
     VLOG(2) << "Load symbol failed: " << symbol;
@@ -106,7 +108,7 @@ int DL::Close() {
   if (handle == nullptr) {
     VLOG(2) << "Not opened, do nothing";
   } else {
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && !defined(MYNTEYE_OS_CYGWIN)
     ret = FreeLibrary(handle) ? 0 : 1;
 #else
     ret = dlclose(handle);
@@ -117,7 +119,7 @@ int DL::Close() {
 }
 
 const char *DL::Error() {
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && !defined(MYNTEYE_OS_CYGWIN)
   return GetLastErrorAsString().c_str();
 #else
   return dlerror();

src/internal/dl.h

@@ -17,7 +17,8 @@
 
 #include "mynteye/mynteye.h"
 
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && \
+    !defined(MYNTEYE_OS_CYGWIN)
 #include <Windows.h>
 #else
 #include <dlfcn.h>
@@ -25,7 +26,8 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && \
+    !defined(MYNTEYE_OS_CYGWIN)
 using DLLIB = HMODULE;
 #else
 using DLLIB = void *;

src/internal/files.cc

@@ -13,9 +13,10 @@
 // limitations under the License.
 #include "internal/files.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
-#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_WIN) && !defined(MYNTEYE_OS_MINGW) && \
+    !defined(MYNTEYE_OS_CYGWIN)
 #include <direct.h>
 #else
 #include <sys/stat.h>
@@ -28,9 +29,9 @@ MYNTEYE_BEGIN_NAMESPACE
 namespace files {
 
 bool _mkdir(const std::string &path) {
-#if defined(OS_MINGW) || defined(OS_CYGWIN)
+#if defined(MYNTEYE_OS_MINGW) || defined(MYNTEYE_OS_CYGWIN)
   const int status = ::mkdir(path.c_str());
-#elif defined(OS_WIN)
+#elif defined(MYNTEYE_OS_WIN)
   const int status = ::_mkdir(path.c_str());
 #else
   const int status =
@@ -51,7 +52,7 @@ bool _mkdir(const std::string &path) {
 }
 
 bool mkdir(const std::string &path) {
-  auto &&dirs = strings::split(path, OS_SEP);
+  auto &&dirs = strings::split(path, MYNTEYE_OS_SEP);
   auto &&size = dirs.size();
   if (size <= 0)
     return false;
@@ -59,7 +60,7 @@ bool mkdir(const std::string &path) {
   if (!_mkdir(p))
     return false;
   for (std::size_t i = 1; i < size; i++) {
-    p.append(OS_SEP).append(dirs[i]);
+    p.append(MYNTEYE_OS_SEP).append(dirs[i]);
     if (!_mkdir(p))
       return false;
   }

src/internal/motions.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "internal/motions.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "internal/channels.h"
 

src/internal/streams.cc

@@ -13,13 +13,13 @@
 // limitations under the License.
 #include "internal/streams.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <chrono>
 #include <iomanip>
 #include <stdexcept>
 
+#include "mynteye/logger.h"
+
 #include "internal/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -50,9 +50,9 @@ bool unpack_stereo_img_data(
   //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
 
   if (img_packet.header != 0x3B) {
-    LOG(WARNING) << "Image packet header must be 0x3B, but 0x" << std::hex
-                 << std::uppercase << std::setw(2) << std::setfill('0')
-                 << static_cast<int>(img_packet.header) << " now";
+    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.header) << " now";
     return false;
   }
 
@@ -61,11 +61,11 @@ bool unpack_stereo_img_data(
     checksum = (checksum ^ packet[i]);
   }
   if (img_packet.checksum != checksum) {
-    LOG(WARNING) << "Image packet checksum should be 0x" << std::hex
-                 << std::uppercase << std::setw(2) << std::setfill('0')
-                 << static_cast<int>(img_packet.checksum) << ", but 0x"
-                 << std::setw(2) << std::setfill('0')
-                 << static_cast<int>(checksum) << " now";
+    VLOG(2) << "Image packet checksum should be 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.checksum) << ", but 0x"
+            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
+            << " now";
     return false;
   }
 
@@ -160,7 +160,7 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
       } else {
         // discard left
         DiscardStreamData(Stream::LEFT);
-        LOG(WARNING) << "Image packet is unaccepted, frame dropped";
+        VLOG(2) << "Image packet is unaccepted, frame dropped";
         pushed = false;
       }
     } break;

src/internal/times.h

@@ -186,7 +186,7 @@ inline std::string to_string(
     const system_clock::time_point &t, const std::tm *tm,
     const char *fmt = "%F %T", std::int32_t precision = 6) {
   std::stringstream ss;
-#if defined(OS_ANDROID) || defined(OS_LINUX)
+#if defined(MYNTEYE_OS_ANDROID) || defined(MYNTEYE_OS_LINUX)
   char foo[20];
   strftime(foo, sizeof(foo), fmt, tm);
   ss << foo;

src/internal/types.cc

@@ -13,11 +13,11 @@
 // limitations under the License.
 #include "internal/types.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <iomanip>
-#include <iostream>
+#include <sstream>
+
+#include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 

src/public/miniglog.cc

@@ -0,0 +1,41 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "mynteye/miniglog.h"
+
+namespace google {
+
+// This is the set of log sinks. This must be in a separate library to ensure
+// that there is only one instance of this across the entire program.
+std::set<google::LogSink *> log_sinks_global;
+
+int log_severity_global(INFO);
+
+}  // namespace google

src/public/miniglog.readme

@@ -0,0 +1,3 @@
+miniglog:
+  * https://github.com/arpg/miniglog
+  * https://github.com/tzutalin/miniglog

src/public/types.cc

@@ -13,11 +13,11 @@
 // limitations under the License.
 #include "mynteye/types.h"
 
-#include <glog/logging.h>
-
 #include <iomanip>
 #include <limits>
 
+#include "mynteye/logger.h"
+
 #define FULL_PRECISION \
   std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
 

src/public/utils.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "mynteye/utils.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "device/context.h"
 #include "device/device.h"
@@ -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;

src/uvc/uvc-libuvc.cc

@@ -13,9 +13,10 @@
 // limitations under the License.
 #include "uvc/uvc.h"  // NOLINT
 
-#include <glog/logging.h>
 #include <libuvc/libuvc.h>
 
+#include "mynteye/logger.h"
+
 // #define ENABLE_DEBUG_SPAM
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -112,13 +113,13 @@ int get_product_id(const device &device) {
 
 std::string get_name(const device &device) {
   // TODO(JohnZhao)
-  UNUSED(device)
+  MYNTEYE_UNUSED(device)
   return "";
 }
 
 std::string get_video_name(const device &device) {
   // TODO(JohnZhao)
-  UNUSED(device)
+  MYNTEYE_UNUSED(device)
   return "";
 }
 
@@ -126,21 +127,21 @@ bool pu_control_range(
     const device &device, Option option, int32_t *min, int32_t *max,
     int32_t *def) {
   // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(option)
-  UNUSED(min)
-  UNUSED(max)
-  UNUSED(def)
+  MYNTEYE_UNUSED(device)
+  MYNTEYE_UNUSED(option)
+  MYNTEYE_UNUSED(min)
+  MYNTEYE_UNUSED(max)
+  MYNTEYE_UNUSED(def)
   return false;
 }
 
 bool pu_control_query(
     const device &device, Option option, pu_query query, int32_t *value) {
   // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(option)
-  UNUSED(query)
-  UNUSED(value)
+  MYNTEYE_UNUSED(device)
+  MYNTEYE_UNUSED(option)
+  MYNTEYE_UNUSED(query)
+  MYNTEYE_UNUSED(value)
   return false;
 }
 
@@ -148,13 +149,13 @@ bool xu_control_range(
     const device &device, const xu &xu, uint8_t selector, uint8_t id, int32_t *min,
     int32_t *max, int32_t *def) {
   // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(xu)
-  UNUSED(selector)
-  UNUSED(id)
-  UNUSED(min)
-  UNUSED(max)
-  UNUSED(def)
+  MYNTEYE_UNUSED(device)
+  MYNTEYE_UNUSED(xu)
+  MYNTEYE_UNUSED(selector)
+  MYNTEYE_UNUSED(id)
+  MYNTEYE_UNUSED(min)
+  MYNTEYE_UNUSED(max)
+  MYNTEYE_UNUSED(def)
   return false;
 }
 
@@ -162,12 +163,12 @@ bool xu_control_query(
     const device &device, const xu &xu, uint8_t selector, xu_query query,
     uint16_t size, uint8_t *data) {
   // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(xu)
-  UNUSED(selector)
-  UNUSED(query)
-  UNUSED(size)
-  UNUSED(data)
+  MYNTEYE_UNUSED(device)
+  MYNTEYE_UNUSED(xu)
+  MYNTEYE_UNUSED(selector)
+  MYNTEYE_UNUSED(query)
+  MYNTEYE_UNUSED(size)
+  MYNTEYE_UNUSED(data)
   return false;
 }
 
@@ -175,23 +176,23 @@ void set_device_mode(
     device &device, int width, int height, int fourcc, int fps,  // NOLINT
     video_channel_callback callback) {
   // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(width)
-  UNUSED(height)
-  UNUSED(fourcc)
-  UNUSED(fps)
-  UNUSED(callback)
+  MYNTEYE_UNUSED(device)
+  MYNTEYE_UNUSED(width)
+  MYNTEYE_UNUSED(height)
+  MYNTEYE_UNUSED(fourcc)
+  MYNTEYE_UNUSED(fps)
+  MYNTEYE_UNUSED(callback)
 }
 
 void start_streaming(device &device, int num_transfer_bufs) {  // NOLINT
   // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(num_transfer_bufs)
+  MYNTEYE_UNUSED(device)
+  MYNTEYE_UNUSED(num_transfer_bufs)
 }
 
 void stop_streaming(device &device) {  // NOLINT
   // TODO(JohnZhao)
-  UNUSED(device)
+  MYNTEYE_UNUSED(device)
 }
 
 }  // namespace uvc

src/uvc/uvc-v4l2.cc

@@ -16,6 +16,9 @@
 #include <dirent.h>
 #include <errno.h>
 #include <fcntl.h>
+#include <string.h>
+#include <unistd.h>
+
 #include <sys/ioctl.h>
 #include <sys/mman.h>
 #include <sys/stat.h>
@@ -25,13 +28,14 @@
 #include <linux/uvcvideo.h>
 #include <linux/videodev2.h>
 
-#include <glog/logging.h>
-
 #include <chrono>
 #include <fstream>
+#include <sstream>
 #include <string>
 #include <thread>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace uvc {
@@ -41,6 +45,10 @@ namespace uvc {
     LOG(severity) << str << " error " << errno << ", " << strerror(errno); \
   } while (0)
 
+#define NO_DATA_MAX_COUNT 200
+
+int no_data_count = 0;
+
 /*
 class device_error : public std::exception {
  public:
@@ -194,6 +202,7 @@ struct device {
   ~device() {
     VLOG(2) << __func__;
     stop_streaming();
+    no_data_count = 0;
     if (fd != -1 && close(fd) < 0) {
       LOG_ERROR(WARNING, "close");
     }
@@ -386,6 +395,14 @@ struct device {
             throw_error("VIDIOC_QBUF");
         });
       }
+
+      no_data_count = 0;
+    } else {
+      no_data_count++;
+    }
+
+    if (no_data_count > NO_DATA_MAX_COUNT) {
+      throw_error("v4l2 get stream time out!");
     }
   }