Update version

Update img.params
Add frame rate 60
2018-10-22 22:18:22 +08:00 · 2018-10-18 15:11:21 +08:00 · 2018-10-17 11:12:40 +08:00 · 2018-10-17 10:59:50 +08:00 · 2018-09-27 09:56:17 +08:00 · 2018-09-27 09:31:42 +08:00
150 changed files with 9704 additions and 1252 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,7 @@
 .DS_Store
-/.vscode/
+
+.vs/
+.vscode/

 _build/
 _install/
--- a/.gitmodules
+++ b/.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
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@

 cmake_minimum_required(VERSION 3.0)

-project(mynteye VERSION 2.0.0 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.1 LANGUAGES C CXX)

 include(cmake/Common.cmake)

@@ -44,13 +44,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")

 # packages

-LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
+find_package(Threads QUIET)

-if(WITH_API)
-  include(cmake/DetectOpenCV.cmake)
-endif()
+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)

@@ -63,6 +66,14 @@ 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
@@ -86,19 +97,28 @@ set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")

 ## main

-add_executable(main src/main.cc)
-target_link_libraries(main glog::glog)
-target_include_directories(main PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-  ${CMAKE_CURRENT_BINARY_DIR}/include
-)
+if(WITH_GLOG)
+  add_executable(main src/main.cc)
+  target_link_libraries(main glog::glog)
+  target_include_directories(main PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_BINARY_DIR}/include
+  )
+endif()

 ## libmynteye

+if(NOT WITH_GLOG AND NOT OS_WIN)
+  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
+  unset(__MINIGLOG_FLAGS)
+endif()
+
 set(MYNTEYE_PUBLIC_H
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/glog_init.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
  ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h
@@ -115,6 +135,11 @@ if(WITH_API)
    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
  )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_PUBLIC_H
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+  )
+endif()

 if(OS_WIN)
  set(UVC_SRC src/uvc/uvc-wmf.cc)
@@ -159,18 +184,25 @@ if(WITH_API)
    src/api/processor/points_processor.cc
  )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
+endif()

-set(MYNTEYE_LINKLIBS
-  glog::glog
-  ${UVC_LIB}
-)
+set(MYNTEYE_LINKLIBS ${UVC_LIB})
 if(WITH_API)
  list(APPEND MYNTEYE_LINKLIBS ${OpenCV_LIBS})
 endif()
+if(WITH_BOOST_FILESYSTEM)
+  list(APPEND MYNTEYE_LINKLIBS ${Boost_LIBRARIES})
+endif()
+if(WITH_GLOG)
+  list(APPEND MYNTEYE_LINKLIBS glog::glog)
+endif()
 #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")

 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
 target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
+target_link_threads(${MYNTEYE_NAME})

 if(OS_WIN)
  target_compile_definitions(${MYNTEYE_NAME}
@@ -227,3 +259,31 @@ 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 ${CMAKE_INSTALL_PREFIX}/share/mynteye
+)
--- a/CPPLINT.cfg
+++ b/CPPLINT.cfg
@@ -0,0 +1,2 @@
+set noparent
+filter=-build/c++11
--- a/CommonDefs.mk
+++ b/CommonDefs.mk
@@ -171,23 +171,32 @@ ifeq ($(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

--- a/38
+++ b/38
@@ -16,6 +16,12 @@ include CommonDefs.mk
 MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
 MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))

+# CMAKE_INSTALL_PREFIX:
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html
+#
+#   UNIX: /usr/local
+#   Windows: c:/Program Files/${PROJECT_NAME}
+
 .DEFAULT_GOAL := help

 help:
@@ -25,8 +31,8 @@ help:
 	@echo "  make opendoc         open api doc (html)"
 	@echo "  make init            init project"
 	@echo "  make build           build project"
-	@echo "  make test            build test and run"
 	@echo "  make install         install project"
+	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
 	@echo "  make ros             build ros wrapper"
@@ -35,7 +41,7 @@ help:

 .PHONY: help

-all: test tools samples
+all: test samples tools

 .PHONY: all

@@ -43,7 +49,8 @@ all: test tools samples

 apidoc:
 	@$(call echo,Make $@)
-	@[ -e ./_install/include ] || $(MAKE) install
+	@# @[ -e ./_install/include ] || $(MAKE) install
+	@[ -e /usr/local/include/mynteye ] || $(MAKE) install
 	@$(SH) ./doc/build.sh

 opendoc: apidoc
@@ -54,19 +61,17 @@ opendoc: apidoc
 		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
 	done

-.PHONY: apidoc opendoc
+cleandoc:
+	@$(call rm,./doc/_output/)
+
+.PHONY: apidoc opendoc cleandoc

 # deps

 submodules:
 	@git submodule update --init

-third_party: submodules
-	@$(call echo,Make $@)
-	@$(call echo,Make glog,33)
-	@$(call cmake_build,./third_party/glog/_build)
-
-.PHONY: submodules third_party
+.PHONY: submodules

 # init

@@ -78,9 +83,13 @@ init: submodules

 # build

-build: third_party
+build: submodules
 	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
 	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+else
+	@$(call cmake_build,./_build,..)
+endif

 .PHONY: build

@@ -114,9 +123,13 @@ ifneq ($(HOST_NAME),MinGW)
 else
 	@cd ./_build; make install
 endif
+else
+ifeq ($(HOST_OS),Linux)
+	@cd ./_build; sudo make install
 else
 	@cd ./_build; make install
 endif
+endif

 .PHONY: install

@@ -225,8 +238,7 @@ cleanlog:
 	@$(call rm_f,*ERROR*)
 	@$(call rm_f,*FATAL*)

-cleanall: clean
-	@$(call rm,./doc/_output/)
+cleanall: clean cleandoc
 	@$(call rm,./test/gtest/_build/)
 	@$(call rm,./third_party/glog/_build/)
 	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
--- a/README.md
+++ b/README.md
@@ -1,11 +1,40 @@
 # MYNT® EYE SDK

+[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.1--rc2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
+
 ## Overview

 MYNT® EYE SDK 2.0 is a cross-platform library for MYNT® EYE cameras.

+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-SDK-2/releases): API reference, some guides and data spec.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422149/mynt-eye-sdk-apidoc-2.0.1-rc2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422151/mynt-eye-sdk-apidoc-2.0.1-rc2-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422152/mynt-eye-sdk-apidoc-2.0.1-rc2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422153/mynt-eye-sdk-apidoc-2.0.1-rc2-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-sdk-apidoc-2.0.1-rc2-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc2-html-zh-Hans/index.html)
+* [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases): How to install and start using the SDK.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422160/mynt-eye-sdk-guide-2.0.1-rc2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422161/mynt-eye-sdk-guide-2.0.1-rc2-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422162/mynt-eye-sdk-guide-2.0.1-rc2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422164/mynt-eye-sdk-guide-2.0.1-rc2-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-sdk-guide-2.0.1-rc2-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc2-html-zh-Hans/index.html)
+
+> Supported languages: `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 `2.0.1`.
+
 ## Usage

+In short,
+
 ```bash
 $ make
 Usage:
@@ -30,18 +59,6 @@ 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)。
--- a/cmake/Common.cmake
+++ b/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 +70,27 @@ macro(set_outdir ARCHIVE_OUTPUT_DIRECTORY LIBRARY_OUTPUT_DIRECTORY RUNTIME_OUTPU
  endforeach()
 endmacro()

+set(__exe2bat_relative_path false)
+
 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}/${__exe_name}.bat"
--- a/cmake/DetectGLog.cmake
+++ b/cmake/DetectGLog.cmake
@@ -0,0 +1,26 @@
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+include(${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)
--- a/cmake/DetectOpenCV.cmake
+++ b/cmake/DetectOpenCV.cmake
@@ -19,8 +19,15 @@ find_package(OpenCV REQUIRED)
 message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
 if(OpenCV_VERSION VERSION_LESS 3.0)
  add_definitions(-DUSE_OPENCV2)
-else()
+elseif(OpenCV_VERSION VERSION_LESS 4.0)
  add_definitions(-DUSE_OPENCV3)
+else()
+  add_definitions(-DUSE_OPENCV4)
+endif()
+
+list(FIND OpenCV_LIBS "opencv_world" __index)
+if(${__index} GREATER -1)
+  set(WITH_OPENCV_WORLD TRUE)
 endif()

 if(MSVC OR MSYS OR MINGW)
--- a/cmake/FindCUDA.cmake
+++ b/cmake/FindCUDA.cmake
--- a/cmake/FindCUDA/make2cmake.cmake
+++ b/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")
--- a/cmake/FindCUDA/parse_cubin.cmake
+++ b/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()
--- a/cmake/FindCUDA/run_nvcc.cmake
+++ b/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()
--- a/cmake/Option.cmake
+++ b/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("")
--- a/cmake/TargetArch.cmake
+++ b/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()
--- a/cmake/Utils.cmake
+++ b/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()
--- a/cmake/templates/build.info.in
+++ b/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@
--- a/cmake/templates/exe.bat.in
+++ b/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
--- a/doc/build.sh
+++ b/doc/build.sh
@@ -40,8 +40,8 @@ OUTPUT="$BASE_DIR/_output"
 _texcjk() {
  tex="$1"; shift;
  _echo_in "add cjk to $tex"
-  sed -i "" -e $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
-  sed -i "" -e $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
+  sed -i "" -E $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
+  sed -i "" -E $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
 }

 for lang in "${LANGS[@]}"; do
@@ -52,11 +52,30 @@ for lang in "${LANGS[@]}"; do
    _mkdir "$OUTPUT/$lang"
    _echo_i "doxygen $DOXYFILE"
    doxygen $DOXYFILE
+
+    version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
+      sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
+
+    # html
+    if [ -d "$OUTPUT/$lang/html" ]; then
+      dirname="mynt-eye-sdk-apidoc"; \
+        [ -n "$version" ] && dirname="$dirname-$version"; \
+        dirname="$dirname-$lang"
+      cd "$OUTPUT/$lang"
+      [ -d "$dirname" ] && rm -rf "$dirname"
+      mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
+    fi
+
+    # latex
    if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
      _echo_in "doxygen make latex"
+      filename="mynt-eye-sdk-apidoc"; \
+        [ -n "$version" ] && filename="$filename-$version"; \
+        filename="$filename-$lang.pdf"
      cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
-      [ -f "refman.pdf" ] && mv "refman.pdf" "../mynteye-apidoc.pdf"
+      [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
    fi
+
    _echo_d "doxygen completed"
  else
    _echo_e "$DOXYFILE not found"
--- a/doc/en/api.doxyfile
+++ b/doc/en/api.doxyfile
--- a/doc/en/mainpage.md
+++ b/doc/en/mainpage.md
@@ -0,0 +1,11 @@
+# MYNT EYE SDK {#mainpage}
+
+* <a class="el" href="annotated.html">API Classes</a>
+* <a class="el" href="modules.html">API Modules</a>
+  * \link enumerations Enumerations\endlink
+  * \link datatypes Datatypes\endlink
+  * \link utils Utiliities\endlink
+  * \link calibration Intrinsics & Extrinsics\endlink
+* <span style="font-weight:bold">Device Specifications</span>
+  * @subpage specs_data
+  * @subpage specs_ctrl
--- a/doc/en/spec_control_api.md
+++ b/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 | |
--- a/doc/en/spec_control_channel.md
+++ b/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 |
--- a/doc/en/spec_hardware_info.md
+++ b/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 |
--- a/doc/en/spec_image_data.md
+++ b/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.
--- a/doc/en/spec_image_params.md
+++ b/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 |
--- a/doc/en/spec_imu_data.md
+++ b/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℃**.
--- a/doc/en/spec_imu_params.md
+++ b/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 |
--- a/doc/en/specs_ctrl.md
+++ b/doc/en/specs_ctrl.md
@@ -0,0 +1,4 @@
+# Device Control Specification {#specs_ctrl}
+
+* @subpage spec_control_api
+* @subpage spec_control_channel
--- a/doc/en/specs_data.md
+++ b/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
--- a/doc/zh-Hans/api.doxyfile
+++ b/doc/zh-Hans/api.doxyfile
@@ -1,4 +1,4 @@
-# Doxyfile 1.8.13
+# Doxyfile 1.8.14

 # This file describes the settings to be used by the documentation system
 # doxygen (www.doxygen.org) for a project.
@@ -20,8 +20,8 @@
 # This tag specifies the encoding used for all characters in the config file
 # that follow. The default is UTF-8 which is also the encoding used for all text
 # before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
-# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
-# for the list of possible encodings.
+# built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
 # The default value is: UTF-8.

 DOXYFILE_ENCODING      = UTF-8
@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.

-PROJECT_NUMBER         = 2.0.0-rc1
+PROJECT_NUMBER         = 2.2.1-rc

 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
@@ -236,7 +236,8 @@ TAB_SIZE               = 2
 # will allow you to put the command \sideeffect (or @sideeffect) in the
 # documentation, which will result in a user-defined paragraph with heading
 # "Side Effects:". You can put \n's in the value part of an alias to insert
-# newlines.
+# newlines (in the resulting output). You can put ^^ in the value part of an
+# alias to insert a newline as if a physical newline was in the original file.

 ALIASES                =

@@ -337,7 +338,7 @@ BUILTIN_STL_SUPPORT    = NO
 CPP_CLI_SUPPORT        = NO

 # Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
-# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
 # will parse them like normal C++ but will assume all classes use public instead
 # of private inheritance when no explicit protection keyword is present.
 # The default value is: NO.
@@ -708,7 +709,7 @@ LAYOUT_FILE            =
 # The CITE_BIB_FILES tag can be used to specify one or more bib files containing
 # the reference definitions. This must be a list of .bib files. The .bib
 # extension is automatically appended if omitted. This requires the bibtex tool
-# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
 # For LaTeX the style of the bibliography can be controlled using
 # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
 # search path. See also \cite for info how to create references.
@@ -791,14 +792,6 @@ WARN_LOGFILE           =
 # Note: If this tag is empty the current directory is searched.

 INPUT                  = mainpage.md \
-                         guides.md \
-                         guide_build_linux.md \
-                         guide_build_win.md \
-                         guide_samples.md \
-                         guide_tools.md \
-                         guide_log.md \
-                         guide_opencv.md \
-                         guide_ros.md \
                         specs_data.md \
                         spec_hardware_info.md \
                         spec_image_params.md \
@@ -808,12 +801,12 @@ INPUT                  = mainpage.md \
                         specs_ctrl.md \
                         spec_control_api.md \
                         spec_control_channel.md \
-                         ../../_install/include
+                         /usr/local/include/mynteye

 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
 # libiconv (or the iconv built into libc) for the transcoding. See the libiconv
-# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# documentation (see: https://www.gnu.org/software/libiconv/) for the list of
 # possible encodings.
 # The default value is: UTF-8.

@@ -891,7 +884,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.

-EXCLUDE                =
+EXCLUDE                = /usr/local/include/mynteye/logger.h \
+                         /usr/local/include/mynteye/miniglog.h

 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -1061,7 +1055,7 @@ SOURCE_TOOLTIPS        = YES
 # If the USE_HTAGS tag is set to YES then the references to source code will
 # point to the HTML generated by the htags(1) tool instead of doxygen built-in
 # source browser. The htags tool is part of GNU's global source tagging system
-# (see http://www.gnu.org/software/global/global.html). You will need version
+# (see https://www.gnu.org/software/global/global.html). You will need version
 # 4.8.6 or higher.
 #
 # To use it do the following:
@@ -1206,7 +1200,7 @@ HTML_EXTRA_FILES       =
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to
 # this color. Hue is specified as an angle on a colorwheel, see
-# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
 # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
 # purple, and 360 is red again.
 # Minimum value: 0, maximum value: 359, default value: 220.
@@ -1242,6 +1236,17 @@ HTML_COLORSTYLE_GAMMA  = 80

 HTML_TIMESTAMP         = NO

+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via Javascript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have Javascript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
 # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
 # documentation will contain sections that can be hidden and shown after the
 # page has loaded.
@@ -1265,12 +1270,12 @@ HTML_INDEX_NUM_ENTRIES = 100

 # If the GENERATE_DOCSET tag is set to YES, additional index files will be
 # generated that can be used as input for Apple's Xcode 3 integrated development
-# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# environment (see: https://developer.apple.com/tools/xcode/), introduced with
 # OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
 # Makefile in the HTML output directory. Running make will produce the docset in
 # that directory and running make install will install the docset in
 # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
-# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# startup. See https://developer.apple.com/tools/creatingdocsetswithdoxygen.html
 # for more information.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1386,7 +1391,7 @@ QCH_FILE               =

 # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
 # Project output. For more information please see Qt Help Project / Namespace
-# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# (see: http://doc.qt.io/qt-4.8/qthelpproject.html#namespace).
 # The default value is: org.doxygen.Project.
 # This tag requires that the tag GENERATE_QHP is set to YES.

@@ -1394,8 +1399,7 @@ QHP_NAMESPACE          = com.slightech.mynteye

 # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
 # Help Project output. For more information please see Qt Help Project / Virtual
-# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
-# folders).
+# Folders (see: http://doc.qt.io/qt-4.8/qthelpproject.html#virtual-folders).
 # The default value is: doc.
 # This tag requires that the tag GENERATE_QHP is set to YES.

@@ -1403,23 +1407,21 @@ QHP_VIRTUAL_FOLDER     = doc

 # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
 # filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
-# filters).
+# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.

 QHP_CUST_FILTER_NAME   =

 # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
 # custom filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
-# filters).
+# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.

 QHP_CUST_FILTER_ATTRS  =

 # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
 # project's filter section matches. Qt Help Project / Filter Attributes (see:
-# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# http://doc.qt.io/qt-4.8/qthelpproject.html#filter-attributes).
 # This tag requires that the tag GENERATE_QHP is set to YES.

 QHP_SECT_FILTER_ATTRS  =
@@ -1512,7 +1514,7 @@ EXT_LINKS_IN_WINDOW    = NO

 FORMULA_FONTSIZE       = 10

-# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
 # generated for formulas are transparent PNGs. Transparent PNGs are not
 # supported properly for IE 6.0, but are supported on all modern browsers.
 #
@@ -1524,7 +1526,7 @@ FORMULA_FONTSIZE       = 10
 FORMULA_TRANSPARENT    = YES

 # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
-# http://www.mathjax.org) which uses client side Javascript for the rendering
+# https://www.mathjax.org) which uses client side Javascript for the rendering
 # instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
 # installed or if you want to formulas look prettier in the HTML output. When
 # enabled you may also need to install MathJax separately and configure the path
@@ -1551,11 +1553,11 @@ MATHJAX_FORMAT         = HTML-CSS
 # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
 # Content Delivery Network so you can quickly see the result without installing
 # MathJax. However, it is strongly recommended to install a local copy of
-# MathJax from http://www.mathjax.org before deployment.
-# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# MathJax from https://www.mathjax.org before deployment.
+# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/.
 # This tag requires that the tag USE_MATHJAX is set to YES.

-MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+MATHJAX_RELPATH        = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/

 # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
 # extension names that should be enabled during MathJax rendering. For example
@@ -1613,7 +1615,7 @@ SERVER_BASED_SEARCH    = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/).
+# Xapian (see: https://xapian.org/).
 #
 # See the section "External Indexing and Searching" for details.
 # The default value is: NO.
@@ -1626,7 +1628,7 @@ EXTERNAL_SEARCH        = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Xapian (see: https://xapian.org/). See the section "External Indexing and
 # Searching" for details.
 # This tag requires that the tag SEARCHENGINE is set to YES.

@@ -1815,7 +1817,7 @@ LATEX_SOURCE_CODE      = NO

 # The LATEX_BIB_STYLE tag can be used to specify the style to use for the
 # bibliography, e.g. plainnat, or ieeetr. See
-# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
 # The default value is: plain.
 # This tag requires that the tag GENERATE_LATEX is set to YES.

@@ -1998,9 +2000,9 @@ DOCBOOK_PROGRAMLISTING = NO
 #---------------------------------------------------------------------------

 # If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
-# AutoGen Definitions (see http://autogen.sf.net) file that captures the
-# structure of the code including all documentation. Note that this feature is
-# still experimental and incomplete at the moment.
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
 # The default value is: NO.

 GENERATE_AUTOGEN_DEF   = NO
--- a/doc/zh-Hans/guide_log.md
+++ b/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。
--- a/doc/zh-Hans/mainpage.md
+++ b/doc/zh-Hans/mainpage.md
@@ -1,9 +1,11 @@
 # MYNT EYE SDK {#mainpage}

-* API 模块
+* <a class="el" href="annotated.html">API 类</a>
+* <a class="el" href="modules.html">API 模块</a>
  * \link enumerations 枚举类型\endlink
  * \link datatypes 数据类型\endlink
+  * \link utils 工具函数\endlink
  * \link calibration 内参与外参\endlink
-* 设备说明
+* <span style="font-weight:bold">设备说明</span>
  * @subpage specs_data
  * @subpage specs_ctrl
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@@ -1,4 +1,4 @@
-# 控制 API 说明 {#spec_contorl_api}
+# 控制 API 说明 {#spec_control_api}

 控制有两种实现方式，一是通过 UVC 标准协议，二是通过 UVC 拓展通道自定义协议。

@@ -8,21 +8,21 @@
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
 | 增益 | gain | 2 | 24 | 0 | 48 | √ | 0x12 | 关闭自动曝光，手动设定的参数 |
 | 亮度 | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
-| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | |
+| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | 关闭自动曝光，手动设定的参数 |

 > UVC 标准协议实现的控制，有现成的 API 进行 Get & Set ，包括 Min, Max, Default 。

 ## 自定义协议

-| 名称 | 字段 | 字节数 |  默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 通道地址 | 说明 |
-| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
-| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 0x0100 | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
-| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 0x0100 | 有效值为{100,200,250,333,500} |
-| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
-| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 期望亮度 | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
-| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | 0x0100 | |
-| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0x0100 | 0：10-bit；1：12-bit |
-| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
-| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
+| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 说明 |
+| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----- |
+| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
+| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} |
+| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 |
+| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
+| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
+| 期望亮度 | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
+| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
+| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0：10-bit；1：12-bit |
+| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
--- a/doc/zh-Hans/spec_control_channel.md
+++ b/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

--- a/doc/zh-Hans/spec_hardware_info.md
+++ b/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 |
--- a/doc/zh-Hans/spec_image_data.md
+++ b/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。
--- a/doc/zh-Hans/spec_image_params.md
+++ b/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

--- a/doc/zh-Hans/spec_imu_data.md
+++ b/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** 。
--- a/doc/zh-Hans/specs_ctrl.md
+++ b/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
--- a/include/mynteye/global.h
+++ b/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_
--- a/include/mynteye/glog_init.h
+++ b/include/mynteye/glog_init.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_
--- a/include/mynteye/miniglog.h
+++ b/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_
--- a/include/mynteye/mynteye.h.in
+++ b/include/mynteye/mynteye.h.in
@@ -21,9 +21,9 @@
 # define MYNTEYE_API
 #else
 # ifdef MYNTEYE_EXPORTS
-#  define MYNTEYE_API DECL_EXPORT
+#  define MYNTEYE_API MYNTEYE_DECL_EXPORT
 # else
-#  define MYNTEYE_API DECL_IMPORT
+#  define MYNTEYE_API MYNTEYE_DECL_IMPORT
 # endif
 #endif

@@ -58,4 +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_
--- a/mynteye-config.cmake.in
+++ b/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")
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@@ -47,10 +47,6 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")

 # packages

-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
@@ -79,4 +75,6 @@ add_subdirectory(uvc)

 # tutorials

-add_subdirectory(tutorials)
+if(WITH_API)
+  add_subdirectory(tutorials)
+endif()
--- a/samples/api/CMakeLists.txt
+++ b/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()
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
+#include "mynteye/logger.h"

 #include "mynteye/api.h"
 #include "mynteye/times.h"
--- a/samples/api/get_depth_with_region.cc
+++ b/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.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 USE_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;
+}
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -14,7 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>

-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"

 #include "mynteye/device.h"
 #include "mynteye/utils.h"
--- a/samples/tutorials/CMakeLists.txt
+++ b/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)
@@ -109,7 +111,7 @@ 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_auto_exposure
@@ -122,4 +124,21 @@ 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
--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"

 #include "util/cv_painter.h"

--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@@ -13,11 +13,10 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include <atomic>

 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 #include "mynteye/times.h"

 MYNTEYE_USE_NAMESPACE
--- a/samples/tutorials/control/infrared.cc
+++ b/samples/tutorials/control/infrared.cc
@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"

 #include "util/cv_painter.h"

--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"

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

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"

 MYNTEYE_USE_NAMESPACE
--- a/samples/tutorials/data/get_from_callbacks.cc
+++ b/samples/tutorials/data/get_from_callbacks.cc
@@ -13,14 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <sstream>

 #include "mynteye/api.h"
+#include "mynteye/logger.h"

 #include "util/cv_painter.h"

@@ -53,7 +52,7 @@ int main(int argc, char *argv[]) {
  api->SetStreamCallback(
      Stream::DEPTH,
      [&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
-        UNUSED(data)
+        MYNTEYE_UNUSED(data)
        ++depth_count;
        {
          std::lock_guard<std::mutex> _(depth_mtx);
--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -11,9 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"

 MYNTEYE_USE_NAMESPACE

@@ -25,8 +24,8 @@ int main(int argc, char *argv[]) {
  LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
  LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
            << "}";
-  LOG(INFO) << "Extrinsics left to right: {"
-            << api->GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+  LOG(INFO) << "Extrinsics right to left: {"
+            << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";

  return 0;
 }
--- a/samples/tutorials/data/get_imu.cc
+++ b/samples/tutorials/data/get_imu.cc
@@ -13,9 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"

 #include "util/cv_painter.h"

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

 MYNTEYE_USE_NAMESPACE

--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"

 #include "util/pc_viewer.h"
--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"

 MYNTEYE_USE_NAMESPACE
--- a/samples/tutorials/data/get_stereo_rectified.cc
+++ b/samples/tutorials/data/get_stereo_rectified.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"

 MYNTEYE_USE_NAMESPACE
--- a/samples/tutorials/data/get_with_plugin.cc
+++ b/samples/tutorials/data/get_with_plugin.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>

-#include <glog/logging.h>
-
 #include "mynteye/api.h"

 MYNTEYE_USE_NAMESPACE
--- a/samples/tutorials/intermediate/get_all_device_info.cc
+++ b/samples/tutorials/intermediate/get_all_device_info.cc
@@ -0,0 +1,50 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "mynteye/context.h"
+#include "mynteye/device.h"
+#include "mynteye/logger.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  glog_init _(argc, argv);
+
+  LOG(INFO) << "Detecting MYNT EYE devices";
+  Context context;
+  auto &&devices = context.devices();
+
+  size_t n = devices.size();
+  if (n <= 0) {
+    LOG(ERROR) << "No MYNT EYE devices :(";
+    return 1;
+  }
+
+  for (size_t i = 0; i < n; i++) {
+    auto &&device = devices[i];
+    LOG(INFO) << "MYNT EYE device index: " << i;
+    LOG(INFO) << "  Device name: " << device->GetInfo(Info::DEVICE_NAME);
+    LOG(INFO) << "  Serial number: " << device->GetInfo(Info::SERIAL_NUMBER);
+    LOG(INFO) << "  Firmware version: "
+              << device->GetInfo(Info::FIRMWARE_VERSION);
+    LOG(INFO) << "  Hardware version: "
+              << device->GetInfo(Info::HARDWARE_VERSION);
+    LOG(INFO) << "  Spec version: " << device->GetInfo(Info::SPEC_VERSION);
+    LOG(INFO) << "  Lens type: " << device->GetInfo(Info::LENS_TYPE);
+    LOG(INFO) << "  IMU type: " << device->GetInfo(Info::IMU_TYPE);
+    LOG(INFO) << "  Nominal baseline: "
+              << device->GetInfo(Info::NOMINAL_BASELINE);
+  }
+
+  return 0;
+}
--- a/samples/tutorials/intermediate/get_depth_and_points.cc
+++ b/samples/tutorials/intermediate/get_depth_and_points.cc
@@ -0,0 +1,239 @@
+// 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.h"
+
+#include "util/cv_painter.h"
+#include "util/pc_viewer.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();
+  };
+
+  CVPainter painter;
+  PCViewer pcviewer;
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+
+    painter.DrawImgData(img, *left_data.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 USE_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);
+    }
+
+    auto &&points_data = api->GetStreamData(Stream::POINTS);
+    if (!points_data.frame.empty()) {
+      pcviewer.Update(points_data.frame);
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+    if (pcviewer.WasStopped()) {
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}
--- a/samples/tutorials/util/cv_painter.cc
+++ b/samples/tutorials/util/cv_painter.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include "util/cv_painter.h"

-#include <glog/logging.h>
-
 #include <opencv2/imgproc/imgproc.hpp>

 #include <iomanip>
@@ -22,6 +20,7 @@
 #include <memory>
 #include <utility>

+#include "mynteye/logger.h"
 #include "mynteye/utils.h"

 #define FONT_FACE cv::FONT_HERSHEY_PLAIN
--- a/samples/tutorials/util/pc_viewer.cc
+++ b/samples/tutorials/util/pc_viewer.cc
@@ -13,12 +13,12 @@
 // limitations under the License.
 #include "util/pc_viewer.h"

-#include <glog/logging.h>
-
 // #include <pcl/common/common_headers.h>

 #include <cmath>

+#include "mynteye/logger.h"
+
 std::shared_ptr<pcl::visualization::PCLVisualizer> CustomColorVis(
    pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc) {
  // --------------------------------------------
@@ -35,7 +35,7 @@ std::shared_ptr<pcl::visualization::PCLVisualizer> CustomColorVis(
  // viewer->addCoordinateSystem(1.0);
  viewer->addCoordinateSystem(1000.0);
  viewer->initCameraParameters();
-  viewer->setCameraPosition(0, 0, -150, 0, 1, 0);
+  viewer->setCameraPosition(0, 0, -150, 0, -1, 0);
  return (viewer);
 }

--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -20,15 +20,24 @@
 #include <iostream>
 #include <mutex>

-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
 #include "uvc/uvc.h"

 struct frame {
  const void *data = nullptr;
+  std::function<void()> continuation = nullptr;
+  frame() {
+    // VLOG(2) << __func__;
+  }
  ~frame() {
+    // VLOG(2) << __func__;
    data = nullptr;
+    if (continuation) {
+      continuation();
+      continuation = nullptr;
+    }
  }
 };

@@ -41,7 +50,11 @@ int main(int argc, char *argv[]) {

  auto context = uvc::create_context();
  auto devices = uvc::query_devices(context);
-  LOG_IF(FATAL, devices.size() <= 0) << "No devices :(";
+  if (devices.size() <= 0) {
+    LOG(ERROR) << "No devices :(";
+    return 1;
+  }
+
  for (auto &&device : devices) {
    auto vid = uvc::get_vendor_id(*device);
    // auto pid = uvc::get_product_id(*device);
@@ -54,7 +67,10 @@ int main(int argc, char *argv[]) {
  // std::string dashes(80, '-');

  size_t n = mynteye_devices.size();
-  LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :(";
+  if (n <= 0) {
+    LOG(ERROR) << "No MYNT EYE devices :(";
+    return 1;
+  }

  LOG(INFO) << "MYNT EYE devices: ";
  for (size_t i = 0; i < n; i++) {
@@ -87,18 +103,25 @@ int main(int argc, char *argv[]) {
  std::mutex mtx;
  std::condition_variable cv;

-  std::vector<frame> frames;
-  const auto frame_ready = [&frames]() { return !frames.empty(); };
-  const auto frame_empty = [&frames]() { return frames.empty(); };
+  std::shared_ptr<frame> frame = nullptr;
+  const auto frame_ready = [&frame]() { return frame != nullptr; };
+  const auto frame_empty = [&frame]() { return frame == nullptr; };

  uvc::set_device_mode(
      *device, 752, 480, static_cast<int>(Format::YUYV), 25,
-      [&mtx, &cv, &frames, &frame_ready](const void *data) {
+      [&mtx, &cv, &frame, &frame_ready](
+          const void *data, std::function<void()> continuation) {
        // reinterpret_cast<const std::uint8_t *>(data);
        std::unique_lock<std::mutex> lock(mtx);
-        frame frame;
-        frame.data = data;  // not copy
-        frames.push_back(frame);
+        if (frame == nullptr) {
+          frame = std::make_shared<struct frame>();
+        } else {
+          if (frame->continuation) {
+            frame->continuation();
+          }
+        }
+        frame->data = data;  // not copy here
+        frame->continuation = continuation;
        if (frame_ready())
          cv.notify_one();
      });
@@ -119,13 +142,12 @@ int main(int argc, char *argv[]) {
        throw std::runtime_error("Timeout waiting for frame.");
    }

-    auto frame = frames.back();  // only last one is valid
-
-    cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame.data));
+    // only lastest frame is valid
+    cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame->data));
    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
    cv::imshow("frame", img);

-    frames.clear();
+    frame = nullptr;

    char key = static_cast<char>(cv::waitKey(1));
    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
@@ -135,7 +157,7 @@ int main(int argc, char *argv[]) {
    t = static_cast<double>(cv::getTickCount() - t);
    fps = cv::getTickFrequency() / t;
  }
-  UNUSED(fps)
+  MYNTEYE_UNUSED(fps)

  uvc::stop_streaming(*device);
  // cv::destroyAllWindows();
--- a/scripts/init.sh
+++ b/scripts/init.sh
@@ -14,163 +14,29 @@
 # limitations under the License.

 # _VERBOSE_=1
+# _INIT_LINTER_=1
 # _FORCE_INSRALL_=1

 BASE_DIR=$(cd "$(dirname "$0")" && pwd)

-source "$BASE_DIR/common/echo.sh"
-source "$BASE_DIR/common/detect.sh"
-source "$BASE_DIR/common/host.sh"
-
-PYTHON="python"
-if [ "$HOST_OS" = "Win" ]; then
-  # default python on MSYS
-  PYTHON="python2"
-fi
-
-_detect $PYTHON
-
-if [ "$HOST_OS" = "Linux" ]; then
-  _detect_install() {
-    _detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
-        | grep -c "ok installed") -gt 0 ]
-  }
-elif [ "$HOST_OS" = "Mac" ]; then
-  _detect_install() {
-    _detect_cmd "$1" || brew ls --versions "$1" > /dev/null
-  }
-else
-  _detect_install() {
-    _detect_cmd "$1"
-  }
-fi
-
-_install_deps() {
-  _cmd="$1"; shift; _deps_all=($@)
-  _echo "Install cmd: $_cmd"
-  _echo "Install deps: ${_deps_all[*]}"
-  if [ -n "${_FORCE_INSRALL_}" ]; then
-    _echo_d "$_cmd ${_deps_all[*]}"
-    $_cmd ${_deps_all[@]}
-    return
-  fi
-  _deps=()
-  for _dep in "${_deps_all[@]}"; do
-    _detect_install $_dep || _deps+=($_dep)
-  done
-  if [ ${#_deps[@]} -eq 0 ]; then
-    _echo_i "All deps already exist"
-  else
-    _echo_d "$_cmd ${_deps[*]} (not exists)"
-    $_cmd ${_deps[@]}
-  fi
-}
+source "$BASE_DIR/init_tools.sh"

 ## deps

 _echo_s "Init deps"

 if [ "$HOST_OS" = "Linux" ]; then
-  # detect apt-get
-  _detect apt-get
-  # apt-get install
-  _install_deps "sudo apt-get install" build-essential curl cmake git clang-format
-  _install_deps "sudo apt-get install" libv4l-dev
-  if ! _detect_cmd clang-format; then
-    # on Ubuntu 14.04, apt-cache search clang-format
-    _install_deps "sudo apt-get install" clang-format-3.9
-    sudo ln -sf clang-format-3.9 /usr/bin/clang-format
-    sudo ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
-  fi
-  # sudo
-  SUDO="sudo"
+  _install_deps "$SUDO apt-get install" libv4l-dev
 elif [ "$HOST_OS" = "Mac" ]; then
-  # detect brew
-  if ! _detect_cmd brew; then
-    _echo_sn "Install brew"
-    _detect curl
-    _detect ruby
-    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
-  fi
-  # brew install
-  _install_deps "brew install" curl cmake git clang-format
-  # link clang-format-diff (if not compatible with Python 3, fix it by yourself)
-  [ -f "/usr/local/bin/clang-format-diff" ] || \
-    ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
  _install_deps "brew install" libuvc
 elif [ "$HOST_OS" = "Win" ]; then
-  # detect pacman on MSYS
-  _detect pacman
-  # pacman install (common)
-  _install_deps "pacman -S" curl git clang-format
-  if [ "$HOST_NAME" = "MINGW" ]; then
-    # pacman install (MINGW)
-    _deps=()
-    if [ "$HOST_ARCH" = "x64" ]; then
-      _deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
-    elif [ "$HOST_ARCH" = "x86" ]; then
-      _deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
-    else
-      _echo_e "Unknown host arch :("
-      exit 1
-    fi
-    if ! [ ${#_deps[@]} -eq 0 ]; then
-      _echo_d "pacman -S ${_deps[*]}"
-      pacman -S ${_deps[@]}
-    fi
-  else
-    # detect cmake on MSYS
-    _detect cmake
-  fi
-  # update
-  #   pacman -Syu
-  # search
-  #   pacman -Ss make
-  # autoremove
-  #   pacman -Qtdq | pacman -Rs -
+  # _install_deps "pacman -S" ?
+  _echo
 else  # unexpected
  _echo_e "Unknown host os :("
  exit 1
 fi

-## pip
-
-# detect pip
-if ! _detect_cmd pip; then
-  _echo_sn "Install pip"
-  [ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
-  $SUDO $PYTHON get-pip.py
-fi
-# pip install
-_echo_d "pip install --upgrade autopep8 cpplint pylint requests"
-$SUDO pip install --upgrade autopep8 cpplint pylint requests
-
-## realpath
-
-# detect realpath
-if ! _detect_cmd realpath; then
-  _echo_sn "Install realpath"
-  if [ "$HOST_OS" = "Linux" ]; then
-    # How to install realpath on Ubuntu 14.04
-    #   https://www.howtoinstall.co/en/ubuntu/trusty/realpath
-    sudo apt-get install coreutils realpath
-  elif [ "$HOST_OS" = "Mac" ]; then
-    brew install coreutils
-  elif [ "$HOST_OS" = "Win" ]; then
-    pacman -S coreutils
-  else  # unexpected
-    _echo_e "Unknown host os :("
-    exit 1
-  fi
-fi
-
-ROOT_DIR=$(realpath "$BASE_DIR/..")
-
-## init
-
-_echo_s "Init git hooks"
-$PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
-
 ## cmake version

 _echo_s "Expect cmake version >= 3.0"
--- a/scripts/init_tools.sh
+++ b/scripts/init_tools.sh
@@ -0,0 +1,214 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+_INIT_BUILD_=1
+# _INIT_LINTER_=1
+# _FORCE_INSRALL_=1
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+
+source "$BASE_DIR/common/echo.sh"
+source "$BASE_DIR/common/detect.sh"
+source "$BASE_DIR/common/host.sh"
+
+## functions
+
+if [ "$HOST_OS" = "Linux" ]; then
+  _detect_install() {
+    _detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
+        | grep -c "ok installed") -gt 0 ]
+  }
+elif [ "$HOST_OS" = "Mac" ]; then
+  _detect_install() {
+    _detect_cmd "$1" || brew ls --versions "$1" > /dev/null
+  }
+else
+  _detect_install() {
+    _detect_cmd "$1"
+  }
+fi
+
+_install_deps() {
+  _cmd="$1"; shift; _deps_all=($@)
+  _echo "Install cmd: $_cmd"
+  _echo "Install deps: ${_deps_all[*]}"
+  if [ -n "${_FORCE_INSRALL_}" ]; then
+    _echo_d "$_cmd ${_deps_all[*]}"
+    $_cmd ${_deps_all[@]}
+    return
+  fi
+  _deps=()
+  for _dep in "${_deps_all[@]}"; do
+    _detect_install $_dep || _deps+=($_dep)
+  done
+  if [ ${#_deps[@]} -eq 0 ]; then
+    _echo_i "All deps already exist"
+  else
+    _echo_d "$_cmd ${_deps[*]} (not exists)"
+    $_cmd ${_deps[@]}
+  fi
+}
+
+## init tools
+
+_echo_s "Init tools"
+
+if [ "$HOST_OS" = "Linux" ]; then
+  # sudo
+  SUDO="sudo"
+  # detect apt-get
+  _detect apt-get
+  # apt-get install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "$SUDO apt-get install" build-essential curl cmake git make
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "$SUDO apt-get install" clang-format
+    if ! _detect_cmd clang-format; then
+      # on Ubuntu 14.04, apt-cache search clang-format
+      _install_deps "$SUDO apt-get install" clang-format-3.9
+      $SUDO ln -sf clang-format-3.9 /usr/bin/clang-format
+      $SUDO ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
+    fi
+  fi
+elif [ "$HOST_OS" = "Mac" ]; then
+  # detect brew
+  if ! _detect_cmd brew; then
+    _echo_sn "Install brew"
+    _detect curl
+    _detect ruby
+    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
+  fi
+  # brew install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "brew install" curl cmake git make
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "brew install" clang-format
+    # link clang-format-diff (if not compatible with Python 3, fix it by yourself)
+    [ -f "/usr/local/bin/clang-format-diff" ] || \
+      ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
+  fi
+elif [ "$HOST_OS" = "Win" ]; then
+  # detect pacman on MSYS
+  _detect pacman
+  # pacman install
+  if [ -n "${_INIT_BUILD_}" ]; then
+    _install_deps "pacman -S" curl git make
+    if [ "$HOST_NAME" = "MINGW" ]; then
+      # MINGW: cmake
+      _deps=()
+      if [ "$HOST_ARCH" = "x64" ]; then
+        _deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
+      elif [ "$HOST_ARCH" = "x86" ]; then
+        _deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
+      else
+        _echo_e "Unknown host arch :("
+        exit 1
+      fi
+      if ! [ ${#_deps[@]} -eq 0 ]; then
+        _install_deps "pacman -S" ${_deps[@]}
+      fi
+    else
+      # Install CMake for Windows
+      #   https://cmake.org/
+      _detect cmake
+    fi
+  fi
+  if [ -n "${_INIT_LINTER_}" ]; then
+    _install_deps "pacman -S" clang-format
+  fi
+  # update
+  #   pacman -Syu
+  # search
+  #   pacman -Ss make
+  # autoremove
+  #   pacman -Qtdq | pacman -Rs -
+else  # unexpected
+  _echo_e "Unknown host os :("
+  exit 1
+fi
+
+## init linter - optional
+
+if [ -n "${_INIT_LINTER_}" ]; then
+
+# python
+
+PYTHON="python"
+if [ "$HOST_OS" = "Win" ]; then
+  if ! _detect_cmd $PYTHON; then
+    PYTHON="python2"  # try python2 on MSYS
+  fi
+fi
+
+_detect $PYTHON 1
+
+PYTHON_FOUND="${PYTHON}_FOUND"
+if [ -z "${!PYTHON_FOUND}" ]; then
+  _echo_en "$PYTHON not found"
+fi
+
+# pip
+
+# detect pip
+if ! _detect_cmd pip; then
+  if [ -n "${!PYTHON_FOUND}" ]; then
+    _echo_sn "Install pip"
+    [ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
+    $SUDO $PYTHON get-pip.py
+  else
+    _echo_en "Skipped install pip, as $PYTHON not found"
+  fi
+fi
+# pip install
+if _detect_cmd pip; then
+  _echo_d "pip install --upgrade autopep8 cpplint pylint requests"
+  $SUDO pip install --upgrade autopep8 cpplint pylint requests
+else
+  _echo_en "Skipped pip install packages, as pip not found"
+fi
+
+# realpath
+
+# detect realpath
+if ! _detect_cmd realpath; then
+  _echo_sn "Install realpath"
+  if [ "$HOST_OS" = "Linux" ]; then
+    # How to install realpath on Ubuntu 14.04
+    #   https://www.howtoinstall.co/en/ubuntu/trusty/realpath
+    $SUDO apt-get install coreutils realpath
+  elif [ "$HOST_OS" = "Mac" ]; then
+    brew install coreutils
+  elif [ "$HOST_OS" = "Win" ]; then
+    pacman -S coreutils
+  else  # unexpected
+    _echo_e "Unknown host os :("
+    exit 1
+  fi
+fi
+
+ROOT_DIR=$(realpath "$BASE_DIR/..")
+
+# init git hooks
+
+if [ -n "${!PYTHON_FOUND}" ]; then
+  _echo_s "Init git hooks"
+  $PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
+else
+  _echo_en "Skipped init git hooks, as $PYTHON not found"
+fi
+
+fi  # _INIT_LINTER_
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -13,23 +13,224 @@
 // limitations under the License.
 #include "api/api.h"

-#include <glog/logging.h>
+#ifdef WITH_BOOST_FILESYSTEM
+#include <boost/filesystem.hpp>
+#include <boost/range/iterator_range.hpp>
+#endif

+#include <algorithm>
 #include <thread>

-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/utils.h"

 #include "api/plugin.h"
 #include "api/synthetic.h"
 #include "device/device.h"
+#include "device/device_s.h"
 #include "internal/dl.h"

+#if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
+#if defined(MYNTEYE_OS_WIN)
+#include <windows.h>
+#endif
+#endif
+
 MYNTEYE_BEGIN_NAMESPACE

-API::API(std::shared_ptr<Device> device)
-    : device_(device), synthetic_(new Synthetic(this)) {
+namespace {
+
+#if defined(WITH_FILESYSTEM)
+
+#if defined(WITH_BOOST_FILESYSTEM)
+
+namespace fs = boost::filesystem;
+
+bool file_exists(const fs::path &p) {
+  try {
+    fs::file_status s = fs::status(p);
+    return fs::exists(s) && fs::is_regular_file(s);
+  } catch (fs::filesystem_error &e) {
+    LOG(ERROR) << e.what();
+    return false;
+  }
+}
+
+bool dir_exists(const fs::path &p) {
+  try {
+    fs::file_status s = fs::status(p);
+    return fs::exists(s) && fs::is_directory(s);
+  } catch (fs::filesystem_error &e) {
+    LOG(ERROR) << e.what();
+    return false;
+  }
+}
+
+#elif defined(WITH_NATIVE_FILESYSTEM)
+
+#if defined(MYNTEYE_OS_WIN)
+
+bool file_exists(const std::string &p) {
+  DWORD attrs = GetFileAttributes(p.c_str());
+  return (attrs != INVALID_FILE_ATTRIBUTES) &&
+         !(attrs & FILE_ATTRIBUTE_DIRECTORY);
+}
+
+bool dir_exists(const std::string &p) {
+  DWORD attrs = GetFileAttributes(p.c_str());
+  return (attrs != INVALID_FILE_ATTRIBUTES) &&
+         (attrs & FILE_ATTRIBUTE_DIRECTORY);
+}
+
+#else
+#error "Unsupported native filesystem"
+#endif
+
+#endif
+
+std::vector<std::string> get_plugin_paths() {
+  std::string info_path(MYNTEYE_SDK_INSTALL_DIR);
+  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
+
+  cv::FileStorage fs(info_path, cv::FileStorage::READ);
+  if (!fs.isOpened()) {
+    LOG(WARNING) << "build.info not found: " << info_path;
+    return {};
+  }
+
+  auto to_lower = [](std::string &s) {  // NOLINT
+    std::transform(s.begin(), s.end(), s.begin(), ::tolower);
+  };
+
+  std::string host_os = fs["HOST_OS"];
+  to_lower(host_os);
+  std::string host_name = fs["HOST_NAME"];
+  to_lower(host_name);
+  std::string host_arch = fs["HOST_ARCH"];
+  to_lower(host_arch);
+  std::string host_compiler = fs["HOST_COMPILER"];
+  to_lower(host_compiler);
+
+  // std::string compiler_version = fs["COMPILER_VERSION"];
+  int compiler_version_major = fs["COMPILER_VERSION_MAJOR"];
+  // int compiler_version_minor = fs["COMPILER_VERSION_MINOR"];
+  // int compiler_version_patch = fs["COMPILER_VERSION_PATCH"];
+  // int compiler_version_tweak = fs["COMPILER_VERSION_TWEAK"];
+
+  std::string cuda_version = fs["CUDA_VERSION"];
+  // int cuda_version_major = fs["CUDA_VERSION_MAJOR"];
+  // int cuda_version_minor = fs["CUDA_VERSION_MINOR"];
+  // std::string cuda_version_string = fs["CUDA_VERSION_STRING"];
+
+  std::string opencv_version = fs["OpenCV_VERSION"];
+  // int opencv_version_major = fs["OpenCV_VERSION_MAJOR"];
+  // int opencv_version_minor = fs["OpenCV_VERSION_MINOR"];
+  // int opencv_version_patch = fs["OpenCV_VERSION_PATCH"];
+  // int opencv_version_tweak = fs["OpenCV_VERSION_TWEAK"];
+  // std::string opencv_version_status = fs["OpenCV_VERSION_STATUS"];
+  std::string opencv_with_world = fs["OpenCV_WITH_WORLD"];
+  to_lower(opencv_with_world);
+
+  std::string mynteye_version = fs["MYNTEYE_VERSION"];
+  // int mynteye_version_major = fs["MYNTEYE_VERSION_MAJOR"];
+  // int mynteye_version_minor = fs["MYNTEYE_VERSION_MINOR"];
+  // int mynteye_version_patch = fs["MYNTEYE_VERSION_PATCH"];
+  // int mynteye_version_tweak = fs["MYNTEYE_VERSION_TWEAK"];
+
+  fs.release();
+
+  std::string lib_prefix;
+  std::string lib_suffix;
+  if (host_os == "linux") {
+    if (host_compiler != "gnu" || compiler_version_major < 5)
+      return {};
+    lib_prefix = "lib";
+    lib_suffix = ".so";
+  } else if (host_os == "win") {
+    lib_prefix = "";
+    lib_suffix = ".dll";
+  } else if (host_os == "mac") {
+    lib_prefix = "lib";
+    lib_suffix = ".dylib";
+  } else {
+    return {};
+  }
+
+  std::vector<std::string> names;
+  {
+    std::vector<std::string> prefixes{
+        // lib_prefix + "plugin_b_ocl" + ocl_version,
+        lib_prefix + "plugin_g_cuda" + cuda_version,
+    };
+    std::string opencv_name("_opencv" + opencv_version);
+    if (opencv_with_world == "true") {
+      opencv_name.append("-world");
+    }
+    for (auto &&prefix : prefixes) {
+      names.push_back(prefix + opencv_name + "_mynteye" + mynteye_version);
+      names.push_back(prefix + opencv_name);
+      names.push_back(prefix);
+    }
+    for (auto &&name : names) {
+      name.append(lib_suffix);
+    }
+  }
+
+  std::vector<std::string> paths;
+
+  std::vector<std::string> plats;
+  if (host_name != host_os) {
+    plats.push_back(host_name + "-" + host_arch);
+  }
+  plats.push_back(host_os + "-" + host_arch);
+
+  std::vector<std::string> dirs{MYNTEYE_SDK_ROOT_DIR, MYNTEYE_SDK_INSTALL_DIR};
+  for (auto &&plat : plats) {
+    for (auto &&dir : dirs) {
+      auto &&plat_dir = dir + MYNTEYE_OS_SEP "plugins" + MYNTEYE_OS_SEP + plat;
+      // VLOG(2) << "plat_dir: " << plat_dir;
+      if (!dir_exists(plat_dir))
+        continue;
+      for (auto &&name : names) {
+        // VLOG(2) << "  name: " << name;
+        auto &&path = plat_dir + MYNTEYE_OS_SEP + name;
+        if (!file_exists(path))
+          continue;
+        paths.push_back(path);
+      }
+    }
+  }
+
+  return paths;
+}
+
+#endif
+
+}  // namespace
+
+API::API(std::shared_ptr<Device> device) : device_(device) {
  VLOG(2) << __func__;
+  if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
+    bool in_l_ok, in_r_ok, ex_r2l_ok;
+    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
+    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
+    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT, &ex_r2l_ok);
+    if (!in_l_ok || !in_r_ok || !ex_r2l_ok) {
+#if defined(WITH_DEVICE_INFO_REQUIRED)
+      LOG(FATAL)
+#else
+      LOG(WARNING)
+#endif
+          << "Image params not found, but we need it to process the "
+             "images. Please `make tools` and use `img_params_writer` "
+             "to write the image params. If you update the SDK from "
+             "1.x, the `SN*.conf` is the file contains them. Besides, "
+             "you could also calibrate them by yourself. Read the guide "
+             "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+             "to learn more.";
+    }
+  }
+  synthetic_.reset(new Synthetic(this));
 }

 API::~API() {
@@ -140,7 +341,7 @@ void API::SetMotionCallback(motion_callback_t callback) {
  static auto callback_ = callback;
  if (callback_) {
    device_->SetMotionCallback(
-        [](const device::MotionData &data) { callback_({data.imu}); });
+        [](const device::MotionData &data) { callback_({data.imu}); }, true);
  } else {
    device_->SetMotionCallback(nullptr);
  }
@@ -156,6 +357,18 @@ bool API::HasMotionCallback() const {

 void API::Start(const Source &source) {
  if (source == Source::VIDEO_STREAMING) {
+#ifdef WITH_FILESYSTEM
+    if (!synthetic_->HasPlugin()) {
+      try {
+        auto &&plugin_paths = get_plugin_paths();
+        if (plugin_paths.size() > 0) {
+          EnablePlugin(plugin_paths[0]);
+        }
+      } catch (...) {
+        LOG(WARNING) << "Incorrect yaml format: build.info";
+      }
+    }
+#endif
    synthetic_->StartVideoStreaming();
  } else if (source == Source::MOTION_TRACKING) {
    device_->StartMotionTracking();
@@ -163,7 +376,7 @@ void API::Start(const Source &source) {
    Start(Source::VIDEO_STREAMING);
    Start(Source::MOTION_TRACKING);
  } else {
-    LOG(FATAL) << "Unsupported source :(";
+    LOG(ERROR) << "Unsupported source :(";
  }
 }

@@ -178,7 +391,7 @@ void API::Stop(const Source &source) {
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    Stop(Source::VIDEO_STREAMING);
  } else {
-    LOG(FATAL) << "Unsupported source :(";
+    LOG(ERROR) << "Unsupported source :(";
  }
 }

@@ -220,7 +433,9 @@ void API::EnablePlugin(const std::string &path) {

  plugin_version_code_t *plugin_version_code =
      dl.Sym<plugin_version_code_t>("plugin_version_code");
-  LOG(INFO) << "Enable plugin, version code: " << plugin_version_code();
+  LOG(INFO) << "Enable plugin success";
+  LOG(INFO) << "  version code: " << plugin_version_code();
+  LOG(INFO) << "  path: " << path;

  plugin_create_t *plugin_create = dl.Sym<plugin_create_t>("plugin_create");
  plugin_destroy_t *plugin_destroy = dl.Sym<plugin_destroy_t>("plugin_destroy");
--- a/src/api/api.h
+++ b/src/api/api.h
@@ -30,6 +30,12 @@ MYNTEYE_BEGIN_NAMESPACE
 class Device;
 class Synthetic;

+namespace device {
+
+class Frame;
+
+}  // namespace device
+
 namespace api {

 /**
@@ -41,6 +47,8 @@ struct MYNTEYE_API StreamData {
  std::shared_ptr<ImgData> img;
  /** Frame. */
  cv::Mat frame;
+  /** Raw frame. */
+  std::shared_ptr<device::Frame> frame_raw;

  bool operator==(const StreamData &other) const {
    if (img && other.img) {
@@ -238,12 +246,12 @@ class MYNTEYE_API API {
  void DisableStreamData(const Stream &stream);

  /**
-   * Get the datas of stream.
-   * @note default cache 4 datas at most.
+   * Get the latest data of stream.
   */
  api::StreamData GetStreamData(const Stream &stream);
  /**
-   * Get the latest data of stream.
+   * Get the datas of stream.
+   * @note default cache 4 datas at most.
   */
  std::vector<api::StreamData> GetStreamDatas(const Stream &stream);

--- a/src/api/plugin.h
+++ b/src/api/plugin.h
@@ -53,8 +53,8 @@ class MYNTEYE_API Plugin {
   * @return `true` if you process rectify.
   */
  virtual bool OnRectifyProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@@ -65,8 +65,8 @@ class MYNTEYE_API Plugin {
   * @return `true` if you process disparity.
   */
  virtual bool OnDisparityProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@@ -78,8 +78,8 @@ class MYNTEYE_API Plugin {
   */
  virtual bool OnDisparityNormalizedProcess(
      Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@@ -90,8 +90,8 @@ class MYNTEYE_API Plugin {
   * @return `true` if you process points.
   */
  virtual bool OnPointsProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

@@ -102,8 +102,8 @@ class MYNTEYE_API Plugin {
   * @return `true` if you process depth.
   */
  virtual bool OnDepthProcess(Object *const in, Object *const out) {
-    UNUSED(in)
-    UNUSED(out)
+    MYNTEYE_UNUSED(in)
+    MYNTEYE_UNUSED(out)
    return false;
  }

--- a/src/api/processor/depth_processor.cc
+++ b/src/api/processor/depth_processor.cc
@@ -13,12 +13,17 @@
 // limitations under the License.
 #include "api/processor/depth_processor.h"

-#include <glog/logging.h>
+#include "mynteye/logger.h"
+
+#include <utility>

 MYNTEYE_BEGIN_NAMESPACE

-DepthProcessor::DepthProcessor() : Processor() {
-  VLOG(2) << __func__;
+const char DepthProcessor::NAME[] = "DepthProcessor";
+
+DepthProcessor::DepthProcessor(std::int32_t proc_period)
+    : Processor(std::move(proc_period)) {
+  VLOG(2) << __func__ << ": proc_period=" << proc_period;
 }

 DepthProcessor::~DepthProcessor() {
@@ -35,7 +40,7 @@ Object *DepthProcessor::OnCreateOutput() {

 bool DepthProcessor::OnProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  const ObjMat *input = Object::Cast<ObjMat>(in);
  ObjMat *output = Object::Cast<ObjMat>(out);
  cv::Mat channels[3 /*input->value.channels()*/];
--- a/src/api/processor/depth_processor.h
+++ b/src/api/processor/depth_processor.h
@@ -23,9 +23,9 @@ MYNTEYE_BEGIN_NAMESPACE

 class DepthProcessor : public Processor {
 public:
-  static constexpr auto &&NAME = "DepthProcessor";
+  static const char NAME[];

-  DepthProcessor();
+  explicit DepthProcessor(std::int32_t proc_period = 0);
  virtual ~DepthProcessor();

  std::string Name() override;
--- a/src/api/processor/disparity_normalized_processor.cc
+++ b/src/api/processor/disparity_normalized_processor.cc
@@ -15,12 +15,19 @@

 #include <opencv2/imgproc/imgproc.hpp>

-#include <glog/logging.h>
+#include <utility>
+
+#include "mynteye/logger.h"

 MYNTEYE_BEGIN_NAMESPACE

-DisparityNormalizedProcessor::DisparityNormalizedProcessor() : Processor() {
-  VLOG(2) << __func__;
+const char DisparityNormalizedProcessor::NAME[] =
+    "DisparityNormalizedProcessor";
+
+DisparityNormalizedProcessor::DisparityNormalizedProcessor(
+    std::int32_t proc_period)
+    : Processor(std::move(proc_period)) {
+  VLOG(2) << __func__ << ": proc_period=" << proc_period;
 }

 DisparityNormalizedProcessor::~DisparityNormalizedProcessor() {
@@ -37,7 +44,7 @@ Object *DisparityNormalizedProcessor::OnCreateOutput() {

 bool DisparityNormalizedProcessor::OnProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  const ObjMat *input = Object::Cast<ObjMat>(in);
  ObjMat *output = Object::Cast<ObjMat>(out);
  cv::normalize(input->value, output->value, 0, 255, cv::NORM_MINMAX, CV_8UC1);
--- a/src/api/processor/disparity_normalized_processor.h
+++ b/src/api/processor/disparity_normalized_processor.h
@@ -23,9 +23,9 @@ MYNTEYE_BEGIN_NAMESPACE

 class DisparityNormalizedProcessor : public Processor {
 public:
-  static constexpr auto &&NAME = "DisparityNormalizedProcessor";
+  static const char NAME[];

-  DisparityNormalizedProcessor();
+  explicit DisparityNormalizedProcessor(std::int32_t proc_period = 0);
  virtual ~DisparityNormalizedProcessor();

  std::string Name() override;
--- a/src/api/processor/disparity_processor.cc
+++ b/src/api/processor/disparity_processor.cc
@@ -15,12 +15,17 @@

 #include <opencv2/calib3d/calib3d.hpp>

-#include <glog/logging.h>
+#include <utility>
+
+#include "mynteye/logger.h"

 MYNTEYE_BEGIN_NAMESPACE

-DisparityProcessor::DisparityProcessor() : Processor() {
-  VLOG(2) << __func__;
+const char DisparityProcessor::NAME[] = "DisparityProcessor";
+
+DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
+    : Processor(std::move(proc_period)) {
+  VLOG(2) << __func__ << ": proc_period=" << proc_period;
  int sgbmWinSize = 3;
  int numberOfDisparities = 64;

@@ -69,7 +74,7 @@ Object *DisparityProcessor::OnCreateOutput() {

 bool DisparityProcessor::OnProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  const ObjMat2 *input = Object::Cast<ObjMat2>(in);
  ObjMat *output = Object::Cast<ObjMat>(out);

--- a/src/api/processor/disparity_processor.h
+++ b/src/api/processor/disparity_processor.h
@@ -29,9 +29,9 @@ MYNTEYE_BEGIN_NAMESPACE

 class DisparityProcessor : public Processor {
 public:
-  static constexpr auto &&NAME = "DisparityProcessor";
+  static const char NAME[];

-  DisparityProcessor();
+  explicit DisparityProcessor(std::int32_t proc_period = 0);
  virtual ~DisparityProcessor();

  std::string Name() override;
--- a/src/api/processor/object.h
+++ b/src/api/processor/object.h
@@ -17,6 +17,8 @@

 #include <opencv2/core/core.hpp>

+#include <memory>
+
 #include "mynteye/mynteye.h"

 MYNTEYE_BEGIN_NAMESPACE
@@ -29,6 +31,7 @@ struct MYNTEYE_API Object {
  virtual ~Object() = default;

  virtual Object *Clone() const = 0;
+  virtual bool DecValidity() const = 0;

  /** Cast the obj to T pointer */
  template <typename T>
@@ -41,6 +44,11 @@ struct MYNTEYE_API Object {
  static const T *Cast(const Object *obj) {
    return dynamic_cast<const T *>(obj);
  }
+
+  template <typename T>
+  static std::shared_ptr<T> Cast(const std::shared_ptr<Object> &obj) {
+    return std::dynamic_pointer_cast<T>(obj);
+  }
 };

 /**
@@ -58,6 +66,10 @@ struct MYNTEYE_API ObjMat : public Object {
    mat->value = value.clone();
    return mat;
  }
+
+  bool DecValidity() const {
+    return !value.empty();
+  }
 };

 /**
@@ -80,6 +92,10 @@ struct MYNTEYE_API ObjMat2 : public Object {
    mat2->second = second.clone();
    return mat2;
  }
+
+  bool DecValidity() const {
+    return !first.empty() && !second.empty();
+  }
 };

 MYNTEYE_END_NAMESPACE
--- a/src/api/processor/points_processor.cc
+++ b/src/api/processor/points_processor.cc
@@ -15,14 +15,17 @@

 #include <opencv2/calib3d/calib3d.hpp>

-#include <glog/logging.h>
-
 #include <utility>

+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE

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

 PointsProcessor::~PointsProcessor() {
@@ -39,7 +42,7 @@ Object *PointsProcessor::OnCreateOutput() {

 bool PointsProcessor::OnProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  const ObjMat *input = Object::Cast<ObjMat>(in);
  ObjMat *output = Object::Cast<ObjMat>(out);
  cv::reprojectImageTo3D(input->value, output->value, Q_, true);
--- a/src/api/processor/points_processor.h
+++ b/src/api/processor/points_processor.h
@@ -25,9 +25,9 @@ MYNTEYE_BEGIN_NAMESPACE

 class PointsProcessor : public Processor {
 public:
-  static constexpr auto &&NAME = "PointsProcessor";
+  static const char NAME[];

-  explicit PointsProcessor(cv::Mat Q);
+  explicit PointsProcessor(cv::Mat Q, std::int32_t proc_period = 0);
  virtual ~PointsProcessor();

  std::string Name() override;
--- a/src/api/processor/processor.cc
+++ b/src/api/processor/processor.cc
@@ -13,14 +13,19 @@
 // limitations under the License.
 #include "api/processor/processor.h"

-#include <glog/logging.h>
-
+#include <exception>
 #include <utility>

+#include "mynteye/logger.h"
+
+#include "internal/strings.h"
+#include "internal/times.h"
+
 MYNTEYE_BEGIN_NAMESPACE

-Processor::Processor()
-    : activated_(false),
+Processor::Processor(std::int32_t proc_period)
+    : proc_period_(std::move(proc_period)),
+      activated_(false),
      input_ready_(false),
      idle_(true),
      dropped_count_(0),
@@ -125,6 +130,10 @@ bool Processor::Process(const Object &in) {
      return false;
    }
  }
+  if (!in.DecValidity()) {
+    LOG(WARNING) << Name() << " process with invalid input";
+    return false;
+  }
  {
    std::lock_guard<std::mutex> lk(mtx_input_ready_);
    input_.reset(in.Clone());
@@ -134,9 +143,9 @@ bool Processor::Process(const Object &in) {
  return true;
 }

-Object *Processor::GetOutput() {
+std::shared_ptr<Object> Processor::GetOutput() {
  std::lock_guard<std::mutex> lk(mtx_result_);
-  return output_result_.get();
+  return std::shared_ptr<Object>(std::move(output_result_));
 }

 std::uint64_t Processor::GetDroppedCount() {
@@ -146,10 +155,34 @@ std::uint64_t Processor::GetDroppedCount() {

 void Processor::Run() {
  VLOG(2) << Name() << " thread start";
+
+  auto sleep = [this](const times::system_clock::time_point &time_beg) {
+    if (proc_period_ > 0) {
+      static times::system_clock::time_point time_prev = time_beg;
+      auto &&time_elapsed_ms =
+          times::count<times::milliseconds>(times::now() - time_prev);
+      time_prev = time_beg;
+
+      if (time_elapsed_ms < proc_period_) {
+        VLOG(2) << Name() << " process cost "
+                << times::count<times::milliseconds>(times::now() - time_beg)
+                << " ms, sleep " << (proc_period_ - time_elapsed_ms) << " ms";
+        std::this_thread::sleep_for(
+            std::chrono::milliseconds(proc_period_ - time_elapsed_ms));
+        return;
+      }
+    }
+    VLOG(2) << Name() << " process cost "
+            << times::count<times::milliseconds>(times::now() - time_beg)
+            << " ms";
+  };
+
  while (true) {
    std::unique_lock<std::mutex> lk(mtx_input_ready_);
    cond_input_ready_.wait(lk, [this] { return input_ready_; });

+    auto &&time_beg = times::now();
+
    if (!activated_) {
      SetIdle(true);
      input_ready_ = false;
@@ -165,14 +198,21 @@ void Processor::Run() {
      pre_callback_(input_.get());
    }
    bool ok = false;
-    if (callback_) {
-      if (callback_(input_.get(), output_.get(), parent_)) {
-        ok = true;
+    try {
+      if (callback_) {
+        if (callback_(input_.get(), output_.get(), parent_)) {
+          ok = true;
+        } else {
+          ok = OnProcess(input_.get(), output_.get(), parent_);
+        }
      } else {
        ok = OnProcess(input_.get(), output_.get(), parent_);
      }
-    } else {
-      ok = OnProcess(input_.get(), output_.get(), parent_);
+      // CV_Assert(false);
+    } catch (const std::exception &e) {
+      std::string msg(e.what());
+      strings::rtrim(msg);
+      LOG(ERROR) << Name() << " process error \"" << msg << "\"";
    }
    if (!ok) {
      VLOG(2) << Name() << " process failed";
@@ -194,6 +234,8 @@ void Processor::Run() {

    SetIdle(true);
    input_ready_ = false;
+
+    sleep(time_beg);
  }
  VLOG(2) << Name() << " thread end";
 }
--- a/src/api/processor/processor.h
+++ b/src/api/processor/processor.h
@@ -37,7 +37,7 @@ class Processor /*: public std::enable_shared_from_this<Processor>*/ {
  using ProcessCallback = std::function<bool(
      Object *const in, Object *const out, Processor *const parent)>;

-  Processor();
+  explicit Processor(std::int32_t proc_period = 0);
  virtual ~Processor();

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

  std::uint64_t GetDroppedCount();

@@ -80,6 +80,8 @@ class Processor /*: public std::enable_shared_from_this<Processor>*/ {

  void SetIdle(bool idle);

+  std::int32_t proc_period_;
+
  bool activated_;

  bool input_ready_;
--- a/src/api/processor/rectify_processor.cc
+++ b/src/api/processor/rectify_processor.cc
@@ -16,18 +16,23 @@
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>

-#include <glog/logging.h>
+#include <utility>
+
+#include "mynteye/logger.h"

 #include "device/device.h"

 MYNTEYE_BEGIN_NAMESPACE

-RectifyProcessor::RectifyProcessor(std::shared_ptr<Device> device)
-    : Processor() {
-  VLOG(2) << __func__;
+const char RectifyProcessor::NAME[] = "RectifyProcessor";
+
+RectifyProcessor::RectifyProcessor(
+    std::shared_ptr<Device> device, std::int32_t proc_period)
+    : Processor(std::move(proc_period)) {
+  VLOG(2) << __func__ << ": proc_period=" << proc_period;
  InitParams(
      device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
-      device->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
+      device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
 }

 RectifyProcessor::~RectifyProcessor() {
@@ -44,7 +49,7 @@ Object *RectifyProcessor::OnCreateOutput() {

 bool RectifyProcessor::OnProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  const ObjMat2 *input = Object::Cast<ObjMat2>(in);
  ObjMat2 *output = Object::Cast<ObjMat2>(out);
  cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
@@ -53,7 +58,7 @@ bool RectifyProcessor::OnProcess(
 }

 void RectifyProcessor::InitParams(
-    Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right) {
+    Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left) {
  cv::Size size{in_left.width, in_left.height};

  cv::Mat M1 =
@@ -65,12 +70,12 @@ void RectifyProcessor::InitParams(
  cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
  cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
  cv::Mat R =
-      (cv::Mat_<double>(3, 3) << ex_left_to_right.rotation[0][0],
-       ex_left_to_right.rotation[0][1], ex_left_to_right.rotation[0][2],
-       ex_left_to_right.rotation[1][0], ex_left_to_right.rotation[1][1],
-       ex_left_to_right.rotation[1][2], ex_left_to_right.rotation[2][0],
-       ex_left_to_right.rotation[2][1], ex_left_to_right.rotation[2][2]);
-  cv::Mat T(3, 1, CV_64F, ex_left_to_right.translation);
+      (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
+       ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
+       ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
+       ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
+       ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
+  cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);

  VLOG(2) << "InitParams size: " << size;
  VLOG(2) << "M1: " << M1;
--- a/src/api/processor/rectify_processor.h
+++ b/src/api/processor/rectify_processor.h
@@ -29,9 +29,10 @@ class Device;

 class RectifyProcessor : public Processor {
 public:
-  static constexpr auto &&NAME = "RectifyProcessor";
+  static const char NAME[];

-  explicit RectifyProcessor(std::shared_ptr<Device> device);
+  RectifyProcessor(
+      std::shared_ptr<Device> device, std::int32_t proc_period = 0);
  virtual ~RectifyProcessor();

  std::string Name() override;
@@ -46,7 +47,7 @@ class RectifyProcessor : public Processor {

 private:
  void InitParams(
-      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right);
+      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
 };

 MYNTEYE_END_NAMESPACE
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -13,12 +13,12 @@
 // limitations under the License.
 #include "api/synthetic.h"

-#include <glog/logging.h>
-
 #include <algorithm>
 #include <functional>
 #include <stdexcept>

+#include "mynteye/logger.h"
+
 #include "api/plugin.h"
 #include "api/processor/depth_processor.h"
 #include "api/processor/disparity_normalized_processor.h"
@@ -29,6 +29,12 @@
 #include "api/processor/rectify_processor.h"
 #include "device/device.h"

+#define RECTIFY_PROC_PERIOD 0
+#define DISPARITY_PROC_PERIOD 0
+#define DISPARITY_NORM_PROC_PERIOD 0
+#define POINTS_PROC_PERIOD 0
+#define DEPTH_PROC_PERIOD 0
+
 MYNTEYE_BEGIN_NAMESPACE

 namespace {
@@ -40,7 +46,16 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
 }

 api::StreamData data2api(const device::StreamData &data) {
-  return {data.img, frame2mat(data.frame)};
+  return {data.img, frame2mat(data.frame), data.frame};
+}
+
+void process_childs(
+    const std::shared_ptr<Processor> &proc, const std::string &name,
+    const Object &obj) {
+  auto &&processor = find_processor<Processor>(proc, name);
+  for (auto child : processor->GetChilds()) {
+    child->Process(obj);
+  }
 }

 }  // namespace
@@ -104,14 +119,16 @@ void Synthetic::StartVideoStreaming() {
    if (it->second == MODE_NATIVE) {
      auto &&stream = it->first;
      device->SetStreamCallback(
-          stream, [this, stream](const device::StreamData &data) {
+          stream,
+          [this, stream](const device::StreamData &data) {
            auto &&stream_data = data2api(data);
            ProcessNativeStream(stream, stream_data);
            // Need mutex if set callback after start
            if (HasStreamCallback(stream)) {
              stream_callbacks_.at(stream)(stream_data);
            }
-          });
+          },
+          true);
    }
  }
  device->Start(Source::VIDEO_STREAMING);
@@ -138,59 +155,59 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
    auto &&device = api_->device();
    return data2api(device->GetLatestStreamData(stream));
  } else if (mode == MODE_SYNTHETIC) {
+    if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
+      static std::shared_ptr<ObjMat2> output = nullptr;
+      auto &&processor = find_processor<RectifyProcessor>(processor_);
+      auto &&out = processor->GetOutput();
+      if (out != nullptr) {
+        // Obtain the output, out will be nullptr if get again immediately.
+        output = Object::Cast<ObjMat2>(out);
+      }
+      if (output != nullptr) {
+        if (stream == Stream::LEFT_RECTIFIED) {
+          return {nullptr, output->first, nullptr};
+        } else {
+          return {nullptr, output->second, nullptr};
+        }
+      }
+      VLOG(2) << "Rectify not ready now";
+      return {};
+    }
    switch (stream) {
-      case Stream::LEFT_RECTIFIED: {
-        auto &&processor = find_processor<RectifyProcessor>(processor_);
-        Object *out = processor->GetOutput();
-        if (out != nullptr) {
-          ObjMat2 *output = Object::Cast<ObjMat2>(out);
-          return {nullptr, output->first};
-        }
-        VLOG(2) << "Rectify not ready now";
-      } break;
-      case Stream::RIGHT_RECTIFIED: {
-        auto &&processor = find_processor<RectifyProcessor>(processor_);
-        Object *out = processor->GetOutput();
-        if (out != nullptr) {
-          ObjMat2 *output = Object::Cast<ObjMat2>(out);
-          return {nullptr, output->second};
-        }
-        VLOG(2) << "Rectify not ready now";
-      } break;
      case Stream::DISPARITY: {
        auto &&processor = find_processor<DisparityProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
        if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          auto &&output = Object::Cast<ObjMat>(out);
+          return {nullptr, output->value, nullptr};
        }
        VLOG(2) << "Disparity not ready now";
      } break;
      case Stream::DISPARITY_NORMALIZED: {
        auto &&processor =
            find_processor<DisparityNormalizedProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
        if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          auto &&output = Object::Cast<ObjMat>(out);
+          return {nullptr, output->value, nullptr};
        }
        VLOG(2) << "Disparity normalized not ready now";
      } break;
      case Stream::POINTS: {
        auto &&processor = find_processor<PointsProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
        if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          auto &&output = Object::Cast<ObjMat>(out);
+          return {nullptr, output->value, nullptr};
        }
        VLOG(2) << "Points not ready now";
      } break;
      case Stream::DEPTH: {
        auto &&processor = find_processor<DepthProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
        if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          auto &&output = Object::Cast<ObjMat>(out);
+          return {nullptr, output->value, nullptr};
        }
        VLOG(2) << "Depth not ready now";
      } break;
@@ -227,6 +244,10 @@ void Synthetic::SetPlugin(std::shared_ptr<Plugin> plugin) {
  plugin_ = plugin;
 }

+bool Synthetic::HasPlugin() const {
+  return plugin_ != nullptr;
+}
+
 void Synthetic::InitStreamSupports() {
  auto &&device = api_->device();
  if (device->Supports(Stream::LEFT) && device->Supports(Stream::RIGHT)) {
@@ -381,13 +402,16 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
 }

 void Synthetic::InitProcessors() {
-  auto &&rectify_processor = std::make_shared<RectifyProcessor>(api_->device());
-  auto &&disparity_processor = std::make_shared<DisparityProcessor>();
+  auto &&rectify_processor =
+      std::make_shared<RectifyProcessor>(api_->device(), RECTIFY_PROC_PERIOD);
+  auto &&disparity_processor =
+      std::make_shared<DisparityProcessor>(DISPARITY_PROC_PERIOD);
  auto &&disparitynormalized_processor =
-      std::make_shared<DisparityNormalizedProcessor>();
-  auto &&points_processor =
-      std::make_shared<PointsProcessor>(rectify_processor->Q);
-  auto &&depth_processor = std::make_shared<DepthProcessor>();
+      std::make_shared<DisparityNormalizedProcessor>(
+          DISPARITY_NORM_PROC_PERIOD);
+  auto &&points_processor = std::make_shared<PointsProcessor>(
+      rectify_processor->Q, POINTS_PROC_PERIOD);
+  auto &&depth_processor = std::make_shared<DepthProcessor>(DEPTH_PROC_PERIOD);

  using namespace std::placeholders;  // NOLINT
  rectify_processor->SetProcessCallback(
@@ -422,60 +446,50 @@ void Synthetic::InitProcessors() {

 void Synthetic::ProcessNativeStream(
    const Stream &stream, const api::StreamData &data) {
-  bool done = false;
-  static api::StreamData left_data, right_data;
-  if (stream == Stream::LEFT) {
-    left_data = data;
-    done = true;
-  } else if (stream == Stream::RIGHT) {
-    right_data = data;
-    done = true;
-  }
-  if (done && left_data.img && right_data.img &&
-      left_data.img->frame_id == right_data.img->frame_id) {
-    auto &&processor = find_processor<RectifyProcessor>(processor_);
-    processor->Process(ObjMat2{left_data.frame, right_data.frame});
-  }
-  if (done)
-    return;
-
-  auto &&process_childs = [this, &stream](
-      const std::string &name, const Object &obj) {
-    auto &&processor = find_processor<Processor>(processor_, name);
-    for (auto child : processor->GetChilds()) {
-      child->Process(obj);
+  if (stream == Stream::LEFT || stream == Stream::RIGHT) {
+    static api::StreamData left_data, right_data;
+    if (stream == Stream::LEFT) {
+      left_data = data;
+    } else if (stream == Stream::RIGHT) {
+      right_data = data;
+    }
+    if (left_data.img && right_data.img &&
+        left_data.img->frame_id == right_data.img->frame_id) {
+      auto &&processor = find_processor<RectifyProcessor>(processor_);
+      processor->Process(ObjMat2{left_data.frame, right_data.frame});
    }
-  };
-
-  static api::StreamData left_rect_data, right_rect_data;
-  if (stream == Stream::LEFT_RECTIFIED) {
-    left_rect_data = data;
-    done = true;
-  } else if (stream == Stream::RIGHT_RECTIFIED) {
-    right_rect_data = data;
-    done = true;
-  }
-  if (done && left_rect_data.img && right_rect_data.img &&
-      left_rect_data.img->frame_id == right_rect_data.img->frame_id) {
-    process_childs(
-        RectifyProcessor::NAME,
-        ObjMat2{left_rect_data.frame, right_rect_data.frame});
-  }
-  if (done)
    return;
+  }
+
+  if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
+    static api::StreamData left_rect_data, right_rect_data;
+    if (stream == Stream::LEFT_RECTIFIED) {
+      left_rect_data = data;
+    } else if (stream == Stream::RIGHT_RECTIFIED) {
+      right_rect_data = data;
+    }
+    if (left_rect_data.img && right_rect_data.img &&
+        left_rect_data.img->frame_id == right_rect_data.img->frame_id) {
+      process_childs(
+          processor_, RectifyProcessor::NAME,
+          ObjMat2{left_rect_data.frame, right_rect_data.frame});
+    }
+    return;
+  }

  switch (stream) {
    case Stream::DISPARITY: {
-      process_childs(DisparityProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, DisparityProcessor::NAME, ObjMat{data.frame});
    } break;
    case Stream::DISPARITY_NORMALIZED: {
-      process_childs(DisparityNormalizedProcessor::NAME, ObjMat{data.frame});
+      process_childs(
+          processor_, DisparityNormalizedProcessor::NAME, ObjMat{data.frame});
    } break;
    case Stream::POINTS: {
-      process_childs(PointsProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, PointsProcessor::NAME, ObjMat{data.frame});
    } break;
    case Stream::DEPTH: {
-      process_childs(DepthProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, DepthProcessor::NAME, ObjMat{data.frame});
    } break;
    default:
      break;
@@ -484,7 +498,7 @@ void Synthetic::ProcessNativeStream(

 bool Synthetic::OnRectifyProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  if (plugin_ && plugin_->OnRectifyProcess(in, out)) {
    return true;
  }
@@ -494,7 +508,7 @@ bool Synthetic::OnRectifyProcess(

 bool Synthetic::OnDisparityProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  if (plugin_ && plugin_->OnDisparityProcess(in, out)) {
    return true;
  }
@@ -503,7 +517,7 @@ bool Synthetic::OnDisparityProcess(

 bool Synthetic::OnDisparityNormalizedProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  if (plugin_ && plugin_->OnDisparityNormalizedProcess(in, out)) {
    return true;
  }
@@ -512,7 +526,7 @@ bool Synthetic::OnDisparityNormalizedProcess(

 bool Synthetic::OnPointsProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  if (plugin_ && plugin_->OnPointsProcess(in, out)) {
    return true;
  }
@@ -521,7 +535,7 @@ bool Synthetic::OnPointsProcess(

 bool Synthetic::OnDepthProcess(
    Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
  if (plugin_ && plugin_->OnDepthProcess(in, out)) {
    return true;
  }
@@ -531,17 +545,19 @@ bool Synthetic::OnDepthProcess(
 void Synthetic::OnRectifyPostProcess(Object *const out) {
  const ObjMat2 *output = Object::Cast<ObjMat2>(out);
  if (HasStreamCallback(Stream::LEFT_RECTIFIED)) {
-    stream_callbacks_.at(Stream::LEFT_RECTIFIED)({nullptr, output->first});
+    stream_callbacks_.at(Stream::LEFT_RECTIFIED)(
+        {nullptr, output->first, nullptr});
  }
  if (HasStreamCallback(Stream::RIGHT_RECTIFIED)) {
-    stream_callbacks_.at(Stream::RIGHT_RECTIFIED)({nullptr, output->second});
+    stream_callbacks_.at(Stream::RIGHT_RECTIFIED)(
+        {nullptr, output->second, nullptr});
  }
 }

 void Synthetic::OnDisparityPostProcess(Object *const out) {
  const ObjMat *output = Object::Cast<ObjMat>(out);
  if (HasStreamCallback(Stream::DISPARITY)) {
-    stream_callbacks_.at(Stream::DISPARITY)({nullptr, output->value});
+    stream_callbacks_.at(Stream::DISPARITY)({nullptr, output->value, nullptr});
  }
 }

@@ -549,21 +565,21 @@ void Synthetic::OnDisparityNormalizedPostProcess(Object *const out) {
  const ObjMat *output = Object::Cast<ObjMat>(out);
  if (HasStreamCallback(Stream::DISPARITY_NORMALIZED)) {
    stream_callbacks_.at(Stream::DISPARITY_NORMALIZED)(
-        {nullptr, output->value});
+        {nullptr, output->value, nullptr});
  }
 }

 void Synthetic::OnPointsPostProcess(Object *const out) {
  const ObjMat *output = Object::Cast<ObjMat>(out);
  if (HasStreamCallback(Stream::POINTS)) {
-    stream_callbacks_.at(Stream::POINTS)({nullptr, output->value});
+    stream_callbacks_.at(Stream::POINTS)({nullptr, output->value, nullptr});
  }
 }

 void Synthetic::OnDepthPostProcess(Object *const out) {
  const ObjMat *output = Object::Cast<ObjMat>(out);
  if (HasStreamCallback(Stream::DEPTH)) {
-    stream_callbacks_.at(Stream::DEPTH)({nullptr, output->value});
+    stream_callbacks_.at(Stream::DEPTH)({nullptr, output->value, nullptr});
  }
 }

--- a/src/api/synthetic.h
+++ b/src/api/synthetic.h
@@ -25,10 +25,11 @@
 MYNTEYE_BEGIN_NAMESPACE

 class API;
-class Object;
 class Plugin;
 class Processor;

+struct Object;
+
 class Synthetic {
 public:
  using stream_callback_t = API::stream_callback_t;
@@ -61,6 +62,7 @@ class Synthetic {
  std::vector<api::StreamData> GetStreamDatas(const Stream &stream);

  void SetPlugin(std::shared_ptr<Plugin> plugin);
+  bool HasPlugin() const;

 private:
  void InitStreamSupports();
--- a/src/device/context.cc
+++ b/src/device/context.cc
@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "device/context.h"

-#include <glog/logging.h>
+#include "mynteye/logger.h"

 #include "device/device.h"
 #include "uvc/uvc.h"
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -13,18 +13,21 @@
 // limitations under the License.
 #include "device/device.h"

-#include <glog/logging.h>
-
 #include <algorithm>
+#include <iterator>
 #include <stdexcept>
 #include <utility>

+#include "mynteye/logger.h"
+
 #include "device/device_s.h"
+#include "internal/async_callback.h"
 #include "internal/channels.h"
 #include "internal/config.h"
 #include "internal/motions.h"
 #include "internal/streams.h"
 #include "internal/strings.h"
+#include "internal/times.h"
 #include "internal/types.h"
 #include "uvc/uvc.h"

@@ -52,6 +55,27 @@ struct DeviceModel {
  }
 };

+bool CheckSupports(
+    const Device *const device, const Stream &stream, bool fatal = true) {
+  if (device->Supports(stream)) {
+    return true;
+  } else {
+    auto &&supports = stream_supports_map.at(device->GetModel());
+    std::ostringstream ss;
+    std::copy(
+        supports.begin(), supports.end(),
+        std::ostream_iterator<Stream>(ss, ", "));
+    if (fatal) {
+      LOG(FATAL) << "Unsupported stream: " << stream
+                 << ". Please use these: " << ss.str();
+    } else {
+      LOG(WARNING) << "Unsupported stream: " << stream
+                   << ". Please use these: " << ss.str();
+    }
+    return false;
+  }
+}
+
 }  // namespace

 Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
@@ -112,7 +136,9 @@ bool Device::Supports(const AddOns &addon) const {
      return hw_flag[0];
    case AddOns::INFRARED2:
      return hw_flag[1];
-    default: { LOG(FATAL) << "Unknown add-on"; }
+    default:
+      LOG(WARNING) << "Unknown add-on";
+      return false;
  }
 }

@@ -135,8 +161,9 @@ void Device::ConfigStreamRequest(
  auto &&requests = GetStreamRequests(capability);
  if (std::find(requests.cbegin(), requests.cend(), request) ==
      requests.cend()) {
-    LOG(FATAL) << "Config stream request of " << capability
-               << " is not accpected";
+    LOG(WARNING) << "Config stream request of " << capability
+                 << " is not accpected";
+    return;
  }
  stream_config_requests_[capability] = request;
 }
@@ -148,50 +175,70 @@ std::shared_ptr<DeviceInfo> Device::GetInfo() const {
 std::string Device::GetInfo(const Info &info) const {
  CHECK_NOTNULL(device_info_);
  switch (info) {
-    case Info::DEVICE_NAME: {
+    case Info::DEVICE_NAME:
      return device_info_->name;
-    } break;
-    case Info::SERIAL_NUMBER: {
+    case Info::SERIAL_NUMBER:
      return device_info_->serial_number;
-    } break;
-    case Info::FIRMWARE_VERSION: {
+    case Info::FIRMWARE_VERSION:
      return device_info_->firmware_version.to_string();
-    } break;
-    case Info::HARDWARE_VERSION: {
+    case Info::HARDWARE_VERSION:
      return device_info_->hardware_version.to_string();
-    } break;
-    case Info::SPEC_VERSION: {
+    case Info::SPEC_VERSION:
      return device_info_->spec_version.to_string();
-    } break;
-    case Info::LENS_TYPE: {
+    case Info::LENS_TYPE:
      return device_info_->lens_type.to_string();
-    } break;
-    case Info::IMU_TYPE: {
+    case Info::IMU_TYPE:
      return device_info_->imu_type.to_string();
-    } break;
-    case Info::NOMINAL_BASELINE: {
+    case Info::NOMINAL_BASELINE:
      return std::to_string(device_info_->nominal_baseline);
-    } break;
-    default: { LOG(FATAL) << "Unknown device info"; }
+    default:
+      LOG(WARNING) << "Unknown device info";
+      return "";
  }
 }

 Intrinsics Device::GetIntrinsics(const Stream &stream) const {
+  bool ok;
+  return GetIntrinsics(stream, &ok);
+}
+
+Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
+  bool ok;
+  return GetExtrinsics(from, to, &ok);
+}
+
+MotionIntrinsics Device::GetMotionIntrinsics() const {
+  bool ok;
+  return GetMotionIntrinsics(&ok);
+}
+
+Extrinsics Device::GetMotionExtrinsics(const Stream &from) const {
+  bool ok;
+  return GetMotionExtrinsics(from, &ok);
+}
+
+Intrinsics Device::GetIntrinsics(const Stream &stream, bool *ok) const {
  try {
+    *ok = true;
    return stream_intrinsics_.at(stream);
  } catch (const std::out_of_range &e) {
+    *ok = false;
    LOG(WARNING) << "Intrinsics of " << stream << " not found";
    return {};
  }
 }

-Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
+Extrinsics Device::GetExtrinsics(
+    const Stream &from, const Stream &to, bool *ok) const {
  try {
+    *ok = true;
    return stream_from_extrinsics_.at(from).at(to);
  } catch (const std::out_of_range &e) {
    try {
+      *ok = true;
      return stream_from_extrinsics_.at(to).at(from).Inverse();
    } catch (const std::out_of_range &e) {
+      *ok = false;
      LOG(WARNING) << "Extrinsics from " << from << " to " << to
                   << " not found";
      return {};
@@ -199,20 +246,24 @@ Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
  }
 }

-MotionIntrinsics Device::GetMotionIntrinsics() const {
+MotionIntrinsics Device::GetMotionIntrinsics(bool *ok) const {
  if (motion_intrinsics_) {
+    *ok = true;
    return *motion_intrinsics_;
  } else {
-    LOG(WARNING) << "Motion intrinsics not found";
+    *ok = false;
+    VLOG(2) << "Motion intrinsics not found";
    return {};
  }
 }

-Extrinsics Device::GetMotionExtrinsics(const Stream &from) const {
+Extrinsics Device::GetMotionExtrinsics(const Stream &from, bool *ok) const {
  try {
+    *ok = true;
    return motion_from_extrinsics_.at(from);
  } catch (const std::out_of_range &e) {
-    LOG(WARNING) << "Motion extrinsics from " << from << " not found";
+    *ok = false;
+    VLOG(2) << "Motion extrinsics from " << from << " not found";
    return {};
  }
 }
@@ -275,20 +326,32 @@ bool Device::RunOptionAction(const Option &option) const {
 }

 void Device::SetStreamCallback(
-    const Stream &stream, stream_callback_t callback) {
-  if (!Supports(stream)) {
-    LOG(WARNING) << "Unsupported stream: " << stream;
+    const Stream &stream, stream_callback_t callback, bool async) {
+  if (!CheckSupports(this, stream, false)) {
    return;
  }
  if (callback) {
    stream_callbacks_[stream] = callback;
+    if (async)
+      stream_async_callbacks_[stream] =
+          std::make_shared<stream_async_callback_t>(
+              to_string(stream), callback);  // max_data_size = 1
  } else {
    stream_callbacks_.erase(stream);
+    stream_async_callbacks_.erase(stream);
  }
 }

-void Device::SetMotionCallback(motion_callback_t callback) {
+void Device::SetMotionCallback(motion_callback_t callback, bool async) {
  motion_callback_ = callback;
+  if (callback) {
+    if (async)
+      motion_async_callback_ =
+          std::make_shared<motion_async_callback_t>("motion", callback, 1000);
+    // will drop old motion datas after callback cost > 2 s (1000 / 500 Hz)
+  } else {
+    motion_async_callback_ = nullptr;
+  }
 }

 bool Device::HasStreamCallback(const Stream &stream) const {
@@ -312,7 +375,7 @@ void Device::Start(const Source &source) {
    Start(Source::VIDEO_STREAMING);
    Start(Source::MOTION_TRACKING);
  } else {
-    LOG(FATAL) << "Unsupported source :(";
+    LOG(ERROR) << "Unsupported source :(";
  }
 }

@@ -327,7 +390,7 @@ void Device::Stop(const Source &source) {
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    Stop(Source::VIDEO_STREAMING);
  } else {
-    LOG(FATAL) << "Unsupported source :(";
+    LOG(ERROR) << "Unsupported source :(";
  }
 }

@@ -340,6 +403,7 @@ void Device::WaitForStreams() {
 std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
  CHECK(video_streaming_);
  CHECK_NOTNULL(streams_);
+  CheckSupports(this, stream);
  std::lock_guard<std::mutex> _(mtx_streams_);
  return streams_->GetStreamDatas(stream);
 }
@@ -347,6 +411,7 @@ std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
 device::StreamData Device::GetLatestStreamData(const Stream &stream) {
  CHECK(video_streaming_);
  CHECK_NOTNULL(streams_);
+  CheckSupports(this, stream);
  std::lock_guard<std::mutex> _(mtx_streams_);
  return streams_->GetLatestStreamData(stream);
 }
@@ -367,8 +432,8 @@ const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
    return stream_config_requests_.at(capability);
  } catch (const std::out_of_range &e) {
    auto &&requests = GetStreamRequests(capability);
-    if (requests.size() == 1) {
-      VLOG(2) << "Get the only one stream request of " << capability;
+    if (requests.size() >= 1) {
+      VLOG(2) << "Select the first one stream request of " << capability;
      return requests[0];
    } else {
      LOG(FATAL) << "Please config the stream request of " << capability;
@@ -406,27 +471,27 @@ void Device::StartVideoStreaming() {
    uvc::set_device_mode(
        *device_, stream_request.width, stream_request.height,
        static_cast<int>(stream_request.format), stream_request.fps,
-        [this](const void *data) {
+        [this](const void *data, std::function<void()> continuation) {
          // drop the first stereo stream data
          static std::uint8_t drop_count = 1;
          if (drop_count > 0) {
            --drop_count;
+            continuation();
            return;
          }
-          std::lock_guard<std::mutex> _(mtx_streams_);
-          streams_->PushStream(Capabilities::STEREO, data);
-          if (HasStreamCallback(Stream::LEFT)) {
-            auto &&stream_datas = streams_->stream_datas(Stream::LEFT);
-            if (stream_datas.size() > 0) {
-              stream_callbacks_.at(Stream::LEFT)(stream_datas.back());
-            }
-          }
-          if (HasStreamCallback(Stream::RIGHT)) {
-            auto &&stream_datas = streams_->stream_datas(Stream::RIGHT);
-            if (stream_datas.size() > 0) {
-              stream_callbacks_.at(Stream::RIGHT)(stream_datas.back());
+          // auto &&time_beg = times::now();
+          {
+            std::lock_guard<std::mutex> _(mtx_streams_);
+            if (streams_->PushStream(Capabilities::STEREO, data)) {
+              CallbackPushedStreamData(Stream::LEFT);
+              CallbackPushedStreamData(Stream::RIGHT);
            }
          }
+          continuation();
+          OnStereoStreamUpdate();
+          // VLOG(2) << "Stereo video callback cost "
+          //     << times::count<times::milliseconds>(times::now() - time_beg)
+          //     << " ms";
        });
  } else {
    LOG(FATAL) << "Not any stream capabilities are supported by this device";
@@ -453,12 +518,9 @@ void Device::StartMotionTracking() {
    LOG(WARNING) << "Cannot start motion tracking without first stopping it";
    return;
  }
-  motions_->SetMotionCallback([this](const device::MotionData &data) {
-    if (motion_callback_) {
-      motion_callback_(data);
-    }
-  });
-  motions_->StartMotionTracking();
+  motions_->SetMotionCallback(
+      std::bind(&Device::CallbackMotionData, this, std::placeholders::_1));
+  // motions_->StartMotionTracking();
  motion_tracking_ = true;
 }

@@ -467,10 +529,12 @@ void Device::StopMotionTracking() {
    LOG(WARNING) << "Cannot stop motion tracking without first starting it";
    return;
  }
-  motions_->StopMotionTracking();
+  // motions_->StopMotionTracking();
  motion_tracking_ = false;
 }

+void Device::OnStereoStreamUpdate() {}
+
 void Device::ReadAllInfos() {
  device_info_ = std::make_shared<DeviceInfo>();

@@ -478,7 +542,13 @@ void Device::ReadAllInfos() {
  Channels::img_params_t img_params;
  Channels::imu_params_t imu_params;
  if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
-    LOG(FATAL) << "Read device infos failed :(";
+#if defined(WITH_DEVICE_INFO_REQUIRED)
+    LOG(FATAL)
+#else
+    LOG(WARNING)
+#endif
+        << "Read device infos failed. Please upgrade your firmware to the "
+           "latest version.";
  }
  VLOG(2) << "Device info: {name: " << device_info_->name
          << ", serial_number: " << device_info_->serial_number
@@ -495,11 +565,11 @@ void Device::ReadAllInfos() {
  if (img_params.ok) {
    SetIntrinsics(Stream::LEFT, img_params.in_left);
    SetIntrinsics(Stream::RIGHT, img_params.in_right);
-    SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_left_to_right);
+    SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
    VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
    VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
-    VLOG(2) << "Extrinsics left to right: {"
-            << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+    VLOG(2) << "Extrinsics right to left: {"
+            << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
  } else {
    LOG(WARNING) << "Intrinsics & extrinsics not exist";
  }
@@ -510,7 +580,30 @@ void Device::ReadAllInfos() {
    VLOG(2) << "Motion extrinsics left to imu: {"
            << GetMotionExtrinsics(Stream::LEFT) << "}";
  } else {
-    LOG(WARNING) << "Motion intrinsics & extrinsics not exist";
+    VLOG(2) << "Motion intrinsics & extrinsics not exist";
+  }
+}
+
+void Device::CallbackPushedStreamData(const Stream &stream) {
+  if (HasStreamCallback(stream)) {
+    auto &&datas = streams_->stream_datas(stream);
+    // if (datas.size() > 0) {}
+    auto &&data = datas.back();
+    if (stream_async_callbacks_.find(stream) != stream_async_callbacks_.end()) {
+      stream_async_callbacks_.at(stream)->PushData(data);
+    } else {
+      stream_callbacks_.at(stream)(data);
+    }
+  }
+}
+
+void Device::CallbackMotionData(const device::MotionData &data) {
+  if (HasMotionCallback()) {
+    if (motion_async_callback_) {
+      motion_async_callback_->PushData(data);
+    } else {
+      motion_callback_(data);
+    }
  }
 }

--- a/src/device/device.h
+++ b/src/device/device.h
@@ -47,6 +47,9 @@ class Channels;
 class Motions;
 class Streams;

+template <class Data>
+class AsyncCallback;
+
 /**
 * The Device class to communicate with MYNT® EYE device.
 */
@@ -59,6 +62,11 @@ 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 +140,24 @@ class MYNTEYE_API Device {
   */
  Extrinsics GetMotionExtrinsics(const Stream &from) const;

+  /**
+   * Get the intrinsics of stream.
+   */
+  Intrinsics GetIntrinsics(const Stream &stream, bool *ok) const;
+  /**
+   * Get the extrinsics from one stream to another.
+   */
+  Extrinsics GetExtrinsics(
+      const Stream &from, const Stream &to, bool *ok) const;
+  /**
+   * Get the intrinsics of motion.
+   */
+  MotionIntrinsics GetMotionIntrinsics(bool *ok) const;
+  /**
+   * Get the extrinsics from one stream to motion.
+   */
+  Extrinsics GetMotionExtrinsics(const Stream &from, bool *ok) const;
+
  /**
   * Set the intrinsics of stream.
   */
@@ -176,11 +202,12 @@ 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.
@@ -230,6 +257,18 @@ 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 +277,8 @@ 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 +298,9 @@ 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 +313,8 @@ 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;
--- a/src/device/device_s.cc
+++ b/src/device/device_s.cc
@@ -13,7 +13,9 @@
 // limitations under the License.
 #include "device/device_s.h"

-#include <glog/logging.h>
+#include "mynteye/logger.h"
+
+#include "internal/motions.h"

 MYNTEYE_BEGIN_NAMESPACE

@@ -30,4 +32,11 @@ std::vector<Stream> StandardDevice::GetKeyStreams() const {
  return {Stream::LEFT, Stream::RIGHT};
 }

+void StandardDevice::OnStereoStreamUpdate() {
+  if (motion_tracking_) {
+    auto &&motions = this->motions();
+    motions->DoMotionTrack();
+  }
+}
+
 MYNTEYE_END_NAMESPACE
--- a/src/device/device_s.h
+++ b/src/device/device_s.h
@@ -28,6 +28,8 @@ class StandardDevice : public Device {
  virtual ~StandardDevice();

  std::vector<Stream> GetKeyStreams() const override;
+
+  void OnStereoStreamUpdate() override;
 };

 MYNTEYE_END_NAMESPACE
--- a/src/internal/async_callback.h
+++ b/src/internal/async_callback.h
@@ -0,0 +1,62 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_INTERNAL_ASYNC_CALLBACK_H_  // NOLINT
+#define MYNTEYE_INTERNAL_ASYNC_CALLBACK_H_
+#pragma once
+
+#include <condition_variable>
+#include <functional>
+#include <mutex>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include "mynteye/mynteye.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+template <class Data>
+class AsyncCallback {
+ public:
+  using callback_t = std::function<void(Data data)>;
+
+  AsyncCallback(
+      std::string name, callback_t callback, std::size_t max_data_size = 0);
+  ~AsyncCallback();
+
+  void PushData(Data data);
+
+ private:
+  void Run();
+
+  std::string name_;
+
+  callback_t callback_;
+
+  std::mutex mtx_;
+  std::condition_variable cv_;
+
+  bool running_;
+  std::thread thread_;
+
+  std::uint32_t count_;
+  std::vector<Data> datas_;
+  std::size_t max_data_size_;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#include "internal/async_callback_impl.h"
+
+#endif  // MYNTEYE_INTERNAL_ASYNC_CALLBACK_H_ NOLINT
--- a/src/internal/async_callback_impl.h
+++ b/src/internal/async_callback_impl.h
@@ -0,0 +1,92 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_  // NOLINT
+#define MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_
+#pragma once
+
+#include <string>
+#include <utility>
+
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+template <class Data>
+AsyncCallback<Data>::AsyncCallback(
+    std::string name, callback_t callback, std::size_t max_data_size)
+    : name_(std::move(name)),
+      callback_(std::move(callback)),
+      count_(0),
+      max_data_size_(max_data_size) {
+  VLOG(2) << __func__;
+  running_ = true;
+  thread_ = std::thread(&AsyncCallback<Data>::Run, this);
+}
+
+template <class Data>
+AsyncCallback<Data>::~AsyncCallback() {
+  VLOG(2) << __func__;
+  {
+    std::lock_guard<std::mutex> _(mtx_);
+    running_ = false;
+    ++count_;
+  }
+  cv_.notify_one();
+  if (thread_.joinable()) {
+    thread_.join();
+  }
+}
+
+template <class Data>
+void AsyncCallback<Data>::PushData(Data data) {
+  std::lock_guard<std::mutex> _(mtx_);
+  if (max_data_size_ <= 0) {
+    datas_.clear();
+  } else if (max_data_size_ == datas_.size()) {  // >= 1
+    datas_.erase(datas_.begin());
+  }
+  datas_.push_back(data);
+  ++count_;
+  cv_.notify_one();
+}
+
+template <class Data>
+void AsyncCallback<Data>::Run() {
+  VLOG(2) << "AsyncCallback(" << name_ << ") thread start";
+  while (true) {
+    std::unique_lock<std::mutex> lock(mtx_);
+    cv_.wait(lock, [this] { return count_ > 0; });
+
+    if (!running_)
+      break;
+
+    if (callback_) {
+      for (auto &&data : datas_) {
+        callback_(data);
+      }
+    }
+
+    if (VLOG_IS_ON(2) && count_ > datas_.size()) {
+      VLOG(2) << "AsyncCallback(" << name_ << ") dropped "
+              << (count_ - datas_.size());
+    }
+    count_ = 0;
+    datas_.clear();
+  }
+  VLOG(2) << "AsyncCallback(" << name_ << ") thread end";
+}
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_ NOLINT
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -13,8 +13,6 @@
 // limitations under the License.
 #include "internal/channels.h"

-#include <glog/logging.h>
-
 #include <bitset>
 #include <chrono>
 #include <iomanip>
@@ -22,6 +20,8 @@
 #include <sstream>
 #include <stdexcept>

+#include "mynteye/logger.h"
+
 #include "internal/strings.h"
 #include "internal/times.h"

@@ -31,6 +31,13 @@ MYNTEYE_BEGIN_NAMESPACE

 namespace {

+const uvc::xu mynteye_xu = {3,
+                            2,
+                            {0x947a6d9f,
+                             0x8a2f,
+                             0x418d,
+                             {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}}};
+
 int XuCamCtrlId(Option option) {
  switch (option) {
    case Option::EXPOSURE_MODE:
@@ -177,7 +184,7 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
      LOG(WARNING) << option << " get value useless";
      return -1;
    default:
-      LOG(FATAL) << "Unsupported option " << option;
+      LOG(ERROR) << "Unsupported option " << option;
  }
  return -1;
 }
@@ -241,7 +248,7 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
      LOG(WARNING) << option << " set value useless";
      break;
    default:
-      LOG(FATAL) << "Unsupported option " << option;
+      LOG(ERROR) << "Unsupported option " << option;
  }
 }

@@ -265,7 +272,8 @@ bool Channels::RunControlAction(const Option &option) const {
      LOG(WARNING) << option << " run action useless";
      return false;
    default:
-      LOG(FATAL) << "Unsupported option " << option;
+      LOG(ERROR) << "Unsupported option " << option;
+      return false;
  }
 }

@@ -273,6 +281,47 @@ void Channels::SetImuCallback(imu_callback_t callback) {
  imu_callback_ = callback;
 }

+void Channels::DoImuTrack() {
+  static ImuReqPacket req_packet{0};
+  static ImuResPacket res_packet;
+
+  req_packet.serial_number = imu_sn_;
+  if (!XuImuWrite(req_packet)) {
+    return;
+  }
+
+  if (!XuImuRead(&res_packet)) {
+    return;
+  }
+
+  if (res_packet.packets.size() == 0) {
+    return;
+  }
+
+  VLOG(2) << "Imu req sn: " << imu_sn_ << ", res count: " << []() {
+    std::size_t n = 0;
+    for (auto &&packet : res_packet.packets) {
+      n += packet.count;
+    }
+    return n;
+  }();
+
+  auto &&sn = res_packet.packets.back().serial_number;
+  if (imu_sn_ == sn) {
+    VLOG(2) << "New imu not ready, dropped";
+    return;
+  }
+  imu_sn_ = sn;
+
+  if (imu_callback_) {
+    for (auto &&packet : res_packet.packets) {
+      imu_callback_(packet);
+    }
+  }
+
+  res_packet.packets.clear();
+}
+
 void Channels::StartImuTracking(imu_callback_t callback) {
  if (is_imu_tracking_) {
    LOG(WARNING) << "Start imu tracking failed, is tracking already";
@@ -284,8 +333,6 @@ void Channels::StartImuTracking(imu_callback_t callback) {
  is_imu_tracking_ = true;
  imu_track_thread_ = std::thread([this]() {
    imu_sn_ = 0;
-    ImuReqPacket req_packet{imu_sn_};
-    ImuResPacket res_packet;
    auto sleep = [](const times::system_clock::time_point &time_beg) {
      auto &&time_elapsed_ms =
          times::count<times::milliseconds>(times::now() - time_beg);
@@ -298,48 +345,7 @@ void Channels::StartImuTracking(imu_callback_t callback) {
    };
    while (!imu_track_stop_) {
      auto &&time_beg = times::now();
-
-      req_packet.serial_number = imu_sn_;
-      if (!XuImuWrite(req_packet)) {
-        sleep(time_beg);
-        continue;
-      }
-
-      if (!XuImuRead(&res_packet)) {
-        sleep(time_beg);
-        continue;
-      }
-
-      if (res_packet.packets.size() == 0) {
-        sleep(time_beg);
-        continue;
-      }
-
-      VLOG(2) << "Imu req sn: " << imu_sn_
-              << ", res count: " << [&res_packet]() {
-                   std::size_t n = 0;
-                   for (auto &&packet : res_packet.packets) {
-                     n += packet.count;
-                   }
-                   return n;
-                 }();
-
-      auto &&sn = res_packet.packets.back().serial_number;
-      if (imu_sn_ == sn) {
-        VLOG(2) << "New imu not ready, dropped";
-        sleep(time_beg);
-        continue;
-      }
-      imu_sn_ = sn;
-
-      if (imu_callback_) {
-        for (auto &&packet : res_packet.packets) {
-          imu_callback_(packet);
-        }
-      }
-
-      res_packet.packets.clear();
-
+      DoImuTrack();
      sleep(time_beg);
    }
  });
@@ -447,7 +453,7 @@ std::size_t from_data(
  }
  i += 40;

-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
  return i;
 }

@@ -478,7 +484,7 @@ std::size_t from_data(
  }
  i += 24;

-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
  return i;
 }

@@ -499,7 +505,7 @@ std::size_t from_data(
  }
  i += 24;

-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
  return i;
 }

@@ -509,7 +515,7 @@ std::size_t from_data(
  std::size_t i = 0;
  i += from_data(&img_params->in_left, data + i, spec_version);
  i += from_data(&img_params->in_right, data + i, spec_version);
-  i += from_data(&img_params->ex_left_to_right, data + i, spec_version);
+  i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
  return i;
 }

@@ -678,7 +684,7 @@ std::size_t to_data(
  _to_data(info->nominal_baseline, data + i);
  i += 2;

-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)

  // others
  std::size_t size = i - 3;
@@ -719,7 +725,7 @@ std::size_t to_data(
  }
  i += 40;

-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
  return i;
 }

@@ -750,7 +756,7 @@ std::size_t to_data(
  }
  i += 24;

-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
  return i;
 }

@@ -771,7 +777,7 @@ std::size_t to_data(
  }
  i += 24;

-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
  return i;
 }

@@ -781,7 +787,7 @@ std::size_t to_data(
  std::size_t i = 3;  // skip id, size
  i += to_data(&img_params->in_left, data + i, spec_version);
  i += to_data(&img_params->in_right, data + i, spec_version);
-  i += to_data(&img_params->ex_left_to_right, data + i, spec_version);
+  i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
  // others
  std::size_t size = i - 3;
  data[0] = Channels::FID_IMG_PARAMS;
@@ -866,10 +872,23 @@ bool Channels::PuControlQuery(
  return uvc::pu_control_query(*device_, option, query, value);
 }

+bool Channels::XuControlRange(
+    channel_t channel, uint8_t id, int32_t *min, int32_t *max,
+    int32_t *def) const {
+  return XuControlRange(mynteye_xu, channel, id, min, max, def);
+}
+
+bool Channels::XuControlRange(
+    const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min, int32_t *max,
+    int32_t *def) const {
+  CHECK_NOTNULL(device_);
+  return uvc::xu_control_range(*device_, xu, selector, id, min, max, def);
+}
+
 bool Channels::XuControlQuery(
    channel_t channel, uvc::xu_query query, uint16_t size,
    uint8_t *data) const {
-  return XuControlQuery({3}, channel >> 8, query, size, data);
+  return XuControlQuery(mynteye_xu, channel, query, size, data);
 }

 bool Channels::XuControlQuery(
@@ -1000,32 +1019,12 @@ Channels::control_info_t Channels::PuControlInfo(Option option) const {
 Channels::control_info_t Channels::XuControlInfo(Option option) const {
  int id = XuCamCtrlId(option);

-  std::uint8_t data[3] = {static_cast<std::uint8_t>((id | 0x80) & 0xFF), 0, 0};
-  if (!XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) {
+  int32_t min = 0, max = 0, def = 0;
+  if (!XuControlRange(
+          CHANNEL_CAM_CTRL, static_cast<std::uint8_t>(id), &min, &max, &def)) {
    LOG(WARNING) << "Get XuControlInfo of " << option << " failed";
-    return {0, 0, 0};
  }
-
-  control_info_t info{0, 0, 0};
-
-  data[0] = id & 0xFF;
-  if (XuCamCtrlQuery(uvc::XU_QUERY_MIN, 3, data)) {
-    info.min = (data[1] << 8) | (data[2]);
-  } else {
-    LOG(WARNING) << "Get XuControlInfo.min of " << option << " failed";
-  }
-  if (XuCamCtrlQuery(uvc::XU_QUERY_MAX, 3, data)) {
-    info.max = (data[1] << 8) | (data[2]);
-  } else {
-    LOG(WARNING) << "Get XuControlInfo.max of " << option << " failed";
-  }
-  if (XuCamCtrlQuery(uvc::XU_QUERY_DEF, 3, data)) {
-    info.def = (data[1] << 8) | (data[2]);
-  } else {
-    LOG(WARNING) << "Get XuControlInfo.def of " << option << " failed";
-  }
-
-  return info;
+  return {min, max, def};
 }

 MYNTEYE_END_NAMESPACE
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
John Zhao	721ad22b0a	Update version	2018-10-22 22:18:22 +08:00
kalman	4d644a1d71	Update img.params	2018-10-18 15:11:21 +08:00
kalman	1f96a6ee29	Add frame rate 60	2018-10-17 11:12:40 +08:00
kalman	204fff2175	Update device.info,img.params and imu params	2018-10-17 10:59:50 +08:00
John Zhao	12f5a8f3cc	Update README.md	2018-09-27 09:56:17 +08:00
John Zhao	6435bf04a2	Fix generate apidoc	2018-09-27 09:31:42 +08:00
John Zhao	2ae3116f0d	Update doc version	2018-09-26 16:01:47 +08:00
John Zhao	a26dbec7b1	Fix log level & strip basename	2018-09-11 14:12:45 +08:00
John Zhao	0bcd3c02b9	Fix miniglog on win	2018-09-11 13:24:07 +08:00
John Zhao	c6f195360f	Change make install	2018-09-11 10:58:42 +08:00
John Zhao	1b95e376a5	Update macros	2018-09-11 10:50:44 +08:00
John Zhao	cf9e714626	Fix flags on win	2018-09-11 10:10:14 +08:00
Osenberg-Y	5f233a35c0	Merge branch develop	2018-09-11 10:05:57 +08:00
Osenberg-Y	36e90e3793	Fix bug in repeatedly publishing camera infomation.	2018-09-06 19:45:51 +08:00
John Zhao	ca605d6114	Set max log level to info for miniglog	2018-09-04 17:31:21 +08:00
John Zhao	89c798daa8	Change max log size	2018-09-04 17:18:35 +08:00
John Zhao	2784937ad1	Remove submodule glog	2018-09-04 17:11:39 +08:00
John Zhao	d96797c835	Add miniglog	2018-09-04 17:00:18 +08:00
John Zhao	94ecacef6c	Build pass without glog	2018-09-04 16:07:36 +08:00
John Zhao	02856194a0	Update find mynteye in cmakelists of wrappers	2018-09-04 15:59:38 +08:00
John Zhao	4d5ff16f82	Change log header	2018-09-04 15:49:11 +08:00
John Zhao	30a9397602	Add glog option	2018-09-04 15:07:26 +08:00
John Zhao	55165b8878	Update init script, make linter optional	2018-09-04 10:47:54 +08:00
Osenberg-Y	12adc79096	Merge branch into develop	2018-09-03 14:42:25 +08:00
Osenberg-Y	4addab5cc0	Merge branch 'develop' of https://code.slightech.com:666/mynteye/mynt-eye-sdk-2 into develop	2018-09-02 14:50:49 +08:00
kalman	92585a3b8d	Replace LOG(WARNING) with VLOG(2) When get imu params failed or image packet is unaccepted	2018-09-01 21:03:28 +08:00
kalman	54f01eec1a	Miss blank line	2018-09-01 20:51:14 +08:00
kalman	d80d506360	Throw error in v4l2 when time out	2018-09-01 20:47:35 +08:00
Osenberg-Y	692cbac8d8	Temporary version	2018-08-28 16:46:51 +08:00
Osenberg-Y	d4343b574a	Optimized the display of raw image and imu rate information	2018-08-17 17:56:41 +08:00
Osenberg-Y	1f003f505b	Fixed no pointcloud on ros	2018-08-14 14:16:07 +08:00
John Zhao	a96246cc20	Change install dir on win	2018-08-14 13:46:18 +08:00
John Zhao	5f24d0857e	Update README.md	2018-08-14 11:13:21 +08:00
John Zhao	bbf789b174	Update doc version	2018-08-14 11:05:23 +08:00
John Zhao	66c9af58fc	Install to default path	2018-08-14 10:45:13 +08:00
John Zhao	375acb534c	Update README.md	2018-08-13 09:12:34 +08:00
John Zhao	28204d5c0a	Format comments	2018-08-13 09:10:23 +08:00
John Zhao	c9483c2aca	Remove frame rate 60	2018-08-12 11:36:04 +08:00
Osenberg-Y	45b4fdeedf	Remove frame rate 60	2018-08-07 17:35:42 +08:00
Osenberg-Y	455b5b931e	Modification of publishing topic only when that was subscribed.	2018-08-07 11:15:45 +08:00
John Zhao	8ab9b42896	Fix constexpr on VS 2015	2018-08-04 14:05:19 +08:00
Osenberg-Y	3258e969ee	Merge branch develop	2018-08-02 17:14:41 +08:00
Osenberg-Y	cc74b2663b	Fixed img_params_writer write img.params failure	2018-08-02 16:38:19 +08:00
John Zhao	e270e99340	Update glog flags	2018-08-01 15:11:47 +08:00
Osenberg-Y	0c92f770f2	Fix make tools compile fail when using opencv2.4.x version	2018-07-27 14:50:02 +08:00
Osenberg-Y	5a9fffe3ed	Fix compile failure on VS2015. Using const instead of constexpr	2018-07-26 13:15:14 +08:00
John Zhao	384ff028a8	Publish more camera infos	2018-07-22 12:20:27 +08:00
John Zhao	0f9bdd5cf2	Fix ros camera info	2018-07-22 11:37:21 +08:00
John Zhao	54165b1acb	Fix t as right to left	2018-07-22 10:42:15 +08:00
John Zhao	087ef28da1	Update ros rviz	2018-07-19 16:55:51 +08:00
John Zhao	b2bd1f389d	Update glog & default flags	2018-07-19 15:46:19 +08:00
John Zhao	6a82b06b84	Update README.md	2018-07-18 09:23:51 +08:00
John Zhao	518416ac4d	Update version	2018-07-17 21:58:03 +08:00
John Zhao	c53dd50730	Remove flags of opencv windows	2018-07-17 15:12:35 +08:00
John Zhao	4892f52158	Fix win flags with opencv2	2018-07-17 10:13:50 +08:00
John Zhao	3dc21c0378	Limit max data size for async callback	2018-07-11 15:04:14 +08:00
John Zhao	0153261447	Update cmake files	2018-07-11 13:31:48 +08:00
John Zhao	25f72dd74f	Add WITH_DEVICE_INFO_REQUIRED option	2018-07-11 12:17:21 +08:00
John Zhao	438ba6481d	Optimize cmake options and print summary	2018-07-11 12:00:16 +08:00
John Zhao	922bf624e7	Do small change	2018-07-11 11:58:32 +08:00
junyang	9014f3df57	Point cloud unit conversion in wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc	2018-07-11 02:14:19 +08:00
junyang	c2f04c487e	Increase the effectiveness of checking all values.	2018-07-11 02:07:01 +08:00
John Zhao	725a8c2e57	Add api doc of en	2018-07-10 17:24:10 +08:00
John Zhao	d04078068a	Update api doc	2018-07-10 17:23:33 +08:00
John Zhao	9567546894	Update api doc	2018-07-08 13:04:41 +08:00
KalmanSLightech	27eb9e6cb2	Change the position of 'hardTimeToSoftTime'	2018-07-03 18:56:16 +08:00
KalmanSLightech	c5b054c864	change function name	2018-07-03 18:06:24 +08:00
nico	becccd9b8f	Timestamp synchronization through one association.	2018-07-02 12:20:24 +08:00
John Zhao	1c1503aae2	Add get_all_device_info sample	2018-06-14 09:38:38 +08:00
John Zhao	d3a67b7d29	Change output of processor to smart pointer	2018-06-13 18:00:31 +08:00
John Zhao	a119b36f72	Catch process exception	2018-06-12 23:08:28 +08:00
John Zhao	24ca757c92	Improve process childs	2018-06-12 22:05:47 +08:00
John Zhao	92b38291ee	Check image params when use api	2018-06-12 15:58:13 +08:00
John Zhao	377f9b21f1	Check supports stream or not when get its data	2018-06-12 12:31:07 +08:00
John Zhao	591bbdd3e6	Fix doc comments of api	2018-06-12 10:46:39 +08:00
John Zhao	68e413e5e2	Try python2 after detect python	2018-06-12 10:43:09 +08:00
John Zhao	3e42060ff1	Make python optional in init.sh	2018-06-12 10:22:15 +08:00
John Zhao	40b7acd5c3	Update README.md	2018-06-10 22:26:25 +08:00
John Zhao	d5bdce4f75	Update README.md	2018-06-08 16:45:24 +08:00
John Zhao	7ed11b01ff	Update doc version	2018-06-08 16:13:28 +08:00
John Zhao	9caf979d4c	Merge branch 'feature/one-thread-read' into develop	2018-06-08 12:17:13 +08:00
John Zhao	9b91304f0b	Get stream & motion datas in one thread	2018-06-07 11:19:58 +08:00
John Zhao	0286da50c6	Add intermediate tutorials	2018-06-05 15:28:10 +08:00
John Zhao	3e96e56d8b	Detect OpenCV 4.x	2018-06-05 15:00:44 +08:00
John Zhao	9451fdd90c	Fix view points rotation	2018-06-05 14:42:39 +08:00
John Zhao	1293757486	Update README.md	2018-06-05 00:30:44 +08:00
John Zhao	190c5d883c	Update doc version	2018-06-04 22:41:25 +08:00
John Zhao	2fe6309994	Update get_depth_with_region sample	2018-06-04 22:27:23 +08:00
John Zhao	dfb574c179	Support find plugin to load	2018-06-04 22:09:20 +08:00
John Zhao	b7436e41b9	Output build.info	2018-06-04 14:15:54 +08:00
John Zhao	046661745d	Update tools requirements	2018-06-02 16:43:48 +08:00
John Zhao	9d79526d6a	Update uvc camera sample	2018-06-02 16:04:11 +08:00
John Zhao	7451b6417d	Restore lock stream datas	2018-06-01 16:50:15 +08:00
John Zhao	9c20d62763	Increase v4l2 request buffers	2018-06-01 16:34:21 +08:00
John Zhao	a0cf8fd902	Do small changes	2018-06-01 07:09:03 +00:00
John Zhao	c5dd47708e	Disable log to file	2018-06-01 10:55:45 +08:00
John Zhao	2fddba75e9	Update control channel doc	2018-06-01 10:40:57 +08:00
John Zhao	5a836b2ae3	Add proc period support	2018-06-01 10:32:36 +08:00
John Zhao	e4fddf2b8d	Merge win support into develop	2018-06-01 00:38:37 +08:00
John Zhao	1da095f5c3	Optimize streams	2018-05-31 23:41:32 +08:00
John Zhao	f447739488	Add async callback for motion datas	2018-05-31 20:36:17 +08:00
KalmanSLightech	84103d91bb	change the callback's parameter in uvc-v4l2.cc	2018-05-31 16:19:32 +08:00
KalmanSLightech	8bf0d982ea	spelling mistake	2018-05-31 15:48:58 +08:00
John Zhao	7e55f78418	Add async callback support	2018-05-31 15:39:42 +08:00
kalman	5be47846e7	change the way to get xu control's range	2018-05-31 15:09:00 +08:00
John Zhao	425b181216	Improve lock stream datas	2018-05-31 10:28:52 +08:00
John Zhao	b96d7a1782	Fix log message	2018-05-30 22:15:50 +08:00
John Zhao	6c7b4e1fb2	Add get_info service to ros wrapper	2018-05-30 22:02:05 +08:00
John Zhao	240b18270b	Change log fatal	2018-05-30 12:41:35 +08:00
John Zhao	87470f29a9	Update xu_control_range in uvc-wmf.cc	2018-05-30 11:12:28 +08:00
John Zhao	b4f73dfa0b	Add show depth values sample	2018-05-29 17:38:44 +08:00
John Zhao	5daf4162e4	Add log info in uvc-wmf.cc	2018-05-29 12:23:11 +08:00
John Zhao	aed39f0942	Change channel value	2018-05-29 12:21:30 +08:00
John Zhao	3673324079	Update uvc-wmf.cc & add xu_control_range	2018-05-25 12:32:58 +08:00
John Zhao	f17eff7e01	Improve detect vs version in makefile	2018-05-24 16:00:22 +08:00
kalman	0b7375698d	change xu guid	2018-05-18 18:36:52 +08:00
John Zhao	49771d5b8e	Format uvc-wmf.cc	2018-05-18 11:47:05 +08:00
John Zhao	58fdc4c01b	Fix capture video stream in uvc-wmf	2018-05-15 17:32:04 +08:00
kalman	ca0ae22aea	change a parameter of ksproperty	2018-05-07 21:58:01 +08:00
kalman	9988c49060	corrected a mistake about get	2018-05-07 21:53:59 +08:00
kalman	b8f20c570c	change the node and confirm the KSNODETYPE_DEV	2018-05-07 20:33:10 +08:00
kalman	8ca90f3478	add KSNODETYPE_DEV_SPECIFIC_LOCAL	2018-05-07 16:43:47 +08:00
kalman	b1b9b60626	add uvc extension unit guid	2018-05-07 15:03:52 +08:00
kalman	113d2e5951	add two space	2018-05-05 21:10:49 +08:00
kalman	ff33770ca4	add some log	2018-05-05 20:52:36 +08:00
kalman	8d017f5e2d	add code in uvc-wmf.cc	2018-05-05 16:27:05 +08:00
John Zhao	9bb99499a2	Update TargetArch.cmake	2016-02-12 01:52:59 +08:00
John Zhao	ddb5cb46b7	Update enable plugin log info	2018-06-08 00:49:07 +08:00
John Zhao	0af640015b	Detect opencv with world	2018-06-08 00:48:25 +08:00
John Zhao	064b536822	Update tutorials with opencv	2018-06-08 00:22:59 +08:00
John Zhao	209617dd24	Get compiler version values	2018-06-07 23:47:01 +08:00
John Zhao	ac88a68ebc	Update build.info and support native system on win	2018-06-07 23:32:36 +08:00
John Zhao	ee6d9f5a3b	Use absolute paths in bat	2018-06-07 21:40:41 +08:00
John Zhao	09fb4c04df	Obtain raw frame in api stream data	2018-06-07 17:39:51 +08:00
John Zhao	22ea971407	Fix default int value in build.info	2018-06-07 16:23:38 +08:00
John Zhao	87458482d9	Update default topics	2018-06-07 12:45:23 +08:00