Update version

Remove flags of opencv windows
Fix win flags with opencv2
2018-07-17 21:58:03 +08:00 · 2018-07-17 15:12:35 +08:00 · 2018-07-17 10:13:50 +08:00 · 2018-07-11 15:04:14 +08:00 · 2018-07-11 13:31:48 +08:00 · 2018-07-11 12:17:21 +08:00
63 changed files with 3953 additions and 400 deletions
--- 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 2.0.1 LANGUAGES C CXX)

 include(cmake/Common.cmake)

@@ -48,19 +48,6 @@ LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build)
 find_package(glog REQUIRED)
 message(STATUS "Found glog: ${glog_VERSION}")

-if(WITH_API)
-  include(cmake/DetectOpenCV.cmake)
-endif()
-
-find_package(Boost COMPONENTS filesystem)
-if(Boost_FOUND)
-  set(WITH_BOOST_FILESYSTEM true)
-  add_definitions(-DWITH_FILESYSTEM)
-  add_definitions(-DWITH_BOOST_FILESYSTEM)
-  message(STATUS "Found boost filesystem: ${Boost_VERSION}")
-  #message(STATUS "  Boost_LIBRARIES: ${Boost_LIBRARIES}")
-endif()
-
 LIST(APPEND CMAKE_MODULE_PATH cmake)

 include(CMakePackageConfigHelpers)
@@ -72,8 +59,13 @@ set(MYNTEYE_NAME ${PROJECT_NAME})
 set(MYNTEYE_NAMESPACE "mynteye")
 message(STATUS "Namespace: ${MYNTEYE_NAMESPACE}")

-file(TO_NATIVE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" MYNTEYE_SDK_ROOT_DIR)
-file(TO_NATIVE_PATH "${CMAKE_INSTALL_PREFIX}" MYNTEYE_SDK_INSTALL_DIR)
+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
@@ -243,7 +235,23 @@ install(EXPORT ${MYNTEYE_NAME}-targets
  DESTINATION ${MYNTEYE_CMAKE_INSTALLDIR}
 )

-find_package(CUDA QUIET)
+## 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
--- a/8
+++ b/8
@@ -54,7 +54,10 @@ opendoc: apidoc
 		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
 	done

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

 # deps

@@ -225,8 +228,7 @@ 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
@@ -1,5 +1,7 @@
 # MYNT® EYE SDK

+[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.0--rc-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
+
 ## Overview

 MYNT® EYE SDK 2.0 is a cross-platform library for MYNT® EYE cameras.
@@ -15,7 +17,9 @@ 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.
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2083629/mynt-eye-sdk-apidoc-2.0.0-rc-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2083631/mynt-eye-sdk-apidoc-2.0.0-rc-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
 * [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases): How to install and start using the SDK.
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2083740/mynt-eye-sdk-guide-2.0.0-rc-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2083745/mynt-eye-sdk-guide-2.0.0-rc-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)

 > Supported languages: `zh-Hans`.

@@ -24,7 +28,7 @@ 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

--- a/cmake/Common.cmake
+++ b/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)
-  execute_process(COMMAND gcc -dumpversion COMMAND cut -c 1-3 COMMAND tr -d '\n' OUTPUT_VARIABLE GCC_VERSION)
-  string(REGEX MATCHALL "[0-9]+" GCC_VERSION_COMPONMENTS ${GCC_VERSION})
-  list(GET GCC_VERSION_COMPONMENTS 0 GCC_VERSION_MAJOR)
-  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()
+# 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
@@ -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 "")
-  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/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/Option.cmake
+++ b/cmake/Option.cmake
@@ -12,7 +12,125 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
+
+
+# build components
+
 option(WITH_API "Build with API layer, need OpenCV" ON)

-message(STATUS "Options:")
-message(STATUS "  WITH_API: ${WITH_API}")
+option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
+
+# 3rdparty components
+
+option(WITH_BOOST "Include Boost support" ON)
+
+
+# packages
+
+if(WITH_API)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
+endif()
+
+if(WITH_DEVICE_INFO_REQUIRED)
+  add_definitions(-DWITH_DEVICE_INFO_REQUIRED)
+endif()
+
+if(WITH_BOOST)
+  find_package(Boost COMPONENTS filesystem)
+  if(Boost_FOUND)
+    set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_BOOST_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_BOOST_FILESYSTEM)
+  endif()
+endif()
+
+if(NOT WITH_FILESYSTEM)
+  if(MSVC OR MSYS OR MINGW)  # win
+    set(WITH_FILESYSTEM TRUE)
+    set(WITH_NATIVE_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_NATIVE_FILESYSTEM)
+  endif()
+endif()
+
+find_package(CUDA QUIET)
+
+# summary
+
+set_version_values(CMAKE_CXX_COMPILER_VERSION)
+
+status("")
+status("Platform:")
+status("  HOST_OS: ${HOST_OS}")
+status("  HOST_NAME: ${HOST_NAME}")
+status("  HOST_ARCH: ${HOST_ARCH}")
+status("  HOST_COMPILER: ${CMAKE_CXX_COMPILER_ID}")
+status("    COMPILER_VERSION: ${CMAKE_CXX_COMPILER_VERSION}")
+status("    COMPILER_VERSION_MAJOR: ${CMAKE_CXX_COMPILER_VERSION_MAJOR}")
+status("    COMPILER_VERSION_MINOR: ${CMAKE_CXX_COMPILER_VERSION_MINOR}")
+status("    COMPILER_VERSION_PATCH: ${CMAKE_CXX_COMPILER_VERSION_PATCH}")
+status("    COMPILER_VERSION_TWEAK: ${CMAKE_CXX_COMPILER_VERSION_TWEAK}")
+if(CUDA_FOUND)
+  status("  CUDA_VERSION: ${CUDA_VERSION}")
+  status("    CUDA_VERSION_MAJOR: ${CUDA_VERSION_MAJOR}")
+  status("    CUDA_VERSION_MINOR: ${CUDA_VERSION_MINOR}")
+  status("    CUDA_VERSION_STRING: ${CUDA_VERSION_STRING}")
+endif()
+if(OpenCV_FOUND)
+  status("  OpenCV_VERSION: ${OpenCV_VERSION}")
+  status("    OpenCV_VERSION_MAJOR: ${OpenCV_VERSION_MAJOR}")
+  status("    OpenCV_VERSION_MINOR: ${OpenCV_VERSION_MINOR}")
+  status("    OpenCV_VERSION_PATCH: ${OpenCV_VERSION_PATCH}")
+  status("    OpenCV_VERSION_TWEAK: ${OpenCV_VERSION_TWEAK}")
+  status("    OpenCV_VERSION_STATUS: ${OpenCV_VERSION_STATUS}")
+  status("    OpenCV_WITH_WORLD: ${WITH_OPENCV_WORLD}")
+endif()
+if(mynteye_VERSION)
+  status("  MYNTEYE_VERSION: ${mynteye_VERSION}")
+  status("    MYNTEYE_VERSION_MAJOR: ${mynteye_VERSION_MAJOR}")
+  status("    MYNTEYE_VERSION_MINOR: ${mynteye_VERSION_MINOR}")
+  status("    MYNTEYE_VERSION_PATCH: ${mynteye_VERSION_PATCH}")
+  status("    MYNTEYE_VERSION_TWEAK: ${mynteye_VERSION_TWEAK}")
+endif()
+
+status("")
+status("Options:")
+status("  WITH_API: ${WITH_API}")
+if(WITH_API)
+  if(OpenCV_FOUND)
+    status("    OpenCV: YES")
+    status("    OpenCV_VERSION: ${OpenCV_VERSION}")
+    status("    OpenCV_WORLD: " IF WITH_OPENCV_WORLD "YES" ELSE "NO")
+  else()
+    status("    OpenCV: NO")
+  endif()
+endif()
+
+status("  WITH_DEVICE_INFO_REQUIRED: ${WITH_DEVICE_INFO_REQUIRED}")
+
+status("  WITH_BOOST: ${WITH_BOOST}")
+if(WITH_BOOST)
+  if(Boost_FOUND)
+    status("    Boost: YES")
+    status("    Boost_VERSION: ${Boost_VERSION_STRING}")
+    #status("    Boost_LIBRARIES: ${Boost_LIBRARIES}")
+  else()
+    status("    Boost: NO")
+  endif()
+endif()
+
+status("")
+status("Features:")
+status("  Filesystem: "
+  IF WITH_BOOST_FILESYSTEM "boost"
+  ELIF WITH_NATIVE_FILESYSTEM "native"
+  ELSE "none"
+)
+
+status("")
--- a/cmake/TargetArch.cmake
+++ b/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
-# Currently handles arm (v5, v6, v7), x86 (32/64), ia64, and ppc (32/64)
+# 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)
-  #if defined(__ARM_ARCH_7__) \\
-    || defined(__ARM_ARCH_7A__) \\
-    || defined(__ARM_ARCH_7R__) \\
-    || defined(__ARM_ARCH_7M__) \\
-    || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 7)
-    #error cmake_ARCH armv7
+#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__) \\
-    || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 6)
-    #error cmake_ARCH armv6
+      || 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(__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
--- 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
@@ -3,9 +3,12 @@
 HOST_OS: "@HOST_OS@"
 HOST_NAME: "@HOST_NAME@"
 HOST_ARCH: "@HOST_ARCH@"
-GCC_VERSION: "@GCC_VERSION@"
-GCC_VERSION_MAJOR: @GCC_VERSION_MAJOR@
-GCC_VERSION_MINOR: @GCC_VERSION_MINOR@
+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@
@@ -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@
--- 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 "${LANGS[@]}"; do
@@ -54,8 +54,13 @@ for lang in "${LANGS[@]}"; do
    doxygen $DOXYFILE
    if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
      _echo_in "doxygen make latex"
+      version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
+        sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
+      filename="mynt-eye-sdk-apidoc"; \
+        [ -n "$version" ] && filename="$filename-$version"; \
+        filename="$filename-$lang.pdf"
      cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
-      [ -f "refman.pdf" ] && mv "refman.pdf" "../mynteye-apidoc.pdf"
+      [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
    fi
    _echo_d "doxygen completed"
  else
--- 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-rc2
+PROJECT_NUMBER         = 2.0.1-rc0

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

 ALIASES                =

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

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

 INPUT                  = mainpage.md \
-                         guides.md \
-                         guide_build_linux.md \
-                         guide_build_win.md \
-                         guide_samples.md \
-                         guide_tools.md \
-                         guide_log.md \
-                         guide_opencv.md \
-                         guide_ros.md \
                         specs_data.md \
                         spec_hardware_info.md \
                         spec_image_params.md \
@@ -813,7 +806,7 @@ INPUT                  = mainpage.md \
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
 # libiconv (or the iconv built into libc) for the transcoding. See the libiconv
-# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# documentation (see: https://www.gnu.org/software/libiconv/) for the list of
 # possible encodings.
 # The default value is: UTF-8.

@@ -1061,7 +1054,7 @@ SOURCE_TOOLTIPS        = YES
 # If the USE_HTAGS tag is set to YES then the references to source code will
 # point to the HTML generated by the htags(1) tool instead of doxygen built-in
 # source browser. The htags tool is part of GNU's global source tagging system
-# (see http://www.gnu.org/software/global/global.html). You will need version
+# (see https://www.gnu.org/software/global/global.html). You will need version
 # 4.8.6 or higher.
 #
 # To use it do the following:
@@ -1206,7 +1199,7 @@ HTML_EXTRA_FILES       =
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to
 # this color. Hue is specified as an angle on a colorwheel, see
-# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
 # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
 # purple, and 360 is red again.
 # Minimum value: 0, maximum value: 359, default value: 220.
@@ -1242,6 +1235,17 @@ HTML_COLORSTYLE_GAMMA  = 80

 HTML_TIMESTAMP         = NO

+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via Javascript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have Javascript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
 # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
 # documentation will contain sections that can be hidden and shown after the
 # page has loaded.
@@ -1265,12 +1269,12 @@ HTML_INDEX_NUM_ENTRIES = 100

 # If the GENERATE_DOCSET tag is set to YES, additional index files will be
 # generated that can be used as input for Apple's Xcode 3 integrated development
-# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# environment (see: https://developer.apple.com/tools/xcode/), introduced with
 # OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
 # Makefile in the HTML output directory. Running make will produce the docset in
 # that directory and running make install will install the docset in
 # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
-# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# startup. See https://developer.apple.com/tools/creatingdocsetswithdoxygen.html
 # for more information.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1386,7 +1390,7 @@ QCH_FILE               =

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

@@ -1394,8 +1398,7 @@ QHP_NAMESPACE          = com.slightech.mynteye

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

@@ -1403,23 +1406,21 @@ QHP_VIRTUAL_FOLDER     = doc

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

 QHP_CUST_FILTER_NAME   =

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

 QHP_CUST_FILTER_ATTRS  =

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

 QHP_SECT_FILTER_ATTRS  =
@@ -1512,7 +1513,7 @@ EXT_LINKS_IN_WINDOW    = NO

 FORMULA_FONTSIZE       = 10

-# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
 # generated for formulas are transparent PNGs. Transparent PNGs are not
 # supported properly for IE 6.0, but are supported on all modern browsers.
 #
@@ -1524,7 +1525,7 @@ FORMULA_FONTSIZE       = 10
 FORMULA_TRANSPARENT    = YES

 # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
-# http://www.mathjax.org) which uses client side Javascript for the rendering
+# https://www.mathjax.org) which uses client side Javascript for the rendering
 # instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
 # installed or if you want to formulas look prettier in the HTML output. When
 # enabled you may also need to install MathJax separately and configure the path
@@ -1551,11 +1552,11 @@ MATHJAX_FORMAT         = HTML-CSS
 # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
 # Content Delivery Network so you can quickly see the result without installing
 # MathJax. However, it is strongly recommended to install a local copy of
-# MathJax from http://www.mathjax.org before deployment.
-# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# MathJax from https://www.mathjax.org before deployment.
+# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/.
 # This tag requires that the tag USE_MATHJAX is set to YES.

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

 # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
 # extension names that should be enabled during MathJax rendering. For example
@@ -1613,7 +1614,7 @@ SERVER_BASED_SEARCH    = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/).
+# Xapian (see: https://xapian.org/).
 #
 # See the section "External Indexing and Searching" for details.
 # The default value is: NO.
@@ -1626,7 +1627,7 @@ EXTERNAL_SEARCH        = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Xapian (see: https://xapian.org/). See the section "External Indexing and
 # Searching" for details.
 # This tag requires that the tag SEARCHENGINE is set to YES.

@@ -1815,7 +1816,7 @@ LATEX_SOURCE_CODE      = NO

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

@@ -1998,9 +1999,9 @@ DOCBOOK_PROGRAMLISTING = NO
 #---------------------------------------------------------------------------

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

 GENERATE_AUTOGEN_DEF   = NO
--- 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
@@ -1,4 +1,4 @@
-# 拓展通道说明 {#spec_contorl_channel}
+# 拓展通道说明 {#spec_control_channel}

 | 名称 | 字段 | 地址 | 带宽 | 说明 |
 | :----- | :----- | :----- | :----- | :----- |
@@ -14,7 +14,7 @@

 ## 半双工通道

-半双工通道是那些仅需 Get 或 Set 的控制通道，如请求零漂矫正。
+半双工通道是那些仅需 Set 的控制通道，如请求零漂矫正。

 ## IMU 通道

@@ -25,18 +25,18 @@
 用来读写硬件信息、图像参数、 IMU 参数的通道。

 | Name | Header | Size | File | Checksum |
-| :--- | :- | :--- | :--- | :-------- |
+| :--- | :----- | :--- | :--- | :-------- |
 | 字节数 | 1 | 2 | - | 1 |
 | 类型 | uint8_t | uint16_t | - | uint8_t |
 | 描述 | 标识 | 文件内容大小 | 文件内容 | 校验码（文件内容所有字节异或） |

-| Header bit | Description |
-| :--------- | :---------- |
-| 0 | 0: Get; 1: Set |
-| 1~4 | 未定义 |
-| 5 | IMU 参数 |
-| 6 | 图像参数 |
-| 7 | 硬件信息 |
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | 硬件信息 |
+| 1 | 图像参数 |
+| 2 | IMU 参数 |
+| 3~6 | 未定义 |
+| 7 | 0: Get; 1: Set |

 ### 文件内容包

--- 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/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@@ -79,4 +79,6 @@ add_subdirectory(uvc)

 # tutorials

-add_subdirectory(tutorials)
+if(WITH_API)
+  add_subdirectory(tutorials)
+endif()
--- a/samples/api/CMakeLists.txt
+++ b/samples/api/CMakeLists.txt
@@ -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()
--- a/samples/api/get_depth_with_region.cc
+++ b/samples/api/get_depth_with_region.cc
@@ -18,9 +18,6 @@

 #include "mynteye/api.h"

-#define WIN_FLAGS \
-  cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
-
 namespace {

 class DepthRegion {
@@ -159,9 +156,9 @@ int main(int argc, char *argv[]) {

  api->Start(Source::VIDEO_STREAMING);

-  cv::namedWindow("frame", WIN_FLAGS);
-  cv::namedWindow("depth", WIN_FLAGS);
-  cv::namedWindow("region", WIN_FLAGS);
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+  cv::namedWindow("region");

  DepthRegion depth_region(3);
  auto depth_info = [](
--- 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/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/glog_init.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  glog_init _(argc, argv);
+
+  LOG(INFO) << "Detecting MYNT EYE devices";
+  Context context;
+  auto &&devices = context.devices();
+
+  size_t n = devices.size();
+  if (n <= 0) {
+    LOG(ERROR) << "No MYNT EYE devices :(";
+    return 1;
+  }
+
+  for (size_t i = 0; i < n; i++) {
+    auto &&device = devices[i];
+    LOG(INFO) << "MYNT EYE device index: " << i;
+    LOG(INFO) << "  Device name: " << device->GetInfo(Info::DEVICE_NAME);
+    LOG(INFO) << "  Serial number: " << device->GetInfo(Info::SERIAL_NUMBER);
+    LOG(INFO) << "  Firmware version: "
+              << device->GetInfo(Info::FIRMWARE_VERSION);
+    LOG(INFO) << "  Hardware version: "
+              << device->GetInfo(Info::HARDWARE_VERSION);
+    LOG(INFO) << "  Spec version: " << device->GetInfo(Info::SPEC_VERSION);
+    LOG(INFO) << "  Lens type: " << device->GetInfo(Info::LENS_TYPE);
+    LOG(INFO) << "  IMU type: " << device->GetInfo(Info::IMU_TYPE);
+    LOG(INFO) << "  Nominal baseline: "
+              << device->GetInfo(Info::NOMINAL_BASELINE);
+  }
+
+  return 0;
+}
--- a/samples/tutorials/intermediate/get_depth_and_points.cc
+++ b/samples/tutorials/intermediate/get_depth_and_points.cc
@@ -0,0 +1,241 @@
+// 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"
+
+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");
+  cv::namedWindow("depth");
+  cv::namedWindow("region");
+
+  DepthRegion depth_region(3);
+  auto depth_info = [](
+      const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
+    UNUSED(depth)
+    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/pc_viewer.cc
+++ b/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);
 }

--- a/scripts/init.sh
+++ b/scripts/init.sh
@@ -24,11 +24,17 @@ source "$BASE_DIR/common/host.sh"

 PYTHON="python"
 if [ "$HOST_OS" = "Win" ]; then
-  # default python on MSYS
-  PYTHON="python2"
+  if ! _detect_cmd $PYTHON; then
+    PYTHON="python2"  # try python2 on MSYS
+  fi
 fi

-_detect $PYTHON
+_detect $PYTHON 1
+
+PYTHON_FOUND="${PYTHON}_FOUND"
+if [ -z "${!PYTHON_FOUND}" ]; then
+  _echo_en "$PYTHON not found"
+fi

 if [ "$HOST_OS" = "Linux" ]; then
  _detect_install() {
@@ -137,13 +143,21 @@ fi

 # detect pip
 if ! _detect_cmd pip; then
-  _echo_sn "Install pip"
-  [ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
-  $SUDO $PYTHON get-pip.py
+  if [ -n "${!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 $PYTHON not found"
+  fi
 fi
 # pip install
-_echo_d "pip install --upgrade autopep8 cpplint pylint requests"
-$SUDO pip install --upgrade autopep8 cpplint pylint requests
+if _detect_cmd pip; then
+  _echo_d "pip install --upgrade autopep8 cpplint pylint requests"
+  $SUDO pip install --upgrade autopep8 cpplint pylint requests
+else
+  _echo_en "Skipped pip install packages, as pip not found"
+fi

 ## realpath

@@ -168,8 +182,12 @@ ROOT_DIR=$(realpath "$BASE_DIR/..")

 ## init

-_echo_s "Init git hooks"
-$PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
+if [ -n "${!PYTHON_FOUND}" ]; then
+  _echo_s "Init git hooks"
+  $PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
+else
+  _echo_en "Skipped init git hooks, as $PYTHON not found"
+fi

 ## cmake version

--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -29,15 +29,22 @@
 #include "api/plugin.h"
 #include "api/synthetic.h"
 #include "device/device.h"
+#include "device/device_s.h"
 #include "internal/dl.h"

+#if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
+#if defined(OS_WIN)
+#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 +68,26 @@ 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 +96,7 @@ 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 +110,29 @@ 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"];
-  int gcc_version_major = fs["GCC_VERSION_MAJOR"];
-  // int gcc_version_minor = fs["GCC_VERSION_MINOR"];
+  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"];
@@ -107,7 +144,7 @@ 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 +164,13 @@ 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(
-          prefix + "_opencv" + opencv_version + "_mynteye" + mynteye_version);
-      names.push_back(prefix + "_opencv" + opencv_version);
+      names.push_back(prefix + opencv_name + "_mynteye" + mynteye_version);
+      names.push_back(prefix + opencv_name);
      names.push_back(prefix);
    }
    for (auto &&name : names) {
@@ -170,9 +210,29 @@ std::vector<std::string> get_plugin_paths() {

 }  // namespace

-API::API(std::shared_ptr<Device> device)
-    : device_(device), synthetic_(new Synthetic(this)) {
+API::API(std::shared_ptr<Device> device) : device_(device) {
  VLOG(2) << __func__;
+  if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
+    bool in_l_ok, in_r_ok, ex_l2r_ok;
+    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
+    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
+    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
+    if (!in_l_ok || !in_r_ok || !ex_l2r_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() {
@@ -301,9 +361,13 @@ void API::Start(const Source &source) {
  if (source == Source::VIDEO_STREAMING) {
 #ifdef WITH_FILESYSTEM
    if (!synthetic_->HasPlugin()) {
-      auto &&plugin_paths = get_plugin_paths();
-      if (plugin_paths.size() > 0) {
-        EnablePlugin(plugin_paths[0]);
+      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
@@ -371,7 +435,9 @@ 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/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/processor.cc
+++ b/src/api/processor/processor.cc
@@ -15,8 +15,10 @@

 #include <glog/logging.h>

+#include <exception>
 #include <utility>

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

 MYNTEYE_BEGIN_NAMESPACE
@@ -128,6 +130,10 @@ bool Processor::Process(const Object &in) {
      return false;
    }
  }
+  if (!in.DecValidity()) {
+    LOG(WARNING) << Name() << " process with invalid input";
+    return false;
+  }
  {
    std::lock_guard<std::mutex> lk(mtx_input_ready_);
    input_.reset(in.Clone());
@@ -137,9 +143,9 @@ bool Processor::Process(const Object &in) {
  return true;
 }

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

 std::uint64_t Processor::GetDroppedCount() {
@@ -192,14 +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";
--- a/src/api/processor/processor.h
+++ b/src/api/processor/processor.h
@@ -65,7 +65,7 @@ class Processor /*: public std::enable_shared_from_this<Processor>*/ {
   * Returns the last output.
   * @note Returns null if not output now.
   */
-  Object *GetOutput();
+  std::shared_ptr<Object> GetOutput();

  std::uint64_t GetDroppedCount();

--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -46,7 +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
@@ -146,59 +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;
@@ -437,60 +446,50 @@ void Synthetic::InitProcessors() {

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

  switch (stream) {
    case Stream::DISPARITY: {
-      process_childs(DisparityProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, DisparityProcessor::NAME, ObjMat{data.frame});
    } break;
    case Stream::DISPARITY_NORMALIZED: {
-      process_childs(DisparityNormalizedProcessor::NAME, ObjMat{data.frame});
+      process_childs(
+          processor_, DisparityNormalizedProcessor::NAME, ObjMat{data.frame});
    } break;
    case Stream::POINTS: {
-      process_childs(PointsProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, PointsProcessor::NAME, ObjMat{data.frame});
    } break;
    case Stream::DEPTH: {
-      process_childs(DepthProcessor::NAME, ObjMat{data.frame});
+      process_childs(processor_, DepthProcessor::NAME, ObjMat{data.frame});
    } break;
    default:
      break;
@@ -546,17 +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});
  }
 }

@@ -564,21 +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/device/device.cc
+++ b/src/device/device.cc
@@ -16,6 +16,7 @@
 #include <glog/logging.h>

 #include <algorithm>
+#include <iterator>
 #include <stdexcept>
 #include <utility>

@@ -54,6 +55,27 @@ struct DeviceModel {
  }
 };

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

 Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
@@ -176,21 +198,47 @@ std::string Device::GetInfo(const Info &info) const {
 }

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

-Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
+Extrinsics Device::GetExtrinsics(
+    const Stream &from, const Stream &to, bool *ok) const {
  try {
+    *ok = true;
    return stream_from_extrinsics_.at(from).at(to);
  } catch (const std::out_of_range &e) {
    try {
+      *ok = true;
      return stream_from_extrinsics_.at(to).at(from).Inverse();
    } catch (const std::out_of_range &e) {
+      *ok = false;
      LOG(WARNING) << "Extrinsics from " << from << " to " << to
                   << " not found";
      return {};
@@ -198,19 +246,23 @@ Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
  }
 }

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

-Extrinsics Device::GetMotionExtrinsics(const Stream &from) const {
+Extrinsics Device::GetMotionExtrinsics(const Stream &from, bool *ok) const {
  try {
+    *ok = true;
    return motion_from_extrinsics_.at(from);
  } catch (const std::out_of_range &e) {
+    *ok = false;
    LOG(WARNING) << "Motion extrinsics from " << from << " not found";
    return {};
  }
@@ -275,8 +327,7 @@ bool Device::RunOptionAction(const Option &option) const {

 void Device::SetStreamCallback(
    const Stream &stream, stream_callback_t callback, bool async) {
-  if (!Supports(stream)) {
-    LOG(WARNING) << "Unsupported stream: " << stream;
+  if (!CheckSupports(this, stream, false)) {
    return;
  }
  if (callback) {
@@ -284,7 +335,7 @@ void Device::SetStreamCallback(
    if (async)
      stream_async_callbacks_[stream] =
          std::make_shared<stream_async_callback_t>(
-              to_string(stream), callback);
+              to_string(stream), callback);  // max_data_size = 1
  } else {
    stream_callbacks_.erase(stream);
    stream_async_callbacks_.erase(stream);
@@ -296,7 +347,8 @@ void Device::SetMotionCallback(motion_callback_t callback, bool async) {
  if (callback) {
    if (async)
      motion_async_callback_ =
-          std::make_shared<motion_async_callback_t>("motion", callback, true);
+          std::make_shared<motion_async_callback_t>("motion", callback, 1000);
+    // will drop old motion datas after callback cost > 2 s (1000 / 500 Hz)
  } else {
    motion_async_callback_ = nullptr;
  }
@@ -351,6 +403,7 @@ void Device::WaitForStreams() {
 std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
  CHECK(video_streaming_);
  CHECK_NOTNULL(streams_);
+  CheckSupports(this, stream);
  std::lock_guard<std::mutex> _(mtx_streams_);
  return streams_->GetStreamDatas(stream);
 }
@@ -358,6 +411,7 @@ std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
 device::StreamData Device::GetLatestStreamData(const Stream &stream) {
  CHECK(video_streaming_);
  CHECK_NOTNULL(streams_);
+  CheckSupports(this, stream);
  std::lock_guard<std::mutex> _(mtx_streams_);
  return streams_->GetLatestStreamData(stream);
 }
@@ -434,6 +488,7 @@ void Device::StartVideoStreaming() {
            }
          }
          continuation();
+          OnStereoStreamUpdate();
          // VLOG(2) << "Stereo video callback cost "
          //     << times::count<times::milliseconds>(times::now() - time_beg)
          //     << " ms";
@@ -465,7 +520,7 @@ void Device::StartMotionTracking() {
  }
  motions_->SetMotionCallback(
      std::bind(&Device::CallbackMotionData, this, std::placeholders::_1));
-  motions_->StartMotionTracking();
+  // motions_->StartMotionTracking();
  motion_tracking_ = true;
 }

@@ -474,10 +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>();

@@ -485,8 +542,13 @@ void Device::ReadAllInfos() {
  Channels::img_params_t img_params;
  Channels::imu_params_t imu_params;
  if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
-    LOG(FATAL) << "Read device infos failed. Please upgrade your firmware to "
-                  "the latest version.";
+#if defined(WITH_DEVICE_INFO_REQUIRED)
+    LOG(FATAL)
+#else
+    LOG(WARNING)
+#endif
+        << "Read device infos failed. Please upgrade your firmware to the "
+           "latest version.";
  }
  VLOG(2) << "Device info: {name: " << device_info_->name
          << ", serial_number: " << device_info_->serial_number
--- a/src/device/device.h
+++ b/src/device/device.h
@@ -140,6 +140,24 @@ class MYNTEYE_API Device {
   */
  Extrinsics GetMotionExtrinsics(const Stream &from) const;

+  /**
+   * Get the intrinsics of stream.
+   */
+  Intrinsics GetIntrinsics(const Stream &stream, bool *ok) const;
+  /**
+   * Get the extrinsics from one stream to another.
+   */
+  Extrinsics GetExtrinsics(
+      const Stream &from, const Stream &to, bool *ok) const;
+  /**
+   * Get the intrinsics of motion.
+   */
+  MotionIntrinsics GetMotionIntrinsics(bool *ok) const;
+  /**
+   * Get the extrinsics from one stream to motion.
+   */
+  Extrinsics GetMotionExtrinsics(const Stream &from, bool *ok) const;
+
  /**
   * Set the intrinsics of stream.
   */
@@ -239,6 +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();
@@ -247,6 +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_;
@@ -284,10 +316,6 @@ 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;
 };
--- a/src/device/device_s.cc
+++ b/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
--- 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
@@ -31,7 +31,8 @@ class AsyncCallback {
 public:
  using callback_t = std::function<void(Data data)>;

-  AsyncCallback(std::string name, callback_t callback, bool concat = false);
+  AsyncCallback(
+      std::string name, callback_t callback, std::size_t max_data_size = 0);
  ~AsyncCallback();

  void PushData(Data data);
@@ -50,8 +51,8 @@ class AsyncCallback {
  std::thread thread_;

  std::uint32_t count_;
-  bool concat_;
  std::vector<Data> datas_;
+  std::size_t max_data_size_;
 };

 MYNTEYE_END_NAMESPACE
--- a/src/internal/async_callback_impl.h
+++ b/src/internal/async_callback_impl.h
@@ -24,11 +24,11 @@ MYNTEYE_BEGIN_NAMESPACE

 template <class Data>
 AsyncCallback<Data>::AsyncCallback(
-    std::string name, callback_t callback, bool concat)
+    std::string name, callback_t callback, std::size_t max_data_size)
    : name_(std::move(name)),
      callback_(std::move(callback)),
      count_(0),
-      concat_(concat) {
+      max_data_size_(max_data_size) {
  VLOG(2) << __func__;
  running_ = true;
  thread_ = std::thread(&AsyncCallback<Data>::Run, this);
@@ -51,8 +51,10 @@ AsyncCallback<Data>::~AsyncCallback() {
 template <class Data>
 void AsyncCallback<Data>::PushData(Data data) {
  std::lock_guard<std::mutex> _(mtx_);
-  if (!concat_) {
+  if (max_data_size_ <= 0) {
    datas_.clear();
+  } else if (max_data_size_ == datas_.size()) {  // >= 1
+    datas_.erase(datas_.begin());
  }
  datas_.push_back(data);
  ++count_;
--- a/src/internal/channels.cc
+++ b/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();
-
-      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);
    }
  });
@@ -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};
--- a/src/internal/channels.h
+++ b/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;
-  bool XuControlRange(
-      const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min, int32_t *max,
+      channel_t channel, 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,
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -34,11 +34,8 @@ Motions::~Motions() {

 void Motions::SetMotionCallback(motion_callback_t callback) {
  motion_callback_ = callback;
-}
-
-void Motions::StartMotionTracking() {
-  if (!is_imu_tracking) {
-    channels_->StartImuTracking([this](const ImuPacket &packet) {
+  if (motion_callback_) {
+    channels_->SetImuCallback([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";
--- a/src/internal/motions.h
+++ b/src/internal/motions.h
@@ -37,6 +37,7 @@ class Motions {
  ~Motions();

  void SetMotionCallback(motion_callback_t callback);
+  void DoMotionTrack();

  void StartMotionTracking();
  void StopMotionTracking();
--- a/src/public/utils.cc
+++ b/src/public/utils.cc
@@ -36,8 +36,9 @@ std::shared_ptr<Device> select() {
  LOG(INFO) << "MYNT EYE devices:";
  for (size_t i = 0; i < n; i++) {
    auto &&device = devices[i];
-    auto &&name = device->GetInfo(Info::DEVICE_NAME);
-    LOG(INFO) << "  index: " << i << ", name: " << name;
+    LOG(INFO) << "  index: " << i
+              << ", name: " << device->GetInfo(Info::DEVICE_NAME)
+              << ", sn: " << device->GetInfo(Info::SERIAL_NUMBER);
  }

  std::shared_ptr<Device> device = nullptr;
--- a/tools/README.md
+++ b/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)
--- a/tools/analytics/imu_analytics.py
+++ b/tools/analytics/imu_analytics.py
@@ -650,8 +650,8 @@ def _main():
    else:
      dataset = ROSBag(
          path,
-          topic_imu='/mynteye/imu',
-          topic_temp='/mynteye/temp')
+          topic_imu='/mynteye/imu/data_raw',
+          topic_temp='/mynteye/temp/data_raw')
    return dataset

  if args.binary:
--- a/tools/analytics/stamp_analytics.py
+++ b/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_imu='/mynteye/imu')
+                       topic_img_left='/mynteye/left/image_raw',
+                       topic_imu='/mynteye/imu/data_raw')
    return dataset

  dataset = BinDataset(dataset_path, dataset_creator)
--- a/tools/config/mynteye/mynteye_config.yaml
+++ b/tools/config/mynteye/mynteye_config.yaml
@@ -3,7 +3,7 @@ dataset: "mynteye"

 # rosbag config
 rosbag:
-  topic_img_left: "/mynteye/left"
-  topic_img_right: "/mynteye/right"
-  topic_imu: "/mynteye/imu"
-  topic_temp: "/mynteye/temp"
+  topic_img_left: "/mynteye/left/image_raw"
+  topic_img_right: "/mynteye/right/image_raw"
+  topic_imu: "/mynteye/imu/data_raw"
+  topic_temp: "/mynteye/temp/data_raw"
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -4,17 +4,17 @@

  <!-- node params -->

-  <arg name="left_topic" default="left" />
-  <arg name="right_topic" default="right" />
-  <arg name="left_rect_topic" default="left_rect" />
-  <arg name="right_rect_topic" default="right_rect" />
-  <arg name="disparity_topic" default="disparity" />
-  <arg name="disparity_norm_topic" default="disparity_norm" />
-  <arg name="points_topic" default="points" />
-  <arg name="depth_topic" default="depth" />
+  <arg name="left_topic" default="left/image_raw" />
+  <arg name="right_topic" default="right/image_raw" />
+  <arg name="left_rect_topic" default="left/image_rect" />
+  <arg name="right_rect_topic" default="right/image_rect" />
+  <arg name="disparity_topic" default="disparity/image_raw" />
+  <arg name="disparity_norm_topic" default="disparity/image_norm" />
+  <arg name="depth_topic" default="depth/image_raw" />
+  <arg name="points_topic" default="points/data_raw" />

-  <arg name="imu_topic" default="imu" />
-  <arg name="temp_topic" default="temp" />
+  <arg name="imu_topic" default="imu/data_raw" />
+  <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" />
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
+++ b/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:
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -71,6 +71,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    }
  }

+  ros::Time hardTimeToSoftTime(double _hard_time) {
+    static bool isInited = false;
+    static double soft_time_begin(0), hard_time_begin(0);
+
+    if (false == isInited) {
+      soft_time_begin = ros::Time::now().toSec();
+      hard_time_begin = _hard_time;
+      isInited = true;
+    }
+
+    return ros::Time(
+        soft_time_begin + (_hard_time - hard_time_begin) * 0.00001f);
+  }
+
  void onInit() override {
    initDevice();
    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
@@ -242,10 +256,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  void publishTopics() {
    api_->SetStreamCallback(
        Stream::LEFT, [this](const api::StreamData &data) {
-          static double ros_time_beg = ros::Time::now().toSec();
-          static double img_time_beg = data.img->timestamp;
-          ros::Time stamp(
-              ros_time_beg + (data.img->timestamp - img_time_beg) * 0.00001f);
+          ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);

          // static double img_time_prev = -1;
          // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
@@ -268,10 +279,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {

    api_->SetStreamCallback(
        Stream::RIGHT, [this](const api::StreamData &data) {
-          static double ros_time_beg = ros::Time::now().toSec();
-          static double img_time_beg = data.img->timestamp;
-          ros::Time stamp(
-              ros_time_beg + (data.img->timestamp - img_time_beg) * 0.00001f);
+          ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);

          ++right_count_;
          publishCamera(Stream::RIGHT, data, right_count_, stamp);
@@ -303,10 +311,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
        });

    api_->SetMotionCallback([this](const api::MotionData &data) {
-      static double ros_time_beg = ros::Time::now().toSec();
-      static double imu_time_beg = data.imu->timestamp;
-      ros::Time stamp(
-          ros_time_beg + (data.imu->timestamp - imu_time_beg) * 0.00001f);
+      ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);

      // static double imu_time_prev = -1;
      // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << ros_time_beg
@@ -413,9 +418,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      for (std::size_t x = 0; x < in.width; ++x) {
        auto &&point = data.frame.at<cv::Vec3f>(y, x);

-        *iter_x = point[0];
-        *iter_y = point[1];
-        *iter_z = point[2];
+        *iter_x = point[0] * 0.001;
+        *iter_y = point[1] * 0.001;
+        *iter_z = point[2] * 0.001;

        *iter_r = static_cast<uint8_t>(255);
        *iter_g = static_cast<uint8_t>(255);
Author	SHA1	Message	Date
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	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