chore(samples): comment build uvc

.gitignore

@@ -1,5 +1,7 @@
 .DS_Store
-/.vscode/
+
+.vs/
+.vscode/
 
 _build/
 _install/
@@ -14,6 +16,11 @@ _output/
 
 /plugins/
 
+/3rdparty/opencv/
+/pkginfo.sh
+/*.nsi
+/*.exe
+
 # ros
 
 /wrappers/ros/build
@@ -29,3 +36,8 @@ _output/
 /mynteye/
 /mynteye.bag
 /dataset*/
+
+# wrappers
+
+/wrappers/python/third_party/numpy-opencv-converter/
+/wrappers/python/third_party/pyboostcvconverter/

.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

@@ -14,10 +14,14 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.0.0 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.2 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
+if(NOT CMAKE_DEBUG_POSTFIX)
+  set(CMAKE_DEBUG_POSTFIX d)
+endif()
+
 # options
 
 include(cmake/Option.cmake)
@@ -44,13 +48,16 @@ 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()
+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)
 
@@ -63,11 +70,30 @@ set(MYNTEYE_NAME ${PROJECT_NAME})
 set(MYNTEYE_NAMESPACE "mynteye")
 message(STATUS "Namespace: ${MYNTEYE_NAMESPACE}")
 
+if(MSVC)
+  string(REPLACE "/" "\\\\" MYNTEYE_SDK_ROOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+  string(REPLACE "/" "\\\\" MYNTEYE_SDK_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}")
+else()
+  file(TO_NATIVE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" MYNTEYE_SDK_ROOT_DIR)
+  file(TO_NATIVE_PATH "${CMAKE_INSTALL_PREFIX}" MYNTEYE_SDK_INSTALL_DIR)
+endif()
+
 configure_file(
   include/mynteye/mynteye.h.in
   include/mynteye/mynteye.h @ONLY
 )
 
+configure_file(
+  cmake/templates/pkginfo.sh.in
+  ${CMAKE_CURRENT_SOURCE_DIR}/pkginfo.sh @ONLY
+)
+if(OS_WIN)
+  configure_file(
+    scripts/win/nsis/winpack.nsi.in
+    ${CMAKE_CURRENT_SOURCE_DIR}/winpack.nsi @ONLY
+  )
+endif()
+
 # targets
 
 add_definitions(-DMYNTEYE_EXPORTS)
@@ -79,98 +105,109 @@ set_outdir(
   "${OUT_DIR}/bin"
 )
 
-set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
-set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
-set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
-set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
-
 ## main
 
-add_executable(main src/main.cc)
-target_link_libraries(main glog::glog)
-target_include_directories(main PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-  ${CMAKE_CURRENT_BINARY_DIR}/include
-)
-
-## libmynteye
-
-set(MYNTEYE_PUBLIC_H
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/glog_init.h
-  ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/device/context.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/device/device.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/files.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/strings.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/times.h
-)
-if(WITH_API)
-  list(APPEND MYNTEYE_PUBLIC_H
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/api.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/plugin.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
+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()
+
 if(OS_WIN)
-  set(UVC_SRC src/uvc/uvc-wmf.cc)
+  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
 elseif(OS_MAC)
-  set(UVC_SRC src/uvc/uvc-libuvc.cc)
+  add_compile_options(-x objective-c++)
+  ## INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx)
+  ## INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit)
+  ## aux_source_directory(src/mynteye/uvc/macosx/VVUVCKit/ MAC_VVUVCKIT_SRC_LIST)
+  ## aux_source_directory(src/mynteye/uvc/macosx/USBBusProber/ MAC_USBBUSPROBER_SRC_LIST)
+  ## add_library(usbBusProber SHARED ${MAC_USBBUSPROBER_SRC_LIST})
+  ## set_target_properties(usbBusProber PROPERTIES FRAMEWORK TRUE )
+  ## add_library(vvuvckit SHARED ${MAC_VVUVCKIT_SRC_LIST})
+  ## set_target_properties(vvuvckit PROPERTIES FRAMEWORK TRUE )
+
+  INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/USBBusProber.framework/Headers)
+  INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit.framework/Headers)
+  find_library(VVUVCKIT_LIBRARY VVUVCKit PATHS src/mynteye/uvc/macosx)
+  find_library(USB_LIBRARY USBBusProber PATHS src/mynteye/uvc/macosx)
+  MARK_AS_ADVANCED (VVUVCKIT_LIBRARY USB_LIBRARY)
+  SET(OSX_EXTRA_LIBS ${VVUVCKIT_LIBRARY} ${USB_LIBRARY})
+
+  set(UVC_SRC src/mynteye/uvc/macosx/CameraEngine.cpp src/mynteye/uvc/macosx/AVfoundationCamera.mm src/mynteye/uvc/macosx/uvc-vvuvckit.cc )
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}") 
 
   find_package(libuvc REQUIRED)
   set(UVC_LIB ${libuvc_LIBRARIES})
 
   include_directories(${libuvc_INCLUDE_DIRS})
 elseif(OS_LINUX)
-  set(UVC_SRC src/uvc/uvc-v4l2.cc)
+  set(UVC_SRC src/mynteye/uvc/linux/uvc-v4l2.cc)
 else()
   message(FATAL_ERROR "Unsupported OS.")
 endif()
 
 set(MYNTEYE_SRCS
   ${UVC_SRC}
-  src/internal/channels.cc
-  src/internal/config.cc
-  src/internal/dl.cc
-  src/internal/files.cc
-  src/internal/motions.cc
-  src/internal/streams.cc
-  src/internal/strings.cc
-  src/internal/types.cc
-  src/public/types.cc
-  src/public/utils.cc
-  src/device/context.cc
-  src/device/device.cc
-  src/device/device_s.cc
+  src/mynteye/types.cc
+  src/mynteye/util/files.cc
+  src/mynteye/util/strings.cc
+  src/mynteye/device/channels.cc
+  src/mynteye/device/config.cc
+  src/mynteye/device/context.cc
+  src/mynteye/device/device.cc
+  src/mynteye/device/device_s.cc
+  src/mynteye/device/motions.cc
+  src/mynteye/device/streams.cc
+  src/mynteye/device/types.cc
+  src/mynteye/device/utils.cc
 )
 if(WITH_API)
   list(APPEND MYNTEYE_SRCS
-    src/api/api.cc
-    src/api/synthetic.cc
-    src/api/processor/processor.cc
-    src/api/processor/rectify_processor.cc
-    src/api/processor/disparity_processor.cc
-    src/api/processor/disparity_normalized_processor.cc
-    src/api/processor/depth_processor.cc
-    src/api/processor/points_processor.cc
+    src/mynteye/api/api.cc
+    src/mynteye/api/dl.cc
+    src/mynteye/api/processor.cc
+    src/mynteye/api/synthetic.cc
+    src/mynteye/api/processor/rectify_processor.cc
+    src/mynteye/api/processor/disparity_processor.cc
+    src/mynteye/api/processor/disparity_normalized_processor.cc
+    src/mynteye/api/processor/depth_processor.cc
+    src/mynteye/api/processor/points_processor.cc
   )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_SRCS src/mynteye/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})
+if(OS_MAC)
+  target_link_libraries( ${MYNTEYE_NAME} ${OSX_EXTRA_LIBS} )
+endif()
+target_link_threads(${MYNTEYE_NAME})
 
 if(OS_WIN)
   target_compile_definitions(${MYNTEYE_NAME}
@@ -182,27 +219,78 @@ target_include_directories(${MYNTEYE_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>"
-  "$<INSTALL_INTERFACE:${MYNTEYE_CMAKE_INCLUDE_DIR}>"
+  "$<INSTALL_INTERFACE:include>"
 )
 
 set_target_properties(${MYNTEYE_NAME} PROPERTIES
   VERSION ${PROJECT_VERSION}
   SOVERSION ${PROJECT_VERSION_MAJOR}
 )
-set_target_properties(${MYNTEYE_NAME} PROPERTIES
-  PUBLIC_HEADER "${MYNTEYE_PUBLIC_H}"
-)
 
 # install
 
-#message(STATUS "MYNTEYE_CMAKE_INCLUDE_DIR: ${MYNTEYE_CMAKE_INCLUDE_DIR}")
-#message(STATUS "MYNTEYE_CMAKE_BINDIR: ${MYNTEYE_CMAKE_BINDIR}")
-#message(STATUS "MYNTEYE_CMAKE_LIBDIR: ${MYNTEYE_CMAKE_LIBDIR}")
-#message(STATUS "MYNTEYE_CMAKE_INSTALLDIR: ${MYNTEYE_CMAKE_INSTALLDIR}")
+set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include/${MYNTEYE_NAME}")
+set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
+set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
+set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/callbacks.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/context.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/utils.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/device
+)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/files.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/strings.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/times.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/util
+)
+if(WITH_API)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/api.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/plugin.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/object.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/api
+  )
+endif()
+if(NOT WITH_GLOG)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+  )
+endif()
+
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/callbacks.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/context.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/files.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/glog_init.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/strings.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/times.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/utils.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+)
+if(WITH_API)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/api.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/plugin.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/object.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+  )
+endif()
 
 install(TARGETS ${MYNTEYE_NAME}
   EXPORT ${MYNTEYE_NAME}-targets
-  PUBLIC_HEADER DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/${MYNTEYE_NAME}
   RUNTIME DESTINATION ${MYNTEYE_CMAKE_BINDIR}
   LIBRARY DESTINATION ${MYNTEYE_CMAKE_LIBDIR}
   ARCHIVE DESTINATION ${MYNTEYE_CMAKE_LIBDIR}
@@ -227,3 +315,31 @@ install(FILES
 install(EXPORT ${MYNTEYE_NAME}-targets
   DESTINATION ${MYNTEYE_CMAKE_INSTALLDIR}
 )
+
+## build.info
+
+# set default int values for yaml file (build.info)
+set_default_value(CMAKE_CXX_COMPILER_VERSION_MAJOR 0)
+set_default_value(CMAKE_CXX_COMPILER_VERSION_MINOR 0)
+set_default_value(CMAKE_CXX_COMPILER_VERSION_PATCH 0)
+set_default_value(CMAKE_CXX_COMPILER_VERSION_TWEAK 0)
+set_default_value(CUDA_VERSION_MAJOR 0)
+set_default_value(CUDA_VERSION_MINOR 0)
+set_default_value(OpenCV_VERSION_MAJOR 0)
+set_default_value(OpenCV_VERSION_MINOR 0)
+set_default_value(OpenCV_VERSION_PATCH 0)
+set_default_value(OpenCV_VERSION_TWEAK 0)
+set_default_value(${PROJECT_NAME}_VERSION_MAJOR 0)
+set_default_value(${PROJECT_NAME}_VERSION_MINOR 0)
+set_default_value(${PROJECT_NAME}_VERSION_PATCH 0)
+set_default_value(${PROJECT_NAME}_VERSION_TWEAK 0)
+
+configure_file(
+  cmake/templates/build.info.in
+  build.info @ONLY
+)
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/build.info
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/share/mynteye
+)

CPPLINT.cfg

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

CommonDefs.mk

@@ -26,6 +26,16 @@ SINGLE_QUOTE := '
 OPEN_PAREN := (
 CLOSE_PAREN := )
 
+# Options
+#
+#   VS_CODE: ignore to auto detect, otherwise specify the version
+#            15|2017, 14|2015, 12|2013, 11|2012, 10|2010, 9|2008, 8|2005
+#   BUILD_TYPE: Debug|Release
+#
+# e.g. make [TARGET] VS_CODE=2017 BUILD_TYPE=Debug
+
+BUILD_TYPE ?= Release
+
 # Host detection
 
 ifeq ($(OS),Windows_NT)
@@ -124,7 +134,7 @@ ifeq ($(HOST_OS),Win)
     CC := cl
     CXX := cl
     MAKE := make
-    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
+    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=$(BUILD_TYPE)
   endif
 else
   # mac & linux
@@ -144,8 +154,7 @@ endif
 # CMake
 
 CMAKE := cmake
-# CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Debug
-CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Release
+CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 ifneq ($(CC),)
   CMAKE := $(CMAKE) -DCMAKE_C_COMPILER=$(CC)
 endif
@@ -163,7 +172,6 @@ ifneq ($(MAKE),)
 endif
 
 CMAKE_OPTIONS :=
-CMAKE_OPTIONS += -DCMAKE_INSTALL_PREFIX=$(shell pwd)/_install
 # CMAKE_OPTIONS += -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON
 CMAKE_OPTIONS_AFTER :=
 
@@ -172,28 +180,46 @@ ifeq ($(HOST_OS),Win)
 ifeq ($(HOST_NAME),MinGW)
   CMAKE += -G "MinGW Makefiles"
 else ifeq ($(HOST_ARCH),x64)
-  VS_VERSION := $(shell echo "$(shell which cl)" | sed "s/.*Visual\sStudio\s\([0-9]\+\).*/\1/g")
-  ifeq (15,$(VS_VERSION))
+  ifeq ($(VS_CODE),)
+    WHICH_CL := $(shell which cl)
+    ifeq ($(WHICH_CL),)
+      $(error "Visual Studio version is unknown. Could set VS_CODE to specify it, e.g. make [TARGET] VS_CODE=2017")
+    endif
+    # C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\...
+    # C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\...
+    VS_CODE := $(shell echo "$(WHICH_CL)" | grep -Po "(?<=Visual Studio[ /])[0-9]+")
+  endif
+  # $(call mkinfo,"VS_CODE: $(VS_CODE)")
+  ifeq ($(filter $(VS_CODE),15 2017),$(VS_CODE))
     CMAKE += -G "Visual Studio 15 2017 Win64"
-  else ifeq (14,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),14 2015),$(VS_CODE))
     CMAKE += -G "Visual Studio 14 2015 Win64"
-  else ifeq (12,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),12 2013),$(VS_CODE))
     CMAKE += -G "Visual Studio 12 2013 Win64"
-  else ifeq (11,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),11 2012),$(VS_CODE))
     CMAKE += -G "Visual Studio 11 2012 Win64"
-  else ifeq (10,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),10 2010),$(VS_CODE))
     CMAKE += -G "Visual Studio 10 2010 Win64"
-  else ifeq (9,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),9 2008),$(VS_CODE))
     CMAKE += -G "Visual Studio 9 2008 Win64"
-  else ifeq (8,$(VS_VERSION))
+  else ifeq ($(filter $(VS_CODE),8 2005),$(VS_CODE))
     CMAKE += -G "Visual Studio 8 2005 Win64"
   else
-    $(call mkinfo,"Connot specify Visual Studio Win64")
+    $(error "Visual Studio version is not proper, VS_CODE: $(VS_CODE)")
   endif
 endif
 
 endif
 
+# Package
+
+PKGVERSION := $(shell ./scripts/version.sh)
+PKGNAME := mynteye-s-$(PKGVERSION)-$(HOST_OS)-$(HOST_ARCH)
+ifeq ($(HOST_OS),Linux)
+  PKGNAME := $(PKGNAME)-gcc$(shell gcc -dumpversion | cut -c 1-1)
+endif
+PKGNAME := $(call lower,$(PKGNAME))
+
 # Shell
 
 # `sh` is not possible to export a function

Jenkinsfile

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

Makefile

@@ -13,7 +13,18 @@
 # limitations under the License.
 include CommonDefs.mk
 
-.DEFAULT_GOAL := help
+MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
+MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
+
+# CMAKE_INSTALL_PREFIX:
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html
+#
+#   UNIX: /usr/local
+#   Windows: c:/Program Files/${PROJECT_NAME}
+
+SUDO ?= sudo
+
+.DEFAULT_GOAL := all
 
 help:
 	@echo "Usage:"
@@ -22,16 +33,18 @@ 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 pkg             package sdk"
 	@echo "  make ros             build ros wrapper"
+	@echo "  make py              build python wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
 
 .PHONY: help
 
-all: test tools samples
+all: init samples tools ros
 
 .PHONY: all
 
@@ -39,7 +52,8 @@ 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
@@ -50,39 +64,41 @@ 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
 
-init: submodules
+init:
 	@$(call echo,Make $@)
-	@$(SH) ./scripts/init.sh
+	@$(SH) ./scripts/init.sh $(INIT_OPTIONS)
 
 .PHONY: init
 
 # build
 
-build: third_party
+build:
 	@$(call echo,Make $@)
-	@$(call cmake_build,./_build)
+ifeq ($(HOST_OS),Win)
+	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+else
+	@$(call cmake_build,./_build,..)
+endif
 
 .PHONY: build
 
 # test
 
-test: install
+test: submodules install
 	@$(call echo,Make $@)
 	@$(call echo,Make gtest,33)
 ifeq ($(HOST_OS),Win)
@@ -110,12 +126,27 @@ ifneq ($(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
 
+uninstall:
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Linux)
+	$(SUDO) rm -rf /usr/local/include/mynteye/
+	$(SUDO) rm -rf /usr/local/lib/libmynteye.so*
+	$(SUDO) rm -rf /usr/local/lib/cmake/mynteye/
+	$(SUDO) rm -rf /usr/local/share/mynteye/
+endif
+
+.PHONY: uninstall
+
 # samples
 
 samples: install
@@ -132,14 +163,30 @@ tools: install
 
 .PHONY: tools
 
+# pkg
+
+pkg: clean
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
+	@$(SH) ./scripts/win/winpack.sh "$(PKGNAME)"
+else
+	$(error "Can't make pkg on $(HOST_OS)")
+endif
+
+cleanpkg:
+	@$(call echo,Make $@)
+	@$(call rm_f,$(PKGNAME)*)
+
+.PHONY: pkg cleanpkg
+
 # ros
 
 ros: install
 	@$(call echo,Make $@)
-ifeq ($(HOST_OS),Win)
-	$(error "Can't make ros on win")
+ifeq ($(HOST_OS),Linux)
+	@cd ./wrappers/ros && catkin_make -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 else
-	@cd ./wrappers/ros && catkin_make
+	$(error "Can't make ros on $(HOST_OS)")
 endif
 
 .PHONY: ros
@@ -158,6 +205,44 @@ cleanros:
 
 .PHONY: cleanros
 
+# python
+
+PBCVT_DIR := wrappers/python/third_party/pyboostcvconverter
+
+$(PBCVT_DIR):
+	@git clone https://github.com/Algomorph/pyboostcvconverter.git $@
+
+pbcvt: $(PBCVT_DIR)
+	@$(call cmake_build,$(PBCVT_DIR)/_build,.., \
+		-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/wrappers/python/_install \
+		-DPYTHON_DESIRED_VERSION=2.X)
+	@cd $(PBCVT_DIR)/_build; make install
+
+.PHONY: pbcvt
+
+NPCV_DIR := wrappers/python/third_party/numpy-opencv-converter
+
+$(NPCV_DIR):
+	@git clone https://github.com/GarrickLin/numpy-opencv-converter.git $@
+
+py: python
+
+python: install $(NPCV_DIR)
+	@$(call echo,Make $@)
+	@$(call cmake_build,./wrappers/python/_build)
+	@cd ./wrappers/python/_build; make install
+
+.PHONY: py python
+
+cleanpy:
+	@$(call echo,Make $@)
+	@$(call rm,./wrappers/python/_build/)
+	@$(call rm,./wrappers/python/_output/)
+	@$(call rm,./wrappers/python/_install/)
+	@$(call rm,./$(PBCVT_DIR)/_build/)
+
+.PHONY: cleanpy
+
 # clean
 
 clean:
@@ -175,6 +260,7 @@ clean:
 ifeq ($(HOST_OS),Linux)
 	@$(MAKE) cleanros
 endif
+	@$(MAKE) cleanpy
 
 cleanlog:
 	@$(call rm_f,*INFO*)
@@ -182,11 +268,12 @@ cleanlog:
 	@$(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
+	@$(call rm,./$(PBCVT_DIR)/)
+	@$(call rm,./$(NPCV_DIR)/)
 
 .PHONY: clean cleanlog cleanall
 
@@ -194,6 +281,8 @@ cleanall: clean
 
 host:
 	@$(call echo,Make $@)
+	@echo MKFILE_PATH: $(MKFILE_PATH)
+	@echo MKFILE_DIR: $(MKFILE_DIR)
 	@echo HOST_OS: $(HOST_OS)
 	@echo HOST_ARCH: $(HOST_ARCH)
 	@echo HOST_NAME: $(HOST_NAME)
@@ -206,6 +295,7 @@ host:
 	@echo BUILD: $(BUILD)
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
+	@echo PKGNAME: $(PKGNAME)
 
 .PHONY: host
 

README.md

@@ -1,11 +1,40 @@
-# MYNT® EYE SDK
+# MYNT® EYE S SDK
+
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
-MYNT® EYE SDK 2.0 is a cross-platform library for MYNT® EYE cameras.
+MYNT® EYE S SDK is a cross-platform library for MYNT® EYE Standard cameras.
+
+The following platforms have been tested:
+
+* Windows 10
+* Ubuntu 16.04 / 14.04
+* Jetson TX2
+
+Please follow the guide doc to install the SDK on different platforms.
+
+## Documentations
+
+* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683636/mynt-eye-s-sdk-apidoc-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683637/mynt-eye-s-sdk-apidoc-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683638/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683639/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/index.html)
+* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683625/mynt-eye-s-sdk-guide-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683626/mynt-eye-s-sdk-guide-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683627/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683628/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/index.html)
+
+> Supported languages: `en`, `zh-Hans`.
+
+## Firmwares
+
+[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
+
+Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.2`.
 
 ## Usage
 
+In short,
+
 ```bash
 $ make
 Usage:
@@ -30,22 +59,10 @@ make samples
 ./samples/_output/bin/device/camera_d
 ```
 
-## Firmwares
-
-[Google Drive]: https://drive.google.com/drive/folders/1tdFCcTBMNcImEGZ39tdOZmlX2SHKCr2f
-[百度网盘]: https://pan.baidu.com/s/1yPQDp2r0x4jvNwn2UjlMUQ
-
-Get firmwares from our online disks: [Google Drive][], [百度网盘][].
-
-## Documentations
-
-* [API Doc](https://github.com/slightech/MYNT-EYE-SDK-2/releases)
-* [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases)
-
 ## Mirrors
 
-国内镜像：[码云](https://gitee.com/mynt/MYNT-EYE-SDK-2)。
+国内镜像：[码云](https://gitee.com/mynt/MYNT-EYE-S-SDK)。
 
 ## License
 
-This project is licensed under the Apache License, Version 2.0. Copyright 2018 Slightech Co., Ltd.
+This project is licensed under the [Apache License, Version 2.0](LICENSE). Copyright 2018 Slightech Co., Ltd.

cmake/Common.cmake

@@ -21,14 +21,40 @@ set(CUR_DIR ${CMAKE_CURRENT_LIST_DIR})
 
 if(MSVC OR MSYS OR MINGW)
   set(OS_WIN TRUE)
+  set(HOST_OS Win)
 elseif(APPLE)
   set(OS_MAC TRUE)
+  set(HOST_OS Mac)
 elseif(UNIX)
   set(OS_LINUX TRUE)
+  set(HOST_OS Linux)
 else()
   message(FATAL_ERROR "Unsupported OS.")
 endif()
 
+set(HOST_NAME "${HOST_OS}")
+
+if(OS_LINUX)
+  execute_process(COMMAND uname -a COMMAND tr -d '\n' OUTPUT_VARIABLE UNAME_A)
+  string(TOLOWER "${UNAME_A}" UNAME_A)
+  if(${UNAME_A} MATCHES ".*(tegra|jetsonbot).*")
+    set(OS_TEGRA TRUE)
+    set(HOST_NAME Tegra)
+  elseif(${UNAME_A} MATCHES ".*ubuntu.*")
+    set(OS_UBUNTU TRUE)
+    set(HOST_NAME Ubuntu)
+  endif()
+endif()
+
+include(${CMAKE_CURRENT_LIST_DIR}/TargetArch.cmake)
+target_architecture(HOST_ARCH)
+message(STATUS "HOST_ARCH: ${HOST_ARCH}")
+
+# CMAKE_CXX_COMPILER_ID
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER_ID.html
+# CMAKE_CXX_COMPILER_VERSION
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER_VERSION.html
+
 # set_outdir(ARCHIVE_OUTPUT_DIRECTORY
 #            LIBRARY_OUTPUT_DIRECTORY
 #            RUNTIME_OUTPUT_DIRECTORY)
@@ -44,17 +70,29 @@ macro(set_outdir ARCHIVE_OUTPUT_DIRECTORY LIBRARY_OUTPUT_DIRECTORY RUNTIME_OUTPU
   endforeach()
 endmacro()
 
+if(NOT __exe2bat_relative_path)
+  set(__exe2bat_relative_path false)
+endif()
+
 macro(exe2bat exe_name exe_dir dll_search_paths)
   message(STATUS "Generating ${exe_name}.bat")
   set(__exe_name ${exe_name})
-  set(__dll_relative_search_paths "")
-  foreach(path ${dll_search_paths})
-    file(RELATIVE_PATH __relative_path "${exe_dir}" "${path}")
-    file(TO_NATIVE_PATH ${__relative_path} __relative_path)
-    list(APPEND __dll_relative_search_paths ${__relative_path})
-  endforeach()
-  #message(STATUS __dll_relative_search_paths: "${__dll_relative_search_paths}")
-  set(__dll_search_paths "${__dll_relative_search_paths}")
+  if(__exe2bat_relative_path)
+    set(__dll_relative_search_paths "")
+    foreach(path ${dll_search_paths})
+      file(RELATIVE_PATH __relative_path "${exe_dir}" "${path}")
+      file(TO_NATIVE_PATH ${__relative_path} __relative_path)
+      list(APPEND __dll_relative_search_paths ${__relative_path})
+    endforeach()
+    set(__dll_search_paths "${__dll_relative_search_paths}")
+  else()
+    set(__dll_native_search_paths "")
+    foreach(path ${dll_search_paths})
+      file(TO_NATIVE_PATH ${path} __native_path)
+      list(APPEND __dll_native_search_paths ${__native_path})
+    endforeach()
+    set(__dll_search_paths "${__dll_native_search_paths}")
+  endif()
   configure_file(
     "${CUR_DIR}/templates/exe.bat.in"
     "${exe_dir}/${__exe_name}.bat"

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/DetectOpenCV.cmake

@@ -15,12 +15,30 @@
 include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
 cmake_include_guard()
 
-find_package(OpenCV REQUIRED)
-message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
-if(OpenCV_VERSION VERSION_LESS 3.0)
-  add_definitions(-DUSE_OPENCV2)
+if(OpenCV_FIND_QUIET)
+  find_package(OpenCV QUIET)
 else()
-  add_definitions(-DUSE_OPENCV3)
+  find_package(OpenCV REQUIRED)
+endif()
+
+if(OpenCV_FOUND)
+
+#message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+
+set(WITH_OPENCV TRUE)
+add_definitions(-DWITH_OPENCV)
+
+if(OpenCV_VERSION VERSION_LESS 3.0)
+  add_definitions(-DWITH_OPENCV2)
+elseif(OpenCV_VERSION VERSION_LESS 4.0)
+  add_definitions(-DWITH_OPENCV3)
+else()
+  add_definitions(-DWITH_OPENCV4)
+endif()
+
+list(FIND OpenCV_LIBS "opencv_world" __index)
+if(${__index} GREATER -1)
+  set(WITH_OPENCV_WORLD TRUE)
 endif()
 
 if(MSVC OR MSYS OR MINGW)
@@ -28,3 +46,9 @@ if(MSVC OR MSYS OR MINGW)
 else()
   set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
 endif()
+
+else()
+
+set(WITH_OPENCV FALSE)
+
+endif()

cmake/FindCUDA/make2cmake.cmake

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

cmake/FindCUDA/parse_cubin.cmake

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

cmake/FindCUDA/run_nvcc.cmake

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

cmake/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/TargetArch.cmake

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

cmake/Utils.cmake

@@ -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()

cmake/templates/build.info.in

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

cmake/templates/exe.bat.in

@@ -7,7 +7,7 @@ if "%MY_PATH_SET_@__exe_name@%"=="" (
   set "PATH=@__dll_search_paths@;%PATH%"
 )
 
-cd "%MY_DIR%"
+::cd "%MY_DIR%"
 "%MY_DIR%@__exe_name@.exe" %*
-cd "%MY_PWD%"
+::cd "%MY_PWD%"
 ::pause >nul

cmake/templates/pkginfo.sh.in

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

doc/build.sh

@@ -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-s-sdk-apidoc"; \
+        [ -n "$version" ] && dirname="$dirname-$version"; \
+        dirname="$dirname-$lang"
+      cd "$OUTPUT/$lang"
+      [ -d "$dirname" ] && rm -rf "$dirname"
+      mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
+    fi
+
+    # latex
     if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
       _echo_in "doxygen make latex"
+      filename="mynt-eye-s-sdk-apidoc"; \
+        [ -n "$version" ] && filename="$filename-$version"; \
+        filename="$filename-$lang.pdf"
       cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
-      [ -f "refman.pdf" ] && mv "refman.pdf" "../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 S 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
@@ -32,19 +32,19 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "MYNT EYE SDK"
+PROJECT_NAME           = "MYNT EYE S SDK"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.0.0-rc0
+PROJECT_NUMBER         = 2.2.2
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = http://www.myntai.com/camera
+PROJECT_BRIEF          = http://www.myntai.com/mynteye/standard
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
@@ -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.
@@ -1305,7 +1310,7 @@ DOCSET_PUBLISHER_ID    = com.slightech.mynteye.documentation
 # The default value is: Publisher.
 # This tag requires that the tag GENERATE_DOCSET is set to YES.
 
-DOCSET_PUBLISHER_NAME  = MYNT EYE SDK
+DOCSET_PUBLISHER_NAME  = MYNT EYE S SDK
 
 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The
@@ -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_build_linux.md

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

doc/zh-Hans/guide_build_win.md

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

doc/zh-Hans/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}
+# MYNT EYE S 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 +8,23 @@
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
 | 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 | |
+| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |

doc/zh-Hans/spec_control_channel.md

@@ -1,12 +1,12 @@
-# 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 |
 | :----- | :----- | :----- | :----- | :----- |
-| 相机控制通道 | XU_CAM_CTRL_CHANNEL | 0x0100 | 3 | |
-| 半双工通道 | XU_HALF_DUPLEX_CHANNEL | 0x0200 | 20 | |
-| IMU 请求通道 | XU_IMUDATA_WRITE_CHANNEL | 0x0300 | 5 | |
-| IMU 响应通道 | XU_IMUDATA_READ_CHANNEL | 0x0400 | 2000 | |
-| 文件通道 | XU_FILE_CHANNEL | 0x0500 | 2000 | |
+| 相机控制通道 | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
+| 半双工通道 | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
+| IMU 请求通道 | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
+| IMU 响应通道 | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
+| 文件通道 | XU_FILE_CHANNEL | 5 | 2000 | |
 
 ## 相机控制通道
 
@@ -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/deprecated/mynteye/api.h

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

include/deprecated/mynteye/callbacks.h

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

include/deprecated/mynteye/context.h

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

include/deprecated/mynteye/device.h

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

include/deprecated/mynteye/files.h

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

include/deprecated/mynteye/glog_init.h

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

include/deprecated/mynteye/object.h

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

include/deprecated/mynteye/plugin.h

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

include/deprecated/mynteye/strings.h

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

include/deprecated/mynteye/times.h

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

include/deprecated/mynteye/utils.h

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

include/mynteye/api/api.h

@@ -11,17 +11,18 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_API_H_  // NOLINT
-#define MYNTEYE_API_H_
+#ifndef MYNTEYE_API_API_H_
+#define MYNTEYE_API_API_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
+#include <functional>
 #include <limits>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
 
@@ -30,6 +31,12 @@ MYNTEYE_BEGIN_NAMESPACE
 class Device;
 class Synthetic;
 
+namespace device {
+
+class Frame;
+
+}  // namespace device
+
 namespace api {
 
 /**
@@ -41,6 +48,18 @@ struct MYNTEYE_API StreamData {
   std::shared_ptr<ImgData> img;
   /** Frame. */
   cv::Mat frame;
+  /** Raw frame. */
+  std::shared_ptr<device::Frame> frame_raw;
+  /** Frame ID. */
+  std::uint16_t frame_id;
+
+  bool operator==(const StreamData &other) const {
+    if (img && other.img) {
+      return img->frame_id == other.img->frame_id &&
+             img->timestamp == other.img->timestamp;
+    }
+    return false;
+  }
 };
 
 /**
@@ -50,6 +69,14 @@ struct MYNTEYE_API StreamData {
 struct MYNTEYE_API MotionData {
   /** ImuData. */
   std::shared_ptr<ImuData> imu;
+
+  bool operator==(const MotionData &other) const {
+    if (imu && other.imu) {
+      return imu->frame_id == other.imu->frame_id &&
+             imu->timestamp == other.imu->timestamp;
+    }
+    return false;
+  }
 };
 
 }  // namespace api
@@ -65,7 +92,7 @@ class MYNTEYE_API API {
   using motion_callback_t = std::function<void(const api::MotionData &data)>;
 
   explicit API(std::shared_ptr<Device> device);
-  /*virtual*/ ~API();
+  virtual ~API();
 
   /**
    * Create the API instance.
@@ -222,12 +249,12 @@ 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);
 
@@ -256,4 +283,4 @@ class MYNTEYE_API API {
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_API_H_ NOLINT
+#endif  // MYNTEYE_API_API_H_

include/mynteye/api/object.h

@@ -11,16 +11,20 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_OBJECT_H_  // NOLINT
-#define MYNTEYE_OBJECT_H_
+#ifndef MYNTEYE_API_OBJECT_H_
+#define MYNTEYE_API_OBJECT_H_
 #pragma once
 
+#include <memory>
+
 #include <opencv2/core/core.hpp>
 
 #include "mynteye/mynteye.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
+struct ImgData;
+
 /**
  * Input & output object.
  */
@@ -29,6 +33,7 @@ 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 +46,11 @@ 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);
+  }
 };
 
 /**
@@ -48,16 +58,28 @@ struct MYNTEYE_API Object {
  */
 struct MYNTEYE_API ObjMat : public Object {
   ObjMat() = default;
-  explicit ObjMat(const cv::Mat &value) : value(value) {}
+  ObjMat(const cv::Mat &value, std::uint16_t id,
+         const std::shared_ptr<ImgData> &data)
+      : value(value), id(id), data(data) {}
 
   /** The value */
   cv::Mat value;
+  /** The id **/
+  std::uint16_t id;
+  /** The data **/
+  std::shared_ptr<ImgData> data;
 
   Object *Clone() const {
     ObjMat *mat = new ObjMat;
     mat->value = value.clone();
+    mat->id = id;
+    mat->data = data;
     return mat;
   }
+
+  bool DecValidity() const {
+    return !value.empty();
+  }
 };
 
 /**
@@ -65,23 +87,43 @@ struct MYNTEYE_API ObjMat : public Object {
  */
 struct MYNTEYE_API ObjMat2 : public Object {
   ObjMat2() = default;
-  ObjMat2(const cv::Mat &first, const cv::Mat &second)
-      : first(first), second(second) {}
+  ObjMat2(const cv::Mat &first, std::uint16_t first_id,
+          const std::shared_ptr<ImgData> &first_data,
+          const cv::Mat &second, std::uint16_t second_id,
+          const std::shared_ptr<ImgData> &second_data)
+      : first(first), first_id(first_id), first_data(first_data),
+        second(second), second_id(second_id), second_data(second_data) {}
 
   /** The first value */
   cv::Mat first;
+  /** The first id **/
+  std::uint16_t first_id;
+  /** The first data **/
+  std::shared_ptr<ImgData> first_data;
 
   /** The second value */
   cv::Mat second;
+  /** The second id **/
+  std::uint16_t second_id;
+  /** The second data **/
+  std::shared_ptr<ImgData> second_data;
 
   Object *Clone() const {
     ObjMat2 *mat2 = new ObjMat2;
     mat2->first = first.clone();
+    mat2->first_id = first_id;
+    mat2->first_data = first_data;
     mat2->second = second.clone();
+    mat2->second_id = second_id;
+    mat2->second_data = second_data;
     return mat2;
   }
+
+  bool DecValidity() const {
+    return !first.empty() && !second.empty();
+  }
 };
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_OBJECT_H_  NOLINT
+#endif  // MYNTEYE_API_OBJECT_H_

include/mynteye/api/plugin.h

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

include/mynteye/device/callbacks.h

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

include/mynteye/device/context.h

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

include/mynteye/device/device.h

@@ -11,20 +11,19 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_DEVICE_H_  // NOLINT
-#define MYNTEYE_DEVICE_H_
+#ifndef MYNTEYE_DEVICE_DEVICE_H_
+#define MYNTEYE_DEVICE_DEVICE_H_
 #pragma once
 
-#include <limits>
 #include <map>
 #include <memory>
 #include <mutex>
 #include <string>
 #include <vector>
 
-#include "mynteye/callbacks.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
+#include "mynteye/device/callbacks.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -47,6 +46,9 @@ class Channels;
 class Motions;
 class Streams;
 
+template <class Data>
+class AsyncCallback;
+
 /**
  * The Device class to communicate with MYNT® EYE device.
  */
@@ -59,6 +61,11 @@ class MYNTEYE_API Device {
 
   using stream_callbacks_t = std::map<Stream, stream_callback_t>;
 
+  using stream_async_callback_t = AsyncCallback<device::StreamData>;
+  using motion_async_callback_t = AsyncCallback<device::MotionData>;
+  using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
+  using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;
+
   Device(const Model &model, std::shared_ptr<uvc::device> device);
   virtual ~Device();
 
@@ -132,6 +139,24 @@ 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.
    */
@@ -176,11 +201,12 @@ class MYNTEYE_API Device {
   /**
    * Set the callback of stream.
    */
-  void SetStreamCallback(const Stream &stream, stream_callback_t callback);
+  void SetStreamCallback(
+      const Stream &stream, stream_callback_t callback, bool async = false);
   /**
    * Set the callback of motion.
    */
-  void SetMotionCallback(motion_callback_t callback);
+  void SetMotionCallback(motion_callback_t callback, bool async = false);
 
   /**
    * Has the callback of stream.
@@ -218,8 +244,11 @@ class MYNTEYE_API Device {
   /**
    * Enable cache motion datas.
    */
-  void EnableMotionDatas(
-      std::size_t max_size = std::numeric_limits<std::size_t>::max());
+  void EnableMotionDatas();
+  /**
+   * Enable cache motion datas.
+   */
+  void EnableMotionDatas(std::size_t max_size);
   /**
    * Get the motion datas.
    */
@@ -230,6 +259,18 @@ class MYNTEYE_API Device {
     return device_;
   }
 
+  std::shared_ptr<Streams> streams() const {
+    return streams_;
+  }
+
+  std::shared_ptr<Channels> channels() const {
+    return channels_;
+  }
+
+  std::shared_ptr<Motions> motions() const {
+    return motions_;
+  }
+
   const StreamRequest &GetStreamRequest(const Capabilities &capability);
 
   virtual void StartVideoStreaming();
@@ -238,6 +279,8 @@ class MYNTEYE_API Device {
   virtual void StartMotionTracking();
   virtual void StopMotionTracking();
 
+  virtual void OnStereoStreamUpdate();
+
   virtual std::vector<Stream> GetKeyStreams() const = 0;
 
   bool video_streaming_;
@@ -257,6 +300,9 @@ class MYNTEYE_API Device {
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
+  std::map<Stream, stream_async_callback_ptr_t> stream_async_callbacks_;
+  motion_async_callback_ptr_t motion_async_callback_;
+
   std::shared_ptr<Streams> streams_;
 
   std::map<Capabilities, StreamRequest> stream_config_requests_;
@@ -269,9 +315,8 @@ class MYNTEYE_API Device {
 
   void ReadAllInfos();
 
-  std::shared_ptr<Channels> channels() {
-    return channels_;
-  }
+  void CallbackPushedStreamData(const Stream &stream);
+  void CallbackMotionData(const device::MotionData &data);
 
   friend API;
   friend tools::DeviceWriter;
@@ -279,4 +324,4 @@ class MYNTEYE_API Device {
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_DEVICE_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_DEVICE_H_

include/mynteye/device/utils.h

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

include/mynteye/global.h

@@ -16,72 +16,70 @@
 #pragma once
 
 #ifdef _WIN32
-#define OS_WIN
-#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;
 
+    // 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 = ".";
-    FLAGS_max_log_size = 1024;
+
+    // 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
 
@@ -45,7 +45,7 @@ MYNTEYE_API_VERSION_CHECK( \
   ((major<<16)|(minor<<8)|(patch))  // NOLINT
 
 /* MYNTEYE_API_VERSION in "X.Y.Z" format */
-#define MYNTEYE_API_VERSION_STR (STRINGIFY(MYNTEYE_API_VERSION_MAJOR.MYNTEYE_API_VERSION_MINOR.MYNTEYE_API_VERSION_PATCH))  // NOLINT
+#define MYNTEYE_API_VERSION_STR (MYNTEYE_STRINGIFY(MYNTEYE_API_VERSION_MAJOR.MYNTEYE_API_VERSION_MINOR.MYNTEYE_API_VERSION_PATCH))  // NOLINT
 
 #cmakedefine MYNTEYE_NAMESPACE @MYNTEYE_NAMESPACE@
 #if defined(MYNTEYE_NAMESPACE)
@@ -58,4 +58,14 @@ MYNTEYE_API_VERSION_CHECK( \
 # define MYNTEYE_USE_NAMESPACE
 #endif
 
+const char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
+const char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
+
+MYNTEYE_BEGIN_NAMESPACE
+
+template <typename... T>
+void UNUSED(T &&...) {}
+
+MYNTEYE_END_NAMESPACE
+
 #endif  // MYNTEYE_MYNTEYE_H_

include/mynteye/types.h

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_TYPES_H_  // NOLINT
+#ifndef MYNTEYE_TYPES_H_
 #define MYNTEYE_TYPES_H_
 #pragma once
 
@@ -195,6 +195,18 @@ enum class Option : std::uint8_t {
   ZERO_DRIFT_CALIBRATION,
   /** Erase chip */
   ERASE_CHIP,
+  /**
+   * The range of accelerometer
+   *
+   *   values: {4,8,16,32}, default: 8
+   */
+  ACCELEROMETER_RANGE,
+  /**
+   * The range of gyroscope
+   *
+   *   values: {500,1000,2000,4000}, default: 1000
+   */
+  GYROSCOPE_RANGE,
   /** Last guard */
   LAST
 };
@@ -483,4 +495,4 @@ std::ostream &operator<<(std::ostream &os, const OptionInfo &info);
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_TYPES_H_ NOLINT
+#endif  // MYNTEYE_TYPES_H_

include/mynteye/util/files.h

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

include/mynteye/util/strings.h

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_INTERNAL_STRINGS_H_  // NOLINT
-#define MYNTEYE_INTERNAL_STRINGS_H_
+#ifndef MYNTEYE_UTIL_STRINGS_H_
+#define MYNTEYE_UTIL_STRINGS_H_
 #pragma once
 
 #include <stdexcept>
@@ -41,6 +41,9 @@ int hex2int(const std::string &text);
 MYNTEYE_API
 bool starts_with(const std::string &text, const std::string &prefix);
 
+MYNTEYE_API
+bool ends_with(const std::string &text, const std::string &suffix);
+
 MYNTEYE_API
 std::vector<std::string> split(
     const std::string &text, const std::string &delimiters);
@@ -56,4 +59,4 @@ std::string trim_copy(const std::string &text);
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_INTERNAL_STRINGS_H_ NOLINT
+#endif  // MYNTEYE_UTIL_STRINGS_H_

include/mynteye/util/times.h

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

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")

platforms/projects/vs2017/README.md

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

platforms/projects/vs2017/mynteyes_demo/.gitignore

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

platforms/projects/vs2017/mynteyes_demo/mynteyes_demo.sln

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

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

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

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

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

platforms/win/README.txt

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

samples/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}")
@@ -75,8 +71,10 @@ add_subdirectory(device)
 
 # samples above uvc layer
 
-add_subdirectory(uvc)
+#add_subdirectory(uvc)
 
 # tutorials
 
-add_subdirectory(tutorials)
+if(WITH_API)
+  add_subdirectory(tutorials)
+endif()

samples/api/CMakeLists.txt

@@ -27,3 +27,15 @@ make_executable(camera_a
   LINK_LIBS mynteye ${OpenCV_LIBS}
   DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
 )
+
+## get_depth_with_region
+
+if(OpenCV_VERSION VERSION_LESS 4.0)
+
+make_executable(get_depth_with_region
+  SRCS get_depth_with_region.cc
+  LINK_LIBS mynteye ${OpenCV_LIBS}
+  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+)
+
+endif()

samples/api/camera.cc

@@ -13,10 +13,9 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
-#include "mynteye/api.h"
-#include "mynteye/times.h"
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/api/get_depth_with_region.cc

@@ -0,0 +1,222 @@
+// 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 <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "mynteye/api/api.h"
+
+namespace {
+
+class DepthRegion {
+ public:
+  explicit DepthRegion(std::uint32_t n)
+      : n_(std::move(n)), show_(false), selected_(false), point_(0, 0) {}
+
+  ~DepthRegion() = default;
+
+  /**
+   * 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) {
+    MYNTEYE_UNUSED(flags)
+    if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
+      return;
+    }
+    show_ = true;
+
+    if (event == CV_EVENT_MOUSEMOVE) {
+      if (!selected_) {
+        point_.x = x;
+        point_.y = y;
+      }
+    } else if (event == CV_EVENT_LBUTTONDOWN) {
+      if (selected_) {
+        if (x >= static_cast<int>(point_.x - n_) &&
+            x <= static_cast<int>(point_.x + n_) &&
+            y >= static_cast<int>(point_.y - n_) &&
+            y <= static_cast<int>(point_.y + n_)) {
+          selected_ = false;
+        }
+      } else {
+        selected_ = true;
+      }
+      point_.x = x;
+      point_.y = y;
+    }
+  }
+
+  template <typename T>
+  void ShowElems(
+      const cv::Mat &depth,
+      std::function<std::string(const T &elem)> elem2string,
+      int elem_space = 40,
+      std::function<std::string(
+          const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n)>
+          getinfo = nullptr) {
+    if (!show_)
+      return;
+
+    int space = std::move(elem_space);
+    int n = 2 * n_ + 1;
+    cv::Mat im(space * n, space * n, CV_8UC3, cv::Scalar(255, 255, 255));
+
+    int x, y;
+    std::string str;
+    int baseline = 0;
+    for (int i = -n_; i <= n; ++i) {
+      x = point_.x + i;
+      if (x < 0 || x >= depth.cols)
+        continue;
+      for (int j = -n_; j <= n; ++j) {
+        y = point_.y + j;
+        if (y < 0 || y >= depth.rows)
+          continue;
+
+        str = elem2string(depth.at<T>(y, x));
+
+        cv::Scalar color(0, 0, 0);
+        if (i == 0 && j == 0)
+          color = cv::Scalar(0, 0, 255);
+
+        cv::Size sz =
+            cv::getTextSize(str, cv::FONT_HERSHEY_PLAIN, 1, 1, &baseline);
+
+        cv::putText(
+            im, str, cv::Point(
+                         (i + n_) * space + (space - sz.width) / 2,
+                         (j + n_) * space + (space + sz.height) / 2),
+            cv::FONT_HERSHEY_PLAIN, 1, color, 1);
+      }
+    }
+
+    if (getinfo) {
+      std::string info = getinfo(depth, point_, n_);
+      if (!info.empty()) {
+        cv::Size sz =
+            cv::getTextSize(info, cv::FONT_HERSHEY_PLAIN, 1, 1, &baseline);
+
+        cv::putText(
+            im, info, cv::Point(5, 5 + sz.height), cv::FONT_HERSHEY_PLAIN, 1,
+            cv::Scalar(255, 0, 255), 1);
+      }
+    }
+
+    cv::imshow("region", im);
+  }
+
+  void DrawRect(cv::Mat &image) {  // NOLINT
+    if (!show_)
+      return;
+    std::uint32_t n = (n_ > 1) ? n_ : 1;
+    n += 1;  // outside the region
+    cv::rectangle(
+        image, cv::Point(point_.x - n, point_.y - n),
+        cv::Point(point_.x + n, point_.y + n),
+        selected_ ? cv::Scalar(0, 255, 0) : cv::Scalar(0, 0, 255), 1);
+  }
+
+ private:
+  std::uint32_t n_;
+  bool show_;
+  bool selected_;
+  cv::Point point_;
+};
+
+void OnDepthMouseCallback(int event, int x, int y, int flags, void *userdata) {
+  DepthRegion *region = reinterpret_cast<DepthRegion *>(userdata);
+  region->OnMouse(event, x, y, flags);
+}
+
+}  // namespace
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
+
+  api->SetOptionValue(Option::IR_CONTROL, 80);
+
+  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
+  api->EnableStreamData(Stream::DEPTH);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  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) {
+    MYNTEYE_UNUSED(depth)
+    std::ostringstream os;
+    os << "depth pos: [" << point.y << ", " << point.x << "]"
+       << "±" << n << ", unit: mm";
+    return os.str();
+  };
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    cv::imshow("frame", img);
+
+    auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
+    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
+    if (!disp_data.frame.empty() && !depth_data.frame.empty()) {
+      // Show disparity instead of depth, but show depth values in region.
+      auto &&depth_frame = disp_data.frame;
+
+#ifdef WITH_OPENCV3
+      // ColormapTypes
+      //   http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
+      cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);
+#endif
+
+      cv::setMouseCallback("depth", OnDepthMouseCallback, &depth_region);
+      // Note: DrawRect will change some depth values to show the rect.
+      depth_region.DrawRect(depth_frame);
+
+      cv::imshow("depth", depth_frame);
+
+      depth_region.ShowElems<ushort>(
+          depth_data.frame,
+          [](const ushort &elem) {
+            if (elem >= 10000) {
+              // Filter errors, or limit to valid range.
+              //
+              // reprojectImageTo3D(), missing values will set to 10000
+              //   https://docs.opencv.org/master/d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02
+              return std::string("invalid");
+            }
+            return std::to_string(elem);
+          },
+          80, depth_info);
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}

samples/device/camera.cc

@@ -14,12 +14,10 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/glog_init.h"
-
-#include "mynteye/device.h"
-#include "mynteye/utils.h"
-
-#include "mynteye/times.h"
+#include "mynteye/logger.h"
+#include "mynteye/device/device.h"
+#include "mynteye/device/utils.h"
+#include "mynteye/util/times.h"
 
 MYNTEYE_USE_NAMESPACE
 

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)
@@ -86,11 +86,13 @@ else()
   message(WARNING "PCL not found :(")
 endif()
 
-# data
+# beginner level
 
-make_executable2(get_device_info SRCS data/get_device_info.cc)
-make_executable2(get_img_params SRCS data/get_img_params.cc)
-make_executable2(get_imu_params SRCS data/get_imu_params.cc)
+## data
+
+make_executable2(get_device_info SRCS data/get_device_info.cc WITH_OPENCV)
+make_executable2(get_img_params SRCS data/get_img_params.cc WITH_OPENCV)
+make_executable2(get_imu_params SRCS data/get_imu_params.cc WITH_OPENCV)
 
 make_executable2(get_stereo SRCS data/get_stereo.cc WITH_OPENCV)
 make_executable2(get_stereo_rectified SRCS data/get_stereo_rectified.cc WITH_OPENCV)
@@ -109,9 +111,10 @@ make_executable2(get_from_callbacks
 )
 make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
 
-# control
+## control
 
 make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV)
+make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
 make_executable2(ctrl_auto_exposure
   SRCS control/auto_exposure.cc util/cv_painter.cc
   WITH_OPENCV
@@ -122,4 +125,21 @@ make_executable2(ctrl_manual_exposure
 )
 make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 
+# 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)
+
+make_executable2(get_depth_and_points
+  SRCS intermediate/get_depth_and_points.cc util/cv_painter.cc util/pc_viewer.cc
+  WITH_OPENCV WITH_PCL
+)
+
 endif()
+
+endif()
+
+# advanced level

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 "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 
@@ -29,7 +28,7 @@ int main(int argc, char *argv[]) {
   // auto-exposure: 0
   api->SetOptionValue(Option::EXPOSURE_MODE, 0);
 
-  // max_gain: range [0.48], default 48
+  // max_gain: range [0,48], default 48
   api->SetOptionValue(Option::MAX_GAIN, 48);
   // max_exposure_time: range [0,240], default 240
   api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);

samples/tutorials/control/framerate.cc

@@ -11,14 +11,13 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-
-#include <glog/logging.h>
-
 #include <atomic>
 
-#include "mynteye/api.h"
-#include "mynteye/times.h"
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
 
 MYNTEYE_USE_NAMESPACE