Update README.md

CMakeLists.txt

@@ -57,8 +57,12 @@ if(Boost_FOUND)
   set(WITH_BOOST_FILESYSTEM true)
   add_definitions(-DWITH_FILESYSTEM)
   add_definitions(-DWITH_BOOST_FILESYSTEM)
-  message(STATUS "Found boost filesystem: ${Boost_VERSION}")
+  message(STATUS "With boost filesystem: ${Boost_VERSION}")
   #message(STATUS "  Boost_LIBRARIES: ${Boost_LIBRARIES}")
+elseif(OS_WIN)
+  add_definitions(-DWITH_FILESYSTEM)
+  add_definitions(-DWITH_NATIVE_FILESYSTEM)
+  message(STATUS "With native filesystem")
 endif()
 
 LIST(APPEND CMAKE_MODULE_PATH cmake)
@@ -72,8 +76,13 @@ set(MYNTEYE_NAME ${PROJECT_NAME})
 set(MYNTEYE_NAMESPACE "mynteye")
 message(STATUS "Namespace: ${MYNTEYE_NAMESPACE}")
 
-file(TO_NATIVE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" MYNTEYE_SDK_ROOT_DIR)
+if(MSVC)
-file(TO_NATIVE_PATH "${CMAKE_INSTALL_PREFIX}" MYNTEYE_SDK_INSTALL_DIR)
+  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
@@ -243,8 +252,49 @@ install(EXPORT ${MYNTEYE_NAME}-targets
   DESTINATION ${MYNTEYE_CMAKE_INSTALLDIR}
 )
 
+## build.info
+
+macro(set_default_value VARIABLE DEFAULT)
+  if(NOT ${VARIABLE})
+    set(${VARIABLE} ${DEFAULT})
+  endif()
+endmacro()
+
+macro(set_version_values VARIABLE)
+  string(REPLACE "." ";" __version_list "${${VARIABLE}}")
+  list(LENGTH __version_list __len)
+  if(${__len} GREATER 0)
+    list(GET __version_list 0 ${VARIABLE}_MAJOR)
+  endif()
+  if(${__len} GREATER 1)
+    list(GET __version_list 1 ${VARIABLE}_MINOR)
+  endif()
+  if(${__len} GREATER 2)
+    list(GET __version_list 2 ${VARIABLE}_PATCH)
+  endif()
+  if(${__len} GREATER 3)
+    list(GET __version_list 3 ${VARIABLE}_TWEAK)
+  endif()
+endmacro()
+
 find_package(CUDA QUIET)
 
+set_version_values(CMAKE_CXX_COMPILER_VERSION)
+set_default_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

README.md

@@ -24,7 +24,7 @@ Please follow the guide doc to install the SDK on different platforms.
 [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][]. The latest version is `2.0.0-rc2`.
+Get firmwares from our online disks: [Google Drive][], [百度网盘][]. The latest version is `2.0.0-rc`.
 
 ## Usage
 

cmake/Common.cmake

@@ -50,15 +50,10 @@ include(${CMAKE_CURRENT_LIST_DIR}/TargetArch.cmake)
 target_architecture(HOST_ARCH)
 message(STATUS "HOST_ARCH: ${HOST_ARCH}")
 
-if(CMAKE_COMPILER_IS_GNUCC)
+# CMAKE_CXX_COMPILER_ID
-  execute_process(COMMAND gcc -dumpversion COMMAND cut -c 1-3 COMMAND tr -d '\n' OUTPUT_VARIABLE GCC_VERSION)
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER_ID.html
-  string(REGEX MATCHALL "[0-9]+" GCC_VERSION_COMPONMENTS ${GCC_VERSION})
+# CMAKE_CXX_COMPILER_VERSION
-  list(GET GCC_VERSION_COMPONMENTS 0 GCC_VERSION_MAJOR)
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER_VERSION.html
-  list(GET GCC_VERSION_COMPONMENTS 1 GCC_VERSION_MINOR)
-  message(STATUS "GCC_VERSION: ${GCC_VERSION}")
-  #message(STATUS "GCC_VERSION_MAJOR: ${GCC_VERSION_MAJOR}")
-  #message(STATUS "GCC_VERSION_MINOR: ${GCC_VERSION_MINOR}")
-endif()
 
 # set_outdir(ARCHIVE_OUTPUT_DIRECTORY
 #            LIBRARY_OUTPUT_DIRECTORY
@@ -75,17 +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 "")
+  if(__exe2bat_relative_path)
-  foreach(path ${dll_search_paths})
+    set(__dll_relative_search_paths "")
-    file(RELATIVE_PATH __relative_path "${exe_dir}" "${path}")
+    foreach(path ${dll_search_paths})
-    file(TO_NATIVE_PATH ${__relative_path} __relative_path)
+      file(RELATIVE_PATH __relative_path "${exe_dir}" "${path}")
-    list(APPEND __dll_relative_search_paths ${__relative_path})
+      file(TO_NATIVE_PATH ${__relative_path} __relative_path)
-  endforeach()
+      list(APPEND __dll_relative_search_paths ${__relative_path})
-  #message(STATUS __dll_relative_search_paths: "${__dll_relative_search_paths}")
+    endforeach()
-  set(__dll_search_paths "${__dll_relative_search_paths}")
+    set(__dll_search_paths "${__dll_relative_search_paths}")
+  else()
+    set(__dll_native_search_paths "")
+    foreach(path ${dll_search_paths})
+      file(TO_NATIVE_PATH ${path} __native_path)
+      list(APPEND __dll_native_search_paths ${__native_path})
+    endforeach()
+    set(__dll_search_paths "${__dll_native_search_paths}")
+  endif()
   configure_file(
     "${CUR_DIR}/templates/exe.bat.in"
     "${exe_dir}/${__exe_name}.bat"

cmake/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)

cmake/TargetArch.cmake

@@ -1,32 +1,65 @@
 # Based on the Qt 5 processor detection code, so should be very accurate
-# https://qt.gitorious.org/qt/qtbase/blobs/master/src/corelib/global/qprocessordetection.h
+# http://code.qt.io/cgit/qt/qtbase.git/tree/src/corelib/global/qprocessordetection.h
-# Currently handles arm (v5, v6, v7), x86 (32/64), ia64, and ppc (32/64)
+# 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)
+#if defined(__arm__) || defined(__TARGET_ARCH_ARM) || defined(_M_ARM) \\
-  #if defined(__ARM_ARCH_7__) \\
+    || defined(__aarch64__) || defined(__ARM64__)
-    || defined(__ARM_ARCH_7A__) \\
+  #if defined(__aarch64__) || defined(__ARM64__)
-    || defined(__ARM_ARCH_7R__) \\
+    #define cmake_ARM_64
-    || defined(__ARM_ARCH_7M__) \\
+  #else
-    || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 7)
+    #define cmake_ARM_32
-    #error cmake_ARCH armv7
+  #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_6J__) \\
-    || defined(__ARM_ARCH_6T2__) \\
+      || defined(__ARM_ARCH_6T2__) \\
-    || defined(__ARM_ARCH_6Z__) \\
+      || defined(__ARM_ARCH_6Z__) \\
-    || defined(__ARM_ARCH_6K__) \\
+      || defined(__ARM_ARCH_6K__) \\
-    || defined(__ARM_ARCH_6ZK__) \\
+      || defined(__ARM_ARCH_6ZK__) \\
-    || defined(__ARM_ARCH_6M__) \\
+      || defined(__ARM_ARCH_6M__)
-    || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 6)
+    #define cmake_ARM 6
-    #error cmake_ARCH armv6
   #elif defined(__ARM_ARCH_5TEJ__) \\
-    || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 5)
+      || 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
-    #error cmake_ARCH arm
+    #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

cmake/templates/build.info.in

@@ -3,9 +3,12 @@
 HOST_OS: "@HOST_OS@"
 HOST_NAME: "@HOST_NAME@"
 HOST_ARCH: "@HOST_ARCH@"
-GCC_VERSION: "@GCC_VERSION@"
+HOST_COMPILER: "@CMAKE_CXX_COMPILER_ID@"
-GCC_VERSION_MAJOR: @GCC_VERSION_MAJOR@
+COMPILER_VERSION: "@CMAKE_CXX_COMPILER_VERSION@"
-GCC_VERSION_MINOR: @GCC_VERSION_MINOR@
+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@
@@ -16,6 +19,7 @@ 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@

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

doc/zh-Hans/api.doxyfile

@@ -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-rc2
+PROJECT_NUMBER         = 2.0.0-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

samples/api/CMakeLists.txt

@@ -30,8 +30,12 @@ make_executable(camera_a
 
 ## get_depth_with_region
 
+if(OpenCV_VERSION VERSION_LESS 4.0)
+
 make_executable(get_depth_with_region
   SRCS get_depth_with_region.cc
   LINK_LIBS mynteye ${OpenCV_LIBS}
   DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
 )
+
+endif()

samples/tutorials/CMakeLists.txt

@@ -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)
+## data
-make_executable2(get_img_params SRCS data/get_img_params.cc)
+
-make_executable2(get_imu_params SRCS data/get_imu_params.cc)
+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
@@ -123,3 +125,20 @@ make_executable2(ctrl_manual_exposure
 make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 
 endif()
+
+# intermediate level
+
+if(PCL_FOUND)
+
+if(OpenCV_VERSION VERSION_LESS 4.0)
+
+make_executable2(get_depth_and_points
+  SRCS intermediate/get_depth_and_points.cc util/cv_painter.cc util/pc_viewer.cc
+  WITH_OPENCV WITH_PCL
+)
+
+endif()
+
+endif()
+
+# advanced level

samples/tutorials/intermediate/get_depth_and_points.cc

@@ -0,0 +1,244 @@
+// 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 <glog/logging.h>
+
+#include "mynteye/api.h"
+
+#include "util/cv_painter.h"
+#include "util/pc_viewer.h"
+
+#define WIN_FLAGS \
+  cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
+
+namespace {
+
+class DepthRegion {
+ 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) {
+    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", WIN_FLAGS);
+  cv::namedWindow("depth", WIN_FLAGS);
+  cv::namedWindow("region", WIN_FLAGS);
+
+  DepthRegion depth_region(3);
+  auto depth_info = [](
+      const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
+    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;
+}

samples/tutorials/util/pc_viewer.cc

@@ -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);
 }
 

src/api/api.cc

@@ -31,13 +31,19 @@
 #include "device/device.h"
 #include "internal/dl.h"
 
+#if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
+#if defined(OS_WIN)
+#include <windows.h>
+#endif
+#endif
+
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace {
 
-#ifdef WITH_FILESYSTEM
+#if defined(WITH_FILESYSTEM)
 
-#ifdef WITH_BOOST_FILESYSTEM
+#if defined(WITH_BOOST_FILESYSTEM)
 
 namespace fs = boost::filesystem;
 
@@ -61,6 +67,24 @@ bool dir_exists(const fs::path &p) {
   }
 }
 
+#elif defined(WITH_NATIVE_FILESYSTEM)
+
+#if defined(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() {
@@ -69,7 +93,7 @@ std::vector<std::string> get_plugin_paths() {
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
-    // LOG(ERROR) << "build.info not found";
+    LOG(WARNING) << "build.info not found: " << info_path;
     return {};
   }
 
@@ -83,19 +107,29 @@ std::vector<std::string> get_plugin_paths() {
   to_lower(host_name);
   std::string host_arch = fs["HOST_ARCH"];
   to_lower(host_arch);
-  // std::string gcc_version = fs["GCC_VERSION"];
+  std::string host_compiler = fs["HOST_COMPILER"];
-  int gcc_version_major = fs["GCC_VERSION_MAJOR"];
+  to_lower(host_compiler);
-  // int gcc_version_minor = fs["GCC_VERSION_MINOR"];
+
+  // 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"];
@@ -107,7 +141,7 @@ std::vector<std::string> get_plugin_paths() {
   std::string lib_prefix;
   std::string lib_suffix;
   if (host_os == "linux") {
-    if (gcc_version_major < 5)
+    if (host_compiler != "gnu" || compiler_version_major < 5)
       return {};
     lib_prefix = "lib";
     lib_suffix = ".so";
@@ -127,10 +161,13 @@ std::vector<std::string> get_plugin_paths() {
         // 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(
+      names.push_back(prefix + opencv_name + "_mynteye" + mynteye_version);
-          prefix + "_opencv" + opencv_version + "_mynteye" + mynteye_version);
+      names.push_back(prefix + opencv_name);
-      names.push_back(prefix + "_opencv" + opencv_version);
       names.push_back(prefix);
     }
     for (auto &&name : names) {
@@ -301,9 +338,13 @@ void API::Start(const Source &source) {
   if (source == Source::VIDEO_STREAMING) {
 #ifdef WITH_FILESYSTEM
     if (!synthetic_->HasPlugin()) {
-      auto &&plugin_paths = get_plugin_paths();
+      try {
-      if (plugin_paths.size() > 0) {
+        auto &&plugin_paths = get_plugin_paths();
-        EnablePlugin(plugin_paths[0]);
+        if (plugin_paths.size() > 0) {
+          EnablePlugin(plugin_paths[0]);
+        }
+      } catch (...) {
+        LOG(WARNING) << "Incorrect yaml format: build.info";
       }
     }
 #endif
@@ -371,7 +412,9 @@ 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");

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) {

src/api/synthetic.cc

@@ -46,7 +46,7 @@ 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};
 }
 
 }  // namespace
@@ -152,7 +152,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat2 *output = Object::Cast<ObjMat2>(out);
-          return {nullptr, output->first};
+          return {nullptr, output->first, nullptr};
         }
         VLOG(2) << "Rectify not ready now";
       } break;
@@ -161,7 +161,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat2 *output = Object::Cast<ObjMat2>(out);
-          return {nullptr, output->second};
+          return {nullptr, output->second, nullptr};
         }
         VLOG(2) << "Rectify not ready now";
       } break;
@@ -170,7 +170,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Disparity not ready now";
       } break;
@@ -180,7 +180,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Disparity normalized not ready now";
       } break;
@@ -189,7 +189,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Points not ready now";
       } break;
@@ -198,7 +198,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Depth not ready now";
       } break;
@@ -546,17 +546,19 @@ 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});
   }
 }
 
@@ -564,21 +566,21 @@ 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});
   }
 }
 

src/device/device.cc

@@ -434,6 +434,7 @@ void Device::StartVideoStreaming() {
             }
           }
           continuation();
+          OnStereoStreamUpdate();
           // VLOG(2) << "Stereo video callback cost "
           //     << times::count<times::milliseconds>(times::now() - time_beg)
           //     << " ms";
@@ -465,7 +466,7 @@ void Device::StartMotionTracking() {
   }
   motions_->SetMotionCallback(
       std::bind(&Device::CallbackMotionData, this, std::placeholders::_1));
-  motions_->StartMotionTracking();
+  // motions_->StartMotionTracking();
   motion_tracking_ = true;
 }
 
@@ -474,10 +475,12 @@ 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>();
 

src/device/device.h

@@ -239,6 +239,18 @@ 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();
@@ -247,6 +259,8 @@ class MYNTEYE_API Device {
   virtual void StartMotionTracking();
   virtual void StopMotionTracking();
 
+  virtual void OnStereoStreamUpdate();
+
   virtual std::vector<Stream> GetKeyStreams() const = 0;
 
   bool video_streaming_;
@@ -284,10 +298,6 @@ class MYNTEYE_API Device {
   void CallbackPushedStreamData(const Stream &stream);
   void CallbackMotionData(const device::MotionData &data);
 
-  std::shared_ptr<Channels> channels() {
-    return channels_;
-  }
-
   friend API;
   friend tools::DeviceWriter;
 };

src/device/device_s.cc

@@ -15,6 +15,8 @@
 
 #include <glog/logging.h>
 
+#include "internal/motions.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 StandardDevice::StandardDevice(std::shared_ptr<uvc::device> device)
@@ -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

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

src/internal/channels.cc

@@ -31,7 +31,12 @@ MYNTEYE_BEGIN_NAMESPACE
 
 namespace {
 
-const uvc::xu mynteye_xu = {3, 2, {0x947a6d9f, 0x8a2f, 0x418d, {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}}};
+const uvc::xu mynteye_xu = {3,
+                            2,
+                            {0x947a6d9f,
+                             0x8a2f,
+                             0x418d,
+                             {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}}};
 
 int XuCamCtrlId(Option option) {
   switch (option) {
@@ -276,6 +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";
@@ -287,8 +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);
@@ -301,48 +345,7 @@ void Channels::StartImuTracking(imu_callback_t callback) {
     };
     while (!imu_track_stop_) {
       auto &&time_beg = times::now();
-
+      DoImuTrack();
-      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();
-
       sleep(time_beg);
     }
   });
@@ -870,7 +873,8 @@ bool Channels::PuControlQuery(
 }
 
 bool Channels::XuControlRange(
-    channel_t channel, uint8_t id, int32_t *min, int32_t *max, int32_t *def) const {
+    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);
 }
 
@@ -1016,7 +1020,8 @@ Channels::control_info_t Channels::XuControlInfo(Option option) const {
   int id = XuCamCtrlId(option);
 
   int32_t min = 0, max = 0, def = 0;
-  if (!XuControlRange(CHANNEL_CAM_CTRL, static_cast<std::uint8_t>(id), &min, &max, &def)) {
+  if (!XuControlRange(
+          CHANNEL_CAM_CTRL, static_cast<std::uint8_t>(id), &min, &max, &def)) {
     LOG(WARNING) << "Get XuControlInfo of " << option << " failed";
   }
   return {min, max, def};

src/internal/channels.h

@@ -95,6 +95,8 @@ class MYNTEYE_API Channels {
   bool RunControlAction(const Option &option) const;
 
   void SetImuCallback(imu_callback_t callback);
+  void DoImuTrack();
+
   void StartImuTracking(imu_callback_t callback = nullptr);
   void StopImuTracking();
 
@@ -111,10 +113,11 @@ class MYNTEYE_API Channels {
   bool PuControlQuery(Option option, uvc::pu_query query, int32_t *value) const;
 
   bool XuControlRange(
-      channel_t channel, uint8_t id, int32_t *min, int32_t *max, int32_t *def) const;
+      channel_t channel, uint8_t id, int32_t *min, int32_t *max,
-  bool XuControlRange(
-      const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min, int32_t *max,
       int32_t *def) const;
+  bool XuControlRange(
+      const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min,
+      int32_t *max, int32_t *def) const;
 
   bool XuControlQuery(
       channel_t channel, uvc::xu_query query, uint16_t size,

src/internal/motions.cc

@@ -34,11 +34,8 @@ Motions::~Motions() {
 
 void Motions::SetMotionCallback(motion_callback_t callback) {
   motion_callback_ = callback;
-}
+  if (motion_callback_) {
-
+    channels_->SetImuCallback([this](const ImuPacket &packet) {
-void Motions::StartMotionTracking() {
-  if (!is_imu_tracking) {
-    channels_->StartImuTracking([this](const ImuPacket &packet) {
       if (!motion_callback_ && !motion_datas_enabled_) {
         LOG(WARNING) << "";
         return;
@@ -62,11 +59,22 @@ void Motions::StartMotionTracking() {
         std::lock_guard<std::mutex> _(mtx_datas_);
         motion_data_t data = {imu};
         motion_datas_.push_back(data);
-        if (motion_callback_) {
+
-          motion_callback_(data);
+        motion_callback_(data);
-        }
       }
     });
+  } else {
+    channels_->SetImuCallback(nullptr);
+  }
+}
+
+void Motions::DoMotionTrack() {
+  channels_->DoImuTrack();
+}
+
+void Motions::StartMotionTracking() {
+  if (!is_imu_tracking) {
+    channels_->StartImuTracking();
     is_imu_tracking = true;
   } else {
     LOG(WARNING) << "Imu is tracking already";

src/internal/motions.h

@@ -37,6 +37,7 @@ class Motions {
   ~Motions();
 
   void SetMotionCallback(motion_callback_t callback);
+  void DoMotionTrack();
 
   void StartMotionTracking();
   void StopMotionTracking();

tools/README.md

@@ -69,7 +69,7 @@ roslaunch mynt_eye_ros_wrapper mynteye.launch
 ```
 
 ```bash
-rosbag record -O mynteye.bag /mynteye/left /mynteye/imu /mynteye/temp
+rosbag record -O mynteye.bag /mynteye/left/image_raw /mynteye/imu/data_raw /mynteye/temp/data_raw
 ```
 
 ## Analytics data (rosbag)

tools/analytics/imu_analytics.py

@@ -650,8 +650,8 @@ def _main():
     else:
       dataset = ROSBag(
           path,
-          topic_imu='/mynteye/imu',
+          topic_imu='/mynteye/imu/data_raw',
-          topic_temp='/mynteye/temp')
+          topic_temp='/mynteye/temp/data_raw')
     return dataset
 
   if args.binary:

tools/analytics/stamp_analytics.py

@@ -334,8 +334,8 @@ def _main():
         sys.exit('Error: dataset model not supported {}'.format(model))
     else:
       dataset = ROSBag(path,
-                       topic_img_left='/mynteye/left',
+                       topic_img_left='/mynteye/left/image_raw',
-                       topic_imu='/mynteye/imu')
+                       topic_imu='/mynteye/imu/data_raw')
     return dataset
 
   dataset = BinDataset(dataset_path, dataset_creator)

tools/config/mynteye/mynteye_config.yaml

@@ -3,7 +3,7 @@ dataset: "mynteye"
 
 # rosbag config
 rosbag:
-  topic_img_left: "/mynteye/left"
+  topic_img_left: "/mynteye/left/image_raw"
-  topic_img_right: "/mynteye/right"
+  topic_img_right: "/mynteye/right/image_raw"
-  topic_imu: "/mynteye/imu"
+  topic_imu: "/mynteye/imu/data_raw"
-  topic_temp: "/mynteye/temp"
+  topic_temp: "/mynteye/temp/data_raw"

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

@@ -4,17 +4,17 @@
 
   <!-- node params -->
 
-  <arg name="left_topic" default="left" />
+  <arg name="left_topic" default="left/image_raw" />
-  <arg name="right_topic" default="right" />
+  <arg name="right_topic" default="right/image_raw" />
-  <arg name="left_rect_topic" default="left_rect" />
+  <arg name="left_rect_topic" default="left/image_rect" />
-  <arg name="right_rect_topic" default="right_rect" />
+  <arg name="right_rect_topic" default="right/image_rect" />
-  <arg name="disparity_topic" default="disparity" />
+  <arg name="disparity_topic" default="disparity/image_raw" />
-  <arg name="disparity_norm_topic" default="disparity_norm" />
+  <arg name="disparity_norm_topic" default="disparity/image_norm" />
-  <arg name="points_topic" default="points" />
+  <arg name="depth_topic" default="depth/image_raw" />
-  <arg name="depth_topic" default="depth" />
+  <arg name="points_topic" default="points/data_raw" />
 
-  <arg name="imu_topic" default="imu" />
+  <arg name="imu_topic" default="imu/data_raw" />
-  <arg name="temp_topic" default="temp" />
+  <arg name="temp_topic" default="temp/data_raw" />
 
   <arg name="base_frame_id" default="$(arg mynteye)_link" />
   <arg name="left_frame_id" default="$(arg mynteye)_left_frame" />

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

@@ -55,7 +55,7 @@ Visualization Manager:
       Displays:
         - Class: rviz/Image
           Enabled: true
-          Image Topic: /mynteye/left
+          Image Topic: /mynteye/left/image_raw
           Max Value: 1
           Median window: 5
           Min Value: 0
@@ -67,7 +67,7 @@ Visualization Manager:
           Value: true
         - Class: rviz/Image
           Enabled: true
-          Image Topic: /mynteye/right
+          Image Topic: /mynteye/right/image_raw
           Max Value: 1
           Median window: 5
           Min Value: 0
@@ -81,7 +81,7 @@ Visualization Manager:
           Displays:
             - Class: rviz/Image
               Enabled: true
-              Image Topic: /mynteye/left_rect
+              Image Topic: /mynteye/left/image_rect
               Max Value: 1
               Median window: 5
               Min Value: 0
@@ -93,7 +93,7 @@ Visualization Manager:
               Value: true
             - Class: rviz/Image
               Enabled: true
-              Image Topic: /mynteye/right_rect
+              Image Topic: /mynteye/right/image_rect
               Max Value: 1
               Median window: 5
               Min Value: 0
@@ -111,7 +111,7 @@ Visualization Manager:
       Displays:
         - Class: rviz/Image
           Enabled: true
-          Image Topic: /mynteye/disparity
+          Image Topic: /mynteye/disparity/image_raw
           Max Value: 1
           Median window: 5
           Min Value: 0
@@ -123,7 +123,7 @@ Visualization Manager:
           Value: true
         - Class: rviz/Image
           Enabled: true
-          Image Topic: /mynteye/disparity_norm
+          Image Topic: /mynteye/disparity/image_norm
           Max Value: 1
           Median window: 5
           Min Value: 0
@@ -137,7 +137,7 @@ Visualization Manager:
       Name: Disparity
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /mynteye/depth
+      Image Topic: /mynteye/depth/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -157,7 +157,7 @@ Visualization Manager:
       Channel Name: intensity
       Class: rviz/PointCloud2
       Color: 255; 255; 255
-      Color Transformer: ""
+      Color Transformer: RGB8
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
@@ -166,13 +166,13 @@ Visualization Manager:
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: Points
-      Position Transformer: ""
+      Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.00999999978
       Style: Flat Squares
-      Topic: /mynteye/points
+      Topic: /mynteye/points/data_raw
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
@@ -183,7 +183,7 @@ Visualization Manager:
       Enabled: false
       History Length: 1
       Name: Imu
-      Topic: /mynteye/imu
+      Topic: /mynteye/imu/data_raw
       Unreliable: false
       Value: false
   Enabled: true
@@ -247,7 +247,7 @@ Window Geometry:
     collapsed: false
   LeftRect:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000040c000000860000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000001bc000002170000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000017e00000396fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000040c000000860000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000001bc000002170000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004a60000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Right:
     collapsed: false
   RightRect: