Fix generate apidoc

.gitmodules

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

CMakeLists.txt

@@ -44,9 +44,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
+find_package(Threads QUIET)
+
+macro(target_link_threads NAME)
+  if(THREADS_HAVE_PTHREAD_ARG)
+    target_compile_options(PUBLIC ${NAME} "-pthread")
+  endif()
+  if(CMAKE_THREAD_LIBS_INIT)
+    target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}")
+  endif()
+endmacro()
 
 LIST(APPEND CMAKE_MODULE_PATH cmake)
 
@@ -90,19 +97,28 @@ set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
 
 ## main
 
+if(WITH_GLOG)
   add_executable(main src/main.cc)
   target_link_libraries(main glog::glog)
   target_include_directories(main PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}/include
     ${CMAKE_CURRENT_BINARY_DIR}/include
   )
+endif()
 
 ## libmynteye
 
+if(NOT WITH_GLOG AND NOT OS_WIN)
+  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
+  unset(__MINIGLOG_FLAGS)
+endif()
+
 set(MYNTEYE_PUBLIC_H
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/glog_init.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
   ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h
@@ -119,6 +135,11 @@ if(WITH_API)
     ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
   )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_PUBLIC_H
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+  )
+endif()
 
 if(OS_WIN)
   set(UVC_SRC src/uvc/uvc-wmf.cc)
@@ -163,21 +184,25 @@ if(WITH_API)
     src/api/processor/points_processor.cc
   )
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
+endif()
 
-set(MYNTEYE_LINKLIBS
-  glog::glog
-  ${UVC_LIB}
-)
+set(MYNTEYE_LINKLIBS ${UVC_LIB})
 if(WITH_API)
   list(APPEND MYNTEYE_LINKLIBS ${OpenCV_LIBS})
 endif()
 if(WITH_BOOST_FILESYSTEM)
   list(APPEND MYNTEYE_LINKLIBS ${Boost_LIBRARIES})
 endif()
+if(WITH_GLOG)
+  list(APPEND MYNTEYE_LINKLIBS glog::glog)
+endif()
 #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")
 
 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
 target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
+target_link_threads(${MYNTEYE_NAME})
 
 if(OS_WIN)
   target_compile_definitions(${MYNTEYE_NAME}

CPPLINT.cfg

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

Makefile

@@ -16,6 +16,12 @@ include CommonDefs.mk
 MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
 MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 
+# CMAKE_INSTALL_PREFIX:
+#   https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html
+#
+#   UNIX: /usr/local
+#   Windows: c:/Program Files/${PROJECT_NAME}
+
 .DEFAULT_GOAL := help
 
 help:
@@ -25,8 +31,8 @@ help:
 	@echo "  make opendoc         open api doc (html)"
 	@echo "  make init            init project"
 	@echo "  make build           build project"
-	@echo "  make test            build test and run"
 	@echo "  make install         install project"
+	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
 	@echo "  make ros             build ros wrapper"
@@ -35,7 +41,7 @@ help:
 
 .PHONY: help
 
-all: test tools samples
+all: test samples tools
 
 .PHONY: all
 
@@ -43,7 +49,8 @@ all: test tools samples
 
 apidoc:
 	@$(call echo,Make $@)
-	@[ -e ./_install/include ] || $(MAKE) install
+	@# @[ -e ./_install/include ] || $(MAKE) install
+	@[ -e /usr/local/include/mynteye ] || $(MAKE) install
 	@$(SH) ./doc/build.sh
 
 opendoc: apidoc
@@ -64,12 +71,7 @@ cleandoc:
 submodules:
 	@git submodule update --init
 
-third_party: submodules
-	@$(call echo,Make $@)
-	@$(call echo,Make glog,33)
-	@$(call cmake_build,./third_party/glog/_build)
-
-.PHONY: submodules third_party
+.PHONY: submodules
 
 # init
 
@@ -81,9 +83,13 @@ init: submodules
 
 # build
 
-build: third_party
+build: submodules
 	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
 	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+else
+	@$(call cmake_build,./_build,..)
+endif
 
 .PHONY: build
 
@@ -117,9 +123,13 @@ ifneq ($(HOST_NAME),MinGW)
 else
 	@cd ./_build; make install
 endif
+else
+ifeq ($(HOST_OS),Linux)
+	@cd ./_build; sudo make install
 else
 	@cd ./_build; make install
 endif
+endif
 
 .PHONY: install
 

README.md

@@ -1,6 +1,6 @@
 # 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)
+[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.1--rc1-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
 
 ## Overview
 
@@ -17,18 +17,20 @@ 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/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285351/mynt-eye-sdk-apidoc-2.0.1-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285352/mynt-eye-sdk-apidoc-2.0.1-rc1-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285353/mynt-eye-sdk-apidoc-2.0.1-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2285354/mynt-eye-sdk-apidoc-2.0.1-rc1-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-sdk-apidoc-2.0.1-rc1-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc1-html-zh-Hans/index.html)
 * [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases): How to install and start using the SDK.
-  * 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/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281782/mynt-eye-sdk-guide-2.0.1-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281783/mynt-eye-sdk-guide-2.0.1-rc1-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281785/mynt-eye-sdk-guide-2.0.1-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2281786/mynt-eye-sdk-guide-2.0.1-rc1-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-sdk-guide-2.0.1-rc1-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc1-html-zh-Hans/index.html)
 
-> Supported languages: `zh-Hans`.
+
+> Supported languages: `en`, `zh-Hans`.
 
 ## Firmwares
 
-[Google Drive]: https://drive.google.com/drive/folders/1tdFCcTBMNcImEGZ39tdOZmlX2SHKCr2f
-[百度网盘]: https://pan.baidu.com/s/1yPQDp2r0x4jvNwn2UjlMUQ
+[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
 
-Get firmwares from our online disks: [Google Drive][], [百度网盘][]. The latest version is `2.0.0-rc`.
+Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.0.1`.
 
 ## Usage
 

cmake/DetectGLog.cmake

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

cmake/Option.cmake

@@ -28,6 +28,10 @@ option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
 
 option(WITH_BOOST "Include Boost support" ON)
 
+# How to install glog?
+#   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
+option(WITH_GLOG "Include glog support" OFF)
+
 
 # packages
 
@@ -59,6 +63,10 @@ if(NOT WITH_FILESYSTEM)
   endif()
 endif()
 
+if(WITH_GLOG)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectGLog.cmake)
+endif()
+
 find_package(CUDA QUIET)
 
 # summary
@@ -125,6 +133,16 @@ if(WITH_BOOST)
   endif()
 endif()
 
+status("  WITH_GLOG: ${WITH_GLOG}")
+if(WITH_GLOG)
+  if(glog_FOUND)
+    status("    glog: YES")
+    status("    glog_VERSION: ${glog_VERSION}")
+  else()
+    status("    glog: NO")
+  endif()
+endif()
+
 status("")
 status("Features:")
 status("  Filesystem: "

doc/en/api.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.0.1-rc0
+PROJECT_NUMBER         = 2.0.1-rc2
 
 # 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
@@ -801,7 +801,7 @@ INPUT                  = mainpage.md \
                          specs_ctrl.md \
                          spec_control_api.md \
                          spec_control_channel.md \
-                         ../../_install/include
+                         /usr/local/include/mynteye
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -884,7 +884,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = /usr/local/include/mynteye/logger.h \
+                         /usr/local/include/mynteye/miniglog.h
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded

doc/en/spec_control_api.md

@@ -14,7 +14,7 @@ There are two control modes, one is through UVC standard protocol, the other is
 
 | 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} |
+| Frame rate | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55} |
 | 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 |

doc/zh-Hans/api.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.0.1-rc0
+PROJECT_NUMBER         = 2.0.1-rc2
 
 # 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
@@ -801,7 +801,7 @@ INPUT                  = mainpage.md \
                          specs_ctrl.md \
                          spec_control_api.md \
                          spec_control_channel.md \
-                         ../../_install/include
+                         /usr/local/include/mynteye
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -884,7 +884,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = /usr/local/include/mynteye/logger.h \
+                         /usr/local/include/mynteye/miniglog.h
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded

doc/zh-Hans/guide_log.md

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

doc/zh-Hans/spec_control_api.md

@@ -16,7 +16,7 @@
 
 | 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} |
+| 图像帧率 | frame_rate | 2 | 25 | 10 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55} |
 | 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 |

include/mynteye/global.h

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

include/mynteye/logger.h

@@ -11,10 +11,12 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_GLOG_INIT_H_  // NOLINT
-#define MYNTEYE_GLOG_INIT_H_
+#ifndef MYNTEYE_LOGGER_H_
+#define MYNTEYE_LOGGER_H_
 #pragma once
 
+#ifdef WITH_GLOG
+
 #include <glog/logging.h>
 
 /** Helper to init glog with args. */
@@ -25,14 +27,30 @@ struct glog_init {
   glog_init(int argc, char *argv[]) {
     (void)argc;
 
-    // FLAGS_logtostderr = true;
-    FLAGS_alsologtostderr = true;
+    // Set whether log messages go to stderr instead of logfiles
+    FLAGS_logtostderr = true;
+
+    // Set whether log messages go to stderr in addition to logfiles.
+    // FLAGS_alsologtostderr = true;
+
+    // Set color messages logged to stderr (if supported by terminal).
     FLAGS_colorlogtostderr = true;
 
-    // FLAGS_log_dir = ".";
-    FLAGS_max_log_size = 1024;
+    // Log suppression level: messages logged at a lower level than this
+    // are suppressed.
+    FLAGS_minloglevel = google::GLOG_INFO;
+
+    // If specified, logfiles are written into this directory instead of the
+    // default logging directory.
+    FLAGS_log_dir = ".";
+
+    // Sets the maximum log file size (in MB).
+    FLAGS_max_log_size = 8;
+
+    // Sets whether to avoid logging to the disk if the disk is full.
     FLAGS_stop_logging_if_full_disk = true;
 
+    // Show all VLOG(m) messages for m <= this.
     // FLAGS_v = 2;
 
     google::InitGoogleLogging(argv[0]);
@@ -46,4 +64,20 @@ struct glog_init {
   }
 };
 
-#endif  // MYNTEYE_GLOG_INIT_H_ NOLINT
+#else
+
+struct glog_init {
+  glog_init(int argc, char *argv[]) {
+    (void)argc;
+    (void)argv;
+    // Do nothing.
+  }
+};
+
+#define MYNTEYE_MAX_LOG_LEVEL google::INFO
+
+#include "mynteye/miniglog.h"
+
+#endif
+
+#endif  // MYNTEYE_LOGGER_H_

include/mynteye/miniglog.h

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

include/mynteye/mynteye.h.in

@@ -21,9 +21,9 @@
 # define MYNTEYE_API
 #else
 # ifdef MYNTEYE_EXPORTS
-#  define MYNTEYE_API DECL_EXPORT
+#  define MYNTEYE_API MYNTEYE_DECL_EXPORT
 # else
-#  define MYNTEYE_API DECL_IMPORT
+#  define MYNTEYE_API MYNTEYE_DECL_IMPORT
 # endif
 #endif
 
@@ -58,7 +58,14 @@ MYNTEYE_API_VERSION_CHECK( \
 # define MYNTEYE_USE_NAMESPACE
 #endif
 
-constexpr char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
-constexpr char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
+const char MYNTEYE_SDK_ROOT_DIR[] = "@MYNTEYE_SDK_ROOT_DIR@";
+const char MYNTEYE_SDK_INSTALL_DIR[] = "@MYNTEYE_SDK_INSTALL_DIR@";
+
+MYNTEYE_BEGIN_NAMESPACE
+
+template <typename... T>
+void UNUSED(T &&...) {}
+
+MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_MYNTEYE_H_

include/mynteye/types.h

@@ -144,7 +144,7 @@ enum class Option : std::uint8_t {
   /**
    * Image frame rate, must set IMU_FREQUENCY together
    *
-   *   values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
+   *   values: {10,15,20,25,30,35,40,45,50,55}, default: 25
    */
   FRAME_RATE,
   /**

mynteye-config.cmake.in

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

samples/CMakeLists.txt

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

samples/api/camera.cc

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

samples/api/get_depth_with_region.cc

@@ -14,8 +14,6 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 namespace {
@@ -31,7 +29,7 @@ class DepthRegion {
    * 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
    */
   void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
     if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
       return;
     }
@@ -163,7 +161,7 @@ int main(int argc, char *argv[]) {
   DepthRegion depth_region(3);
   auto depth_info = [](
       const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
     std::ostringstream os;
     os << "depth pos: [" << point.y << ", " << point.x << "]"
        << "±" << n << ", unit: mm";

samples/device/camera.cc

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

samples/tutorials/control/auto_exposure.cc

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

samples/tutorials/control/framerate.cc

@@ -13,11 +13,10 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include <glog/logging.h>
-
 #include <atomic>
 
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 #include "mynteye/times.h"
 
 MYNTEYE_USE_NAMESPACE
@@ -30,7 +29,7 @@ int main(int argc, char *argv[]) {
   // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
   // succeed.
 
-  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
+  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55
   api->SetOptionValue(Option::FRAME_RATE, 25);
   // IMU_FREQUENCY values: 100, 200, 250, 333, 500
   api->SetOptionValue(Option::IMU_FREQUENCY, 500);

samples/tutorials/control/infrared.cc

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

samples/tutorials/control/manual_exposure.cc

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

samples/tutorials/data/get_depth.cc

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

samples/tutorials/data/get_device_info.cc

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

samples/tutorials/data/get_disparity.cc

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

samples/tutorials/data/get_from_callbacks.cc

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

samples/tutorials/data/get_img_params.cc

@@ -11,9 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 
@@ -25,8 +24,8 @@ int main(int argc, char *argv[]) {
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";
-  LOG(INFO) << "Extrinsics left to right: {"
-            << api->GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+  LOG(INFO) << "Extrinsics right to left: {"
+            << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
 
   return 0;
 }

samples/tutorials/data/get_imu.cc

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

samples/tutorials/data/get_imu_params.cc

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

samples/tutorials/data/get_points.cc

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

samples/tutorials/data/get_stereo.cc

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

samples/tutorials/data/get_stereo_rectified.cc

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

samples/tutorials/data/get_with_plugin.cc

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

samples/tutorials/intermediate/get_all_device_info.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "mynteye/context.h"
 #include "mynteye/device.h"
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/intermediate/get_depth_and_points.cc

@@ -14,8 +14,6 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include "mynteye/api.h"
 
 #include "util/cv_painter.h"
@@ -34,7 +32,7 @@ class DepthRegion {
    * 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
    */
   void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
     if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
       return;
     }
@@ -166,7 +164,7 @@ int main(int argc, char *argv[]) {
   DepthRegion depth_region(3);
   auto depth_info = [](
       const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
     std::ostringstream os;
     os << "depth pos: [" << point.y << ", " << point.x << "]"
        << "±" << n << ", unit: mm";

samples/tutorials/util/cv_painter.cc

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

samples/tutorials/util/pc_viewer.cc

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

samples/uvc/camera.cc

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

scripts/init.sh

@@ -14,181 +14,29 @@
 # limitations under the License.
 
 # _VERBOSE_=1
+# _INIT_LINTER_=1
 # _FORCE_INSRALL_=1
 
 BASE_DIR=$(cd "$(dirname "$0")" && pwd)
 
-source "$BASE_DIR/common/echo.sh"
-source "$BASE_DIR/common/detect.sh"
-source "$BASE_DIR/common/host.sh"
-
-PYTHON="python"
-if [ "$HOST_OS" = "Win" ]; then
-  if ! _detect_cmd $PYTHON; then
-    PYTHON="python2"  # try python2 on MSYS
-  fi
-fi
-
-_detect $PYTHON 1
-
-PYTHON_FOUND="${PYTHON}_FOUND"
-if [ -z "${!PYTHON_FOUND}" ]; then
-  _echo_en "$PYTHON not found"
-fi
-
-if [ "$HOST_OS" = "Linux" ]; then
-  _detect_install() {
-    _detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
-        | grep -c "ok installed") -gt 0 ]
-  }
-elif [ "$HOST_OS" = "Mac" ]; then
-  _detect_install() {
-    _detect_cmd "$1" || brew ls --versions "$1" > /dev/null
-  }
-else
-  _detect_install() {
-    _detect_cmd "$1"
-  }
-fi
-
-_install_deps() {
-  _cmd="$1"; shift; _deps_all=($@)
-  _echo "Install cmd: $_cmd"
-  _echo "Install deps: ${_deps_all[*]}"
-  if [ -n "${_FORCE_INSRALL_}" ]; then
-    _echo_d "$_cmd ${_deps_all[*]}"
-    $_cmd ${_deps_all[@]}
-    return
-  fi
-  _deps=()
-  for _dep in "${_deps_all[@]}"; do
-    _detect_install $_dep || _deps+=($_dep)
-  done
-  if [ ${#_deps[@]} -eq 0 ]; then
-    _echo_i "All deps already exist"
-  else
-    _echo_d "$_cmd ${_deps[*]} (not exists)"
-    $_cmd ${_deps[@]}
-  fi
-}
+source "$BASE_DIR/init_tools.sh"
 
 ## deps
 
 _echo_s "Init deps"
 
 if [ "$HOST_OS" = "Linux" ]; then
-  # detect apt-get
-  _detect apt-get
-  # apt-get install
-  _install_deps "sudo apt-get install" build-essential curl cmake git clang-format
-  _install_deps "sudo apt-get install" libv4l-dev
-  if ! _detect_cmd clang-format; then
-    # on Ubuntu 14.04, apt-cache search clang-format
-    _install_deps "sudo apt-get install" clang-format-3.9
-    sudo ln -sf clang-format-3.9 /usr/bin/clang-format
-    sudo ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
-  fi
-  # sudo
-  SUDO="sudo"
+  _install_deps "$SUDO apt-get install" libv4l-dev
 elif [ "$HOST_OS" = "Mac" ]; then
-  # detect brew
-  if ! _detect_cmd brew; then
-    _echo_sn "Install brew"
-    _detect curl
-    _detect ruby
-    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
-  fi
-  # brew install
-  _install_deps "brew install" curl cmake git clang-format
-  # link clang-format-diff (if not compatible with Python 3, fix it by yourself)
-  [ -f "/usr/local/bin/clang-format-diff" ] || \
-    ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
   _install_deps "brew install" libuvc
 elif [ "$HOST_OS" = "Win" ]; then
-  # detect pacman on MSYS
-  _detect pacman
-  # pacman install (common)
-  _install_deps "pacman -S" curl git clang-format
-  if [ "$HOST_NAME" = "MINGW" ]; then
-    # pacman install (MINGW)
-    _deps=()
-    if [ "$HOST_ARCH" = "x64" ]; then
-      _deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
-    elif [ "$HOST_ARCH" = "x86" ]; then
-      _deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
-    else
-      _echo_e "Unknown host arch :("
-      exit 1
-    fi
-    if ! [ ${#_deps[@]} -eq 0 ]; then
-      _echo_d "pacman -S ${_deps[*]}"
-      pacman -S ${_deps[@]}
-    fi
-  else
-    # detect cmake on MSYS
-    _detect cmake
-  fi
-  # update
-  #   pacman -Syu
-  # search
-  #   pacman -Ss make
-  # autoremove
-  #   pacman -Qtdq | pacman -Rs -
+  # _install_deps "pacman -S" ?
+  _echo
 else  # unexpected
   _echo_e "Unknown host os :("
   exit 1
 fi
 
-## pip
-
-# detect pip
-if ! _detect_cmd pip; then
-  if [ -n "${!PYTHON_FOUND}" ]; then
-    _echo_sn "Install pip"
-    [ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
-    $SUDO $PYTHON get-pip.py
-  else
-    _echo_en "Skipped install pip, as $PYTHON not found"
-  fi
-fi
-# pip install
-if _detect_cmd pip; then
-  _echo_d "pip install --upgrade autopep8 cpplint pylint requests"
-  $SUDO pip install --upgrade autopep8 cpplint pylint requests
-else
-  _echo_en "Skipped pip install packages, as pip not found"
-fi
-
-## realpath
-
-# detect realpath
-if ! _detect_cmd realpath; then
-  _echo_sn "Install realpath"
-  if [ "$HOST_OS" = "Linux" ]; then
-    # How to install realpath on Ubuntu 14.04
-    #   https://www.howtoinstall.co/en/ubuntu/trusty/realpath
-    sudo apt-get install coreutils realpath
-  elif [ "$HOST_OS" = "Mac" ]; then
-    brew install coreutils
-  elif [ "$HOST_OS" = "Win" ]; then
-    pacman -S coreutils
-  else  # unexpected
-    _echo_e "Unknown host os :("
-    exit 1
-  fi
-fi
-
-ROOT_DIR=$(realpath "$BASE_DIR/..")
-
-## init
-
-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
 
 _echo_s "Expect cmake version >= 3.0"

scripts/init_tools.sh

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

src/api/api.cc

@@ -18,12 +18,10 @@
 #include <boost/range/iterator_range.hpp>
 #endif
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <thread>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/utils.h"
 
 #include "api/plugin.h"
@@ -33,7 +31,7 @@
 #include "internal/dl.h"
 
 #if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
-#if defined(OS_WIN)
+#if defined(MYNTEYE_OS_WIN)
 #include <windows.h>
 #endif
 #endif
@@ -70,7 +68,7 @@ bool dir_exists(const fs::path &p) {
 
 #elif defined(WITH_NATIVE_FILESYSTEM)
 
-#if defined(OS_WIN)
+#if defined(MYNTEYE_OS_WIN)
 
 bool file_exists(const std::string &p) {
   DWORD attrs = GetFileAttributes(p.c_str());
@@ -92,7 +90,7 @@ bool dir_exists(const std::string &p) {
 
 std::vector<std::string> get_plugin_paths() {
   std::string info_path(MYNTEYE_SDK_INSTALL_DIR);
-  info_path.append(OS_SEP "share" OS_SEP "mynteye" OS_SEP "build.info");
+  info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
 
   cv::FileStorage fs(info_path, cv::FileStorage::READ);
   if (!fs.isOpened()) {
@@ -189,13 +187,13 @@ std::vector<std::string> get_plugin_paths() {
   std::vector<std::string> dirs{MYNTEYE_SDK_ROOT_DIR, MYNTEYE_SDK_INSTALL_DIR};
   for (auto &&plat : plats) {
     for (auto &&dir : dirs) {
-      auto &&plat_dir = dir + OS_SEP "plugins" + OS_SEP + plat;
+      auto &&plat_dir = dir + MYNTEYE_OS_SEP "plugins" + MYNTEYE_OS_SEP + plat;
       // VLOG(2) << "plat_dir: " << plat_dir;
       if (!dir_exists(plat_dir))
         continue;
       for (auto &&name : names) {
         // VLOG(2) << "  name: " << name;
-        auto &&path = plat_dir + OS_SEP + name;
+        auto &&path = plat_dir + MYNTEYE_OS_SEP + name;
         if (!file_exists(path))
           continue;
         paths.push_back(path);
@@ -213,11 +211,11 @@ std::vector<std::string> get_plugin_paths() {
 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;
+    bool in_l_ok, in_r_ok, ex_r2l_ok;
     device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
     device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
-    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
+    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT, &ex_r2l_ok);
+    if (!in_l_ok || !in_r_ok || !ex_r2l_ok) {
 #if defined(WITH_DEVICE_INFO_REQUIRED)
       LOG(FATAL)
 #else

src/api/plugin.h

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

src/api/processor/depth_processor.cc

@@ -13,12 +13,14 @@
 // limitations under the License.
 #include "api/processor/depth_processor.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include <utility>
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DepthProcessor::NAME[] = "DepthProcessor";
+
 DepthProcessor::DepthProcessor(std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
@@ -38,7 +40,7 @@ Object *DepthProcessor::OnCreateOutput() {
 
 bool DepthProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat *input = Object::Cast<ObjMat>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
   cv::Mat channels[3 /*input->value.channels()*/];

src/api/processor/depth_processor.h

@@ -23,7 +23,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DepthProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DepthProcessor";
+  static const char NAME[];
 
   explicit DepthProcessor(std::int32_t proc_period = 0);
   virtual ~DepthProcessor();

src/api/processor/disparity_normalized_processor.cc

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

src/api/processor/disparity_normalized_processor.h

@@ -23,7 +23,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DisparityNormalizedProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DisparityNormalizedProcessor";
+  static const char NAME[];
 
   explicit DisparityNormalizedProcessor(std::int32_t proc_period = 0);
   virtual ~DisparityNormalizedProcessor();

src/api/processor/disparity_processor.cc

@@ -15,12 +15,14 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
+const char DisparityProcessor::NAME[] = "DisparityProcessor";
+
 DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
@@ -72,7 +74,7 @@ Object *DisparityProcessor::OnCreateOutput() {
 
 bool DisparityProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat2 *input = Object::Cast<ObjMat2>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
 

src/api/processor/disparity_processor.h

@@ -29,7 +29,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class DisparityProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "DisparityProcessor";
+  static const char NAME[];
 
   explicit DisparityProcessor(std::int32_t proc_period = 0);
   virtual ~DisparityProcessor();

src/api/processor/points_processor.cc

@@ -15,12 +15,14 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
+const char PointsProcessor::NAME[] = "PointsProcessor";
+
 PointsProcessor::PointsProcessor(cv::Mat Q, std::int32_t proc_period)
     : Processor(std::move(proc_period)), Q_(std::move(Q)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
@@ -40,7 +42,7 @@ Object *PointsProcessor::OnCreateOutput() {
 
 bool PointsProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat *input = Object::Cast<ObjMat>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
   cv::reprojectImageTo3D(input->value, output->value, Q_, true);

src/api/processor/points_processor.h

@@ -25,7 +25,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class PointsProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "PointsProcessor";
+  static const char NAME[];
 
   explicit PointsProcessor(cv::Mat Q, std::int32_t proc_period = 0);
   virtual ~PointsProcessor();

src/api/processor/processor.cc

@@ -13,11 +13,11 @@
 // limitations under the License.
 #include "api/processor/processor.h"
 
-#include <glog/logging.h>
-
 #include <exception>
 #include <utility>
 
+#include "mynteye/logger.h"
+
 #include "internal/strings.h"
 #include "internal/times.h"
 

src/api/processor/rectify_processor.cc

@@ -16,21 +16,23 @@
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <glog/logging.h>
-
 #include <utility>
 
+#include "mynteye/logger.h"
+
 #include "device/device.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
+const char RectifyProcessor::NAME[] = "RectifyProcessor";
+
 RectifyProcessor::RectifyProcessor(
     std::shared_ptr<Device> device, std::int32_t proc_period)
     : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
   InitParams(
       device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
-      device->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
+      device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
 }
 
 RectifyProcessor::~RectifyProcessor() {
@@ -47,7 +49,7 @@ Object *RectifyProcessor::OnCreateOutput() {
 
 bool RectifyProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   const ObjMat2 *input = Object::Cast<ObjMat2>(in);
   ObjMat2 *output = Object::Cast<ObjMat2>(out);
   cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
@@ -56,7 +58,7 @@ bool RectifyProcessor::OnProcess(
 }
 
 void RectifyProcessor::InitParams(
-    Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right) {
+    Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left) {
   cv::Size size{in_left.width, in_left.height};
 
   cv::Mat M1 =
@@ -68,12 +70,12 @@ void RectifyProcessor::InitParams(
   cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
   cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
   cv::Mat R =
-      (cv::Mat_<double>(3, 3) << ex_left_to_right.rotation[0][0],
-       ex_left_to_right.rotation[0][1], ex_left_to_right.rotation[0][2],
-       ex_left_to_right.rotation[1][0], ex_left_to_right.rotation[1][1],
-       ex_left_to_right.rotation[1][2], ex_left_to_right.rotation[2][0],
-       ex_left_to_right.rotation[2][1], ex_left_to_right.rotation[2][2]);
-  cv::Mat T(3, 1, CV_64F, ex_left_to_right.translation);
+      (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
+       ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
+       ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
+       ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
+       ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
+  cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
 
   VLOG(2) << "InitParams size: " << size;
   VLOG(2) << "M1: " << M1;

src/api/processor/rectify_processor.h

@@ -29,7 +29,7 @@ class Device;
 
 class RectifyProcessor : public Processor {
  public:
-  static constexpr auto &&NAME = "RectifyProcessor";
+  static const char NAME[];
 
   RectifyProcessor(
       std::shared_ptr<Device> device, std::int32_t proc_period = 0);
@@ -47,7 +47,7 @@ class RectifyProcessor : public Processor {
 
  private:
   void InitParams(
-      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right);
+      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
 };
 
 MYNTEYE_END_NAMESPACE

src/api/synthetic.cc

@@ -13,12 +13,12 @@
 // limitations under the License.
 #include "api/synthetic.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <functional>
 #include <stdexcept>
 
+#include "mynteye/logger.h"
+
 #include "api/plugin.h"
 #include "api/processor/depth_processor.h"
 #include "api/processor/disparity_normalized_processor.h"
@@ -498,7 +498,7 @@ void Synthetic::ProcessNativeStream(
 
 bool Synthetic::OnRectifyProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnRectifyProcess(in, out)) {
     return true;
   }
@@ -508,7 +508,7 @@ bool Synthetic::OnRectifyProcess(
 
 bool Synthetic::OnDisparityProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnDisparityProcess(in, out)) {
     return true;
   }
@@ -517,7 +517,7 @@ bool Synthetic::OnDisparityProcess(
 
 bool Synthetic::OnDisparityNormalizedProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnDisparityNormalizedProcess(in, out)) {
     return true;
   }
@@ -526,7 +526,7 @@ bool Synthetic::OnDisparityNormalizedProcess(
 
 bool Synthetic::OnPointsProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnPointsProcess(in, out)) {
     return true;
   }
@@ -535,7 +535,7 @@ bool Synthetic::OnPointsProcess(
 
 bool Synthetic::OnDepthProcess(
     Object *const in, Object *const out, Processor *const parent) {
-  UNUSED(parent)
+  MYNTEYE_UNUSED(parent)
   if (plugin_ && plugin_->OnDepthProcess(in, out)) {
     return true;
   }

src/device/context.cc

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

src/device/device.cc

@@ -13,13 +13,13 @@
 // limitations under the License.
 #include "device/device.h"
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <iterator>
 #include <stdexcept>
 #include <utility>
 
+#include "mynteye/logger.h"
+
 #include "device/device_s.h"
 #include "internal/async_callback.h"
 #include "internal/channels.h"
@@ -252,7 +252,7 @@ MotionIntrinsics Device::GetMotionIntrinsics(bool *ok) const {
     return *motion_intrinsics_;
   } else {
     *ok = false;
-    LOG(WARNING) << "Motion intrinsics not found";
+    VLOG(2) << "Motion intrinsics not found";
     return {};
   }
 }
@@ -263,7 +263,7 @@ Extrinsics Device::GetMotionExtrinsics(const Stream &from, bool *ok) const {
     return motion_from_extrinsics_.at(from);
   } catch (const std::out_of_range &e) {
     *ok = false;
-    LOG(WARNING) << "Motion extrinsics from " << from << " not found";
+    VLOG(2) << "Motion extrinsics from " << from << " not found";
     return {};
   }
 }
@@ -565,11 +565,11 @@ void Device::ReadAllInfos() {
   if (img_params.ok) {
     SetIntrinsics(Stream::LEFT, img_params.in_left);
     SetIntrinsics(Stream::RIGHT, img_params.in_right);
-    SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_left_to_right);
+    SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
     VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
     VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
-    VLOG(2) << "Extrinsics left to right: {"
-            << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+    VLOG(2) << "Extrinsics right to left: {"
+            << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
   } else {
     LOG(WARNING) << "Intrinsics & extrinsics not exist";
   }
@@ -580,7 +580,7 @@ void Device::ReadAllInfos() {
     VLOG(2) << "Motion extrinsics left to imu: {"
             << GetMotionExtrinsics(Stream::LEFT) << "}";
   } else {
-    LOG(WARNING) << "Motion intrinsics & extrinsics not exist";
+    VLOG(2) << "Motion intrinsics & extrinsics not exist";
   }
 }
 

src/device/device_s.cc

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

src/internal/async_callback_impl.h

@@ -15,11 +15,11 @@
 #define MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_
 #pragma once
 
-#include <glog/logging.h>
-
 #include <string>
 #include <utility>
 
+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE
 
 template <class Data>

src/internal/channels.cc

@@ -13,8 +13,6 @@
 // limitations under the License.
 #include "internal/channels.h"
 
-#include <glog/logging.h>
-
 #include <bitset>
 #include <chrono>
 #include <iomanip>
@@ -22,6 +20,8 @@
 #include <sstream>
 #include <stdexcept>
 
+#include "mynteye/logger.h"
+
 #include "internal/strings.h"
 #include "internal/times.h"
 
@@ -224,7 +224,7 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
     } break;
     case Option::FRAME_RATE: {
       if (!in_range() ||
-          !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60}))
+          !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55}))
         break;
       XuCamCtrlSet(option, value);
     } break;
@@ -453,7 +453,7 @@ std::size_t from_data(
   }
   i += 40;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -484,7 +484,7 @@ std::size_t from_data(
   }
   i += 24;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -505,7 +505,7 @@ std::size_t from_data(
   }
   i += 24;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -515,7 +515,7 @@ std::size_t from_data(
   std::size_t i = 0;
   i += from_data(&img_params->in_left, data + i, spec_version);
   i += from_data(&img_params->in_right, data + i, spec_version);
-  i += from_data(&img_params->ex_left_to_right, data + i, spec_version);
+  i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
   return i;
 }
 
@@ -684,7 +684,7 @@ std::size_t to_data(
   _to_data(info->nominal_baseline, data + i);
   i += 2;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
 
   // others
   std::size_t size = i - 3;
@@ -725,7 +725,7 @@ std::size_t to_data(
   }
   i += 40;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -756,7 +756,7 @@ std::size_t to_data(
   }
   i += 24;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -777,7 +777,7 @@ std::size_t to_data(
   }
   i += 24;
 
-  UNUSED(spec_version)
+  MYNTEYE_UNUSED(spec_version)
   return i;
 }
 
@@ -787,7 +787,7 @@ std::size_t to_data(
   std::size_t i = 3;  // skip id, size
   i += to_data(&img_params->in_left, data + i, spec_version);
   i += to_data(&img_params->in_right, data + i, spec_version);
-  i += to_data(&img_params->ex_left_to_right, data + i, spec_version);
+  i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
   // others
   std::size_t size = i - 3;
   data[0] = Channels::FID_IMG_PARAMS;

src/internal/channels.h

@@ -72,7 +72,7 @@ class MYNTEYE_API Channels {
     bool ok;
     Intrinsics in_left;
     Intrinsics in_right;
-    Extrinsics ex_left_to_right;
+    Extrinsics ex_right_to_left;
   } img_params_t;
 
   typedef struct ImuParams {

src/internal/dl.cc

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

src/internal/dl.h

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

src/internal/files.cc

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

src/internal/motions.cc

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

src/internal/streams.cc

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

src/internal/times.h

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

src/internal/types.cc

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

src/public/miniglog.cc

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

src/public/miniglog.readme

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

src/public/types.cc

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

src/public/utils.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include "mynteye/utils.h"
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #include "device/context.h"
 #include "device/device.h"
@@ -100,9 +100,6 @@ float get_real_exposure_time(
     case 55:
       real_max = 16.325;
       break;
-    case 60:
-      real_max = 15;
-      break;
     default:
       LOG(ERROR) << "Invalid frame rate: " << frame_rate;
       return exposure_time;

src/uvc/uvc-libuvc.cc

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

src/uvc/uvc-v4l2.cc

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

src/uvc/uvc-wmf.cc

@@ -53,7 +53,7 @@
 
 #include <strsafe.h>
 
-#include <glog/logging.h>
+#include "mynteye/logger.h"
 
 #define VLOG_INFO VLOG(2)
 // #define VLOG_INFO LOG(INFO)

test/CMakeLists.txt

@@ -57,16 +57,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
 include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
 
+if(mynteye_WITH_GLOG)
+  include(${PRO_DIR}/cmake/DetectGLog.cmake)
+endif()
+
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
 ## gtest

test/gtest_main.cc

@@ -15,7 +15,7 @@
 
 #include "gtest/gtest.h"
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 int main(int argc, char **argv) {
   glog_init _(argc, argv);

tools/CMakeLists.txt

@@ -43,16 +43,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
 include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
 
+if(mynteye_WITH_GLOG)
+  include(${PRO_DIR}/cmake/DetectGLog.cmake)
+endif()
+
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
 # targets

tools/dataset/dataset.cc

@@ -19,14 +19,13 @@
 #include <opencv2/imgcodecs/imgcodecs.hpp>
 #endif
 
-#include <glog/logging.h>
-
 #include <iomanip>
 #include <limits>
 #include <stdexcept>
 #include <utility>
 
 #include "mynteye/files.h"
+#include "mynteye/logger.h"
 
 #define FULL_PRECISION \
   std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
@@ -67,7 +66,7 @@ void Dataset::SaveStreamData(
               << std::endl;
   if (data.frame) {
     std::stringstream ss;
-    ss << writer->outdir << OS_SEP << std::dec
+    ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
        << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
     cv::Mat img(
         data.frame->height(), data.frame->width(), CV_8UC1, data.frame->data());
@@ -95,15 +94,15 @@ Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
     writer_t writer = std::make_shared<Writer>();
     switch (stream) {
       case Stream::LEFT: {
-        writer->outdir = outdir_ + OS_SEP "left";
+        writer->outdir = outdir_ + MYNTEYE_OS_SEP "left";
       } break;
       case Stream::RIGHT: {
-        writer->outdir = outdir_ + OS_SEP "right";
+        writer->outdir = outdir_ + MYNTEYE_OS_SEP "right";
       } break;
       default:
         LOG(FATAL) << "Unsupported stream: " << stream;
     }
-    writer->outfile = writer->outdir + OS_SEP "stream.txt";
+    writer->outfile = writer->outdir + MYNTEYE_OS_SEP "stream.txt";
 
     files::mkdir(writer->outdir);
     writer->ofs.open(writer->outfile, std::ofstream::out);
@@ -120,7 +119,7 @@ Dataset::writer_t Dataset::GetMotionWriter() {
   if (motion_writer_ == nullptr) {
     writer_t writer = std::make_shared<Writer>();
     writer->outdir = outdir_;
-    writer->outfile = writer->outdir + OS_SEP "motion.txt";
+    writer->outfile = writer->outdir + MYNTEYE_OS_SEP "motion.txt";
 
     files::mkdir(writer->outdir);
     writer->ofs.open(writer->outfile, std::ofstream::out);

tools/dataset/record.cc

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

tools/writer/config/img.params

@@ -22,7 +22,7 @@ in_right:
       model: 0
       coeffs: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0.,
           0. ]
-ex_left_to_right:
+ex_right_to_left:
    rotation: [ 9.9701893306553813e-01, -9.5378124886236681e-04,
        -7.7151392794850615e-02, 1.4493996762830500e-03,
        9.9997867219985104e-01, 6.3682325649414354e-03,

tools/writer/device_info_writer.cc

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"

tools/writer/device_writer.cc

@@ -15,12 +15,11 @@
 
 #include <opencv2/core/core.hpp>
 
-#include <glog/logging.h>
-
 #include <vector>
 
 #include "mynteye/device.h"
 #include "mynteye/files.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -72,7 +71,7 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
     LOG(INFO) << "Write img params success";
     LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
     LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
-    LOG(INFO) << "Extrinsics left to right: {" << params.ex_left_to_right
+    LOG(INFO) << "Extrinsics right to left: {" << params.ex_right_to_left
               << "}";
     return true;
   } else {
@@ -185,8 +184,8 @@ bool DeviceWriter::SaveImgParams(
     return false;
   }
   fs << "in_left" << std::vector<Intrinsics>{params.in_left} << "in_right"
-     << std::vector<Intrinsics>{params.in_right} << "ex_left_to_right"
-     << params.ex_left_to_right;
+     << std::vector<Intrinsics>{params.in_right} << "ex_right_to_left"
+     << params.ex_right_to_left;
   fs.release();
   return true;
 }
@@ -209,19 +208,19 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
   if (!files::mkdir(dir)) {
     LOG(FATAL) << "Create directory failed: " << dir;
   }
-  SaveDeviceInfo(*device_->GetInfo(), dir + OS_SEP "device.info");
+  SaveDeviceInfo(*device_->GetInfo(), dir + MYNTEYE_OS_SEP "device.info");
   SaveImgParams(
       {false, device_->GetIntrinsics(Stream::LEFT),
        device_->GetIntrinsics(Stream::RIGHT),
-       device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT)},
-      dir + OS_SEP "img.params");
+       device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT)},
+      dir + MYNTEYE_OS_SEP "img.params");
   auto &&m_in = device_->GetMotionIntrinsics();
   SaveImuParams(
       {
           false, m_in.accel, m_in.gyro,
           device_->GetMotionExtrinsics(Stream::LEFT),
       },
-      dir + OS_SEP "imu.params");
+      dir + MYNTEYE_OS_SEP "imu.params");
 }
 
 namespace {
@@ -311,8 +310,8 @@ DeviceWriter::dev_info_t DeviceWriter::LoadDeviceInfo(
     LOG(FATAL) << "Failed to load file: " << filepath;
   }
   DeviceInfo info;
-  info.lens_type = Type(fs["lens_type"].string());
-  info.imu_type = Type(fs["imu_type"].string());
+  info.lens_type = Type(std::string(fs["lens_type"]));
+  info.imu_type = Type(std::string(fs["imu_type"]));
   fs["nominal_baseline"] >> info.nominal_baseline;
   fs.release();
   return info;
@@ -348,11 +347,11 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
 
     to_intrinsics(w, h, m, M1, D1, &params.in_left);
     to_intrinsics(w, h, m, M2, D2, &params.in_right);
-    to_extrinsics(R, T, &params.ex_left_to_right);
+    to_extrinsics(R, T, &params.ex_right_to_left);
   } else {
     fs["in_left"][0] >> params.in_left;
     fs["in_right"][0] >> params.in_right;
-    fs["ex_left_to_right"] >> params.ex_left_to_right;
+    fs["ex_right_to_left"] >> params.ex_right_to_left;
   }
 
   fs.release();

tools/writer/img_params_writer.cc

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"

tools/writer/imu_params_writer.cc

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"

tools/writer/save_all_infos.cc

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"
@@ -32,7 +32,7 @@ int main(int argc, char *argv[]) {
   if (!device)
     return 1;
 
-  dir.append(OS_SEP "SN").append(device->GetInfo()->serial_number);
+  dir.append(MYNTEYE_OS_SEP "SN").append(device->GetInfo()->serial_number);
 
   tools::DeviceWriter writer(device);
   writer.SaveAllInfos(dir);

wrappers/python/CMakeLists.txt

@@ -47,14 +47,6 @@ if(OS_MAC)
   endif()
 endif()
 
-# options
-
-include(${PRO_DIR}/cmake/Option.cmake)
-
-if(NOT WITH_API)
-  message(FATAL_ERROR "Must with API layer :(")
-endif()
-
 # flags
 
 if(OS_WIN)
@@ -77,14 +69,22 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
 
 # packages
 
-LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
+if(NOT mynteye_WITH_API)
+  message(FATAL_ERROR "Must with API layer :(")
+endif()
+
+include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
+
+if(mynteye_WITH_GLOG)
+  include(${PRO_DIR}/cmake/DetectGLog.cmake)
+endif()
+
+## boost & python
+
 if(CMAKE_VERSION VERSION_LESS "3.10" OR CMAKE_VERSION VERSION_EQUAL "3.10")
   find_package(Boost ${BOOST_FIND_VERSION} REQUIRED
     COMPONENTS python${PYTHON_BOOST_CODE}  # numpy${PYTHON_BOOST_CODE}
@@ -103,8 +103,6 @@ message(STATUS "Found PythonLibs: ${PYTHONLIBS_VERSION_STRING}")
 message(STATUS "  PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}")
 message(STATUS "  PYTHON_LIBRARIES: ${PYTHON_LIBRARIES}")
 
-include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
-
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
 # targets

wrappers/python/samples/mynteye.py

@@ -99,7 +99,7 @@ def main():
   # set_option_value
 
   def set_rate(frame_rate=25, imu_frequency=500):  # pylint: disable=unused-variable
-    # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
+    # FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55
     api.set_option_value(mynteye.FRAME_RATE, frame_rate)
     # IMU_FREQUENCY values: 100, 200, 250, 333, 500
     api.set_option_value(mynteye.IMU_FREQUENCY, imu_frequency)

wrappers/python/src/mynteye_py.cc

@@ -26,7 +26,7 @@
 #include <vector>
 
 #include "mynteye/api.h"
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 #include "mynteye/utils.h"
 
 #include "array_indexing_suite.hpp"
@@ -451,7 +451,7 @@ BOOST_PYTHON_MODULE(mynteye_py) {
 
   bp::register_ptr_to_python<std::shared_ptr<APIWrap>>();
 
-  // glog_init.h - glog_init
+  // logger.h - glog_init
 
   bp::class_<glog_init, boost::noncopyable>("glog_init", bp::no_init)
       .def("create", &glog_init_create)

wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt

@@ -56,9 +56,6 @@ checkPackage("sensor_msgs" "")
 checkPackage("std_msgs" "")
 checkPackage("tf" "")
 
-find_package(OpenCV REQUIRED)
-message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
-
 ## messages
 
 add_message_files(
@@ -82,14 +79,20 @@ catkin_package(
 
 get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
 
-LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/third_party/glog/_build)
-find_package(glog REQUIRED)
-message(STATUS "Found glog: ${glog_VERSION}")
-
 LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
+if(NOT mynteye_WITH_API)
+  message(FATAL_ERROR "Must with API layer :(")
+endif()
+
+include(${SDK_DIR}/cmake/DetectOpenCV.cmake)
+
+if(mynteye_WITH_GLOG)
+  include(${SDK_DIR}/cmake/DetectGLog.cmake)
+endif()
+
 # targets
 
 add_compile_options(-std=c++11)

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

@@ -6,8 +6,8 @@
 
   <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="left_rect_topic" default="left_rect/image_rect" />
+  <arg name="right_rect_topic" default="right_rect/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" />
@@ -38,7 +38,7 @@
   <arg name="enable_disparity" default="false" />
   <arg name="enable_disparity_norm" default="false" />
   <arg name="enable_points" default="false" />
-  <arg name="enable_depth" default="true" />
+  <arg name="enable_depth" default="false" />
 
   <!-- device options, -1 will not set the value -->
 
@@ -54,7 +54,7 @@
   <arg name="contrast" default="-1" />
   <!-- <arg name="contrast" default="127" /> -->
 
-  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
+  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55} -->
   <arg name="frame_rate" default="-1" />
   <!-- <arg name="frame_rate" default="25" /> -->
 

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

@@ -61,7 +61,7 @@ Visualization Manager:
           Min Value: 0
           Name: Left
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -73,7 +73,7 @@ Visualization Manager:
           Min Value: 0
           Name: Right
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -87,7 +87,7 @@ Visualization Manager:
               Min Value: 0
               Name: LeftRect
               Normalize Range: true
-              Queue Size: 2
+              Queue Size: 1
               Transport Hint: raw
               Unreliable: false
               Value: true
@@ -99,7 +99,7 @@ Visualization Manager:
               Min Value: 0
               Name: RightRect
               Normalize Range: true
-              Queue Size: 2
+              Queue Size: 1
               Transport Hint: raw
               Unreliable: false
               Value: true
@@ -117,7 +117,7 @@ Visualization Manager:
           Min Value: 0
           Name: Disparity
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -129,7 +129,7 @@ Visualization Manager:
           Min Value: 0
           Name: DisparityNorm
           Normalize Range: true
-          Queue Size: 2
+          Queue Size: 1
           Transport Hint: raw
           Unreliable: false
           Value: true
@@ -143,7 +143,7 @@ Visualization Manager:
       Min Value: 0
       Name: Depth
       Normalize Range: true
-      Queue Size: 2
+      Queue Size: 1
       Transport Hint: raw
       Unreliable: false
       Value: true
@@ -167,7 +167,7 @@ Visualization Manager:
       Min Intensity: 0
       Name: Points
       Position Transformer: XYZ
-      Queue Size: 10
+      Queue Size: 1
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.00999999978

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_node.cc

@@ -14,7 +14,7 @@
 #include <nodelet/loader.h>
 #include <ros/ros.h>
 
-#include "mynteye/glog_init.h"
+#include "mynteye/logger.h"
 
 int main(int argc, char *argv[]) {
   glog_init _(argc, argv);

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -23,11 +23,11 @@
 #include <tf/tf.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 
+#include <opencv2/calib3d/calib3d.hpp>
+
 #include <mynt_eye_ros_wrapper/GetInfo.h>
 #include <mynt_eye_ros_wrapper/Temp.h>
 
-#include <glog/logging.h>
-
 #define _USE_MATH_DEFINES
 #include <cmath>
 #include <map>
@@ -36,6 +36,7 @@
 #include "mynteye/api.h"
 #include "mynteye/context.h"
 #include "mynteye/device.h"
+#include "mynteye/logger.h"
 
 #define FULL_PRECISION \
   std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
@@ -43,6 +44,9 @@
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace enc = sensor_msgs::image_encodings;
+inline double compute_time(const double end, const double start) {
+  return end - start;
+}
 
 class ROSWrapperNodelet : public nodelet::Nodelet {
  public:
@@ -55,15 +59,21 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
     if (time_beg_ != -1) {
       double time_end = ros::Time::now().toSec();
-      double time_elapsed = time_end - time_beg_;
 
-      LOG(INFO) << "Time elapsed: " << time_elapsed << " s";
-      LOG(INFO) << "Left count: " << left_count_
-                << ", fps: " << (left_count_ / time_elapsed);
-      LOG(INFO) << "Right count: " << right_count_
-                << ", fps: " << (right_count_ / time_elapsed);
-      LOG(INFO) << "Imu count: " << imu_count_
-                << ", hz: " << (imu_count_ / time_elapsed);
+      LOG(INFO) << "Time elapsed: " << compute_time(time_end, time_beg_)
+                << " s";
+      if (left_time_beg_ != -1) {
+        LOG(INFO) << "Left count: " << left_count_ << ", fps: "
+                  << (left_count_ / compute_time(time_end, left_time_beg_));
+      }
+      if (right_time_beg_ != -1) {
+        LOG(INFO) << "Right count: " << right_count_ << ", fps: "
+                  << (right_count_ / compute_time(time_end, right_time_beg_));
+      }
+      if (imu_time_beg_ != -1) {
+        LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
+                  << (imu_count_ / compute_time(time_end, imu_time_beg_));
+      }
 
       // ROS messages could not be reliably printed here, using glog instead :(
       // ros::Duration(1).sleep();  // 1s
@@ -108,7 +118,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
       stream_topics[it->first] = it->second;
       private_nh_.getParam(it->second + "_topic", stream_topics[it->first]);
+
+      // if published init
+      is_published_[it->first] = false;
     }
+    is_motion_published_ = false;
+    is_started_ = false;
 
     std::string imu_topic = "imu";
     std::string temp_topic = "temp";
@@ -157,6 +172,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
       NODELET_INFO_STREAM(it->first << ": " << api_->GetOptionValue(it->first));
     }
+    frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
 
     // publishers
 
@@ -164,20 +180,17 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
       auto &&topic = stream_topics[it->first];
-      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
-        camera_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
-      } else if (it->first == Stream::POINTS) {  // pointcloud
+      if (it->first == Stream::POINTS) {  // pointcloud
         points_publisher_ = nh_.advertise<sensor_msgs::PointCloud2>(topic, 1);
-      } else {  // image
-        image_publishers_[it->first] = it_mynteye.advertise(topic, 1);
+      } else {  // camera
+        camera_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
       }
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
 
     camera_encodings_ = {{Stream::LEFT, enc::MONO8},
-                         {Stream::RIGHT, enc::MONO8}};
-
-    image_encodings_ = {{Stream::LEFT_RECTIFIED, enc::MONO8},
+                         {Stream::RIGHT, enc::MONO8},
+                         {Stream::LEFT_RECTIFIED, enc::MONO8},
                          {Stream::RIGHT_RECTIFIED, enc::MONO8},
                          {Stream::DISPARITY, enc::MONO8},  // float
                          {Stream::DISPARITY_NORMALIZED, enc::MONO8},
@@ -192,9 +205,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     // stream toggles
 
     for (auto &&it = stream_names.begin(); it != stream_names.end(); ++it) {
-      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
-        continue;
-      } else {  // image, pointcloud
+      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {
+        continue;  // native streams
+      } else {
         if (!api_->Supports(it->first))
           continue;
         bool enabled = false;
@@ -214,7 +227,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     NODELET_INFO_STREAM("Advertized service " << DEVICE_INFO_SERVICE);
 
     publishStaticTransforms();
+    ros::Rate loop_rate(frame_rate_);
+    while (private_nh_.ok()) {
       publishTopics();
+      loop_rate.sleep();
+    }
   }
 
   bool getInfo(
@@ -253,7 +270,87 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     return true;
   }
 
+  void SetIsPublished(const Stream &stream) {
+    is_published_[stream] = false;
+    switch (stream) {
+      case Stream::LEFT_RECTIFIED: {
+        if (is_published_[Stream::RIGHT_RECTIFIED]) {
+          SetIsPublished(Stream::RIGHT_RECTIFIED);
+        }
+        if (is_published_[Stream::DISPARITY]) {
+          SetIsPublished(Stream::DISPARITY);
+        }
+      } break;
+      case Stream::RIGHT_RECTIFIED: {
+        if (is_published_[Stream::LEFT_RECTIFIED]) {
+          SetIsPublished(Stream::RIGHT_RECTIFIED);
+        }
+        if (is_published_[Stream::DISPARITY]) {
+          SetIsPublished(Stream::DISPARITY);
+        }
+      } break;
+      case Stream::DISPARITY: {
+        if (is_published_[Stream::DISPARITY_NORMALIZED]) {
+          SetIsPublished(Stream::DISPARITY_NORMALIZED);
+        }
+        if (is_published_[Stream::POINTS]) {
+          SetIsPublished(Stream::POINTS);
+        }
+      } break;
+      case Stream::DISPARITY_NORMALIZED: {
+      } break;
+      case Stream::POINTS: {
+        if (is_published_[Stream::DEPTH]) {
+          SetIsPublished(Stream::DEPTH);
+        }
+      } break;
+      case Stream::DEPTH: {
+      } break;
+      default:
+        return;
+    }
+  }
+
+  void publishPoint(const Stream &stream) {
+    auto &&points_num = points_publisher_.getNumSubscribers();
+    if (points_num == 0 && is_published_[stream]) {
+      SetIsPublished(stream);
+      api_->DisableStreamData(stream);
+    } else if (points_num > 0 && !is_published_[Stream::POINTS]) {
+      api_->EnableStreamData(Stream::POINTS);
+      api_->SetStreamCallback(
+          Stream::POINTS, [this](const api::StreamData &data) {
+            static std::size_t count = 0;
+            ++count;
+            publishPoints(data, count, ros::Time::now());
+          });
+      is_published_[Stream::POINTS] = true;
+    }
+  }
+
+  void publishOthers(const Stream &stream) {
+    auto stream_num = camera_publishers_[stream].getNumSubscribers();
+    if (stream_num == 0 && is_published_[stream]) {
+      // Stop computing when was not subcribed
+      SetIsPublished(stream);
+      api_->DisableStreamData(stream);
+    } else if (stream_num > 0 && !is_published_[stream]) {
+      // Start computing and publishing when was subcribed
+      api_->EnableStreamData(stream);
+      api_->SetStreamCallback(
+          stream, [this, stream](const api::StreamData &data) {
+            // data.img is null, not hard timestamp
+            static std::size_t count = 0;
+            ++count;
+            publishCamera(stream, data, count, ros::Time::now());
+          });
+      is_published_[stream] = true;
+    }
+  }
+
   void publishTopics() {
+    if (camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 &&
+        !is_published_[Stream::LEFT]) {
       api_->SetStreamCallback(
           Stream::LEFT, [this](const api::StreamData &data) {
             ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
@@ -265,7 +362,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
             //     << ((data.img->timestamp - img_time_beg) * 0.00001f)
             //     << ", img_time_diff: " << FULL_PRECISION
             //     << ((img_time_prev < 0) ? 0
-          //         : (data.img->timestamp - img_time_prev) * 0.01f) << " ms");
+            //         : (data.img->timestamp - img_time_prev) * 0.01f) << "
+            //         ms");
             // img_time_prev = data.img->timestamp;
 
             ++left_count_;
@@ -276,7 +374,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                              << ", timestamp: " << data.img->timestamp
                              << ", exposure_time: " << data.img->exposure_time);
           });
+      left_time_beg_ = ros::Time::now().toSec();
+      is_published_[Stream::LEFT] = true;
+    }
 
+    if (camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 &&
+        !is_published_[Stream::RIGHT]) {
       api_->SetStreamCallback(
           Stream::RIGHT, [this](const api::StreamData &data) {
             ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
@@ -284,37 +387,35 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
             ++right_count_;
             publishCamera(Stream::RIGHT, data, right_count_, stamp);
             NODELET_DEBUG_STREAM(
-              Stream::RIGHT << ", count: " << right_count_
-                            << ", frame_id: " << data.img->frame_id
-                            << ", timestamp: " << data.img->timestamp
+                Stream::RIGHT
+                << ", count: " << right_count_ << ", frame_id: "
+                << data.img->frame_id << ", timestamp: " << data.img->timestamp
                 << ", exposure_time: " << data.img->exposure_time);
           });
-
-    std::vector<Stream> image_streams{
-        Stream::LEFT_RECTIFIED, Stream::RIGHT_RECTIFIED, Stream::DISPARITY,
-        Stream::DISPARITY_NORMALIZED, Stream::DEPTH};
-
-    for (auto &&stream : image_streams) {
-      api_->SetStreamCallback(
-          stream, [this, stream](const api::StreamData &data) {
-            static std::size_t count = 0;
-            ++count;
-            publishImage(stream, data, count, ros::Time::now());
-          });
+      right_time_beg_ = ros::Time::now().toSec();
+      is_published_[Stream::RIGHT] = true;
     }
 
-    api_->SetStreamCallback(
-        Stream::POINTS, [this](const api::StreamData &data) {
-          static std::size_t count = 0;
-          ++count;
-          publishPoints(data, count, ros::Time::now());
-        });
+    std::vector<Stream> other_streams{
+        Stream::LEFT_RECTIFIED, Stream::RIGHT_RECTIFIED,
+        Stream::DISPARITY,      Stream::DISPARITY_NORMALIZED,
+        Stream::POINTS,         Stream::DEPTH};
 
+    for (auto &&stream : other_streams) {
+      if (stream != Stream::POINTS) {
+        publishOthers(stream);
+      } else {
+        publishPoint(stream);
+      }
+    }
+
+    if (!is_motion_published_) {
       api_->SetMotionCallback([this](const api::MotionData &data) {
         ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);
 
         // static double imu_time_prev = -1;
-      // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << ros_time_beg
+        // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
+        // ros_time_beg
         //     << ", imu_time_elapsed: " << FULL_PRECISION
         //     << ((data.imu->timestamp - imu_time_beg) * 0.00001f)
         //     << ", imu_time_diff: " << FULL_PRECISION
@@ -338,16 +439,22 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         // Sleep 1ms, otherwise publish may drop some datas.
         ros::Duration(0.001).sleep();
       });
+      imu_time_beg_ = ros::Time::now().toSec();
+      is_motion_published_ = true;
+    }
 
+    if (!is_started_) {
       time_beg_ = ros::Time::now().toSec();
       api_->Start(Source::ALL);
+      is_started_ = true;
+    }
   }
 
   void publishCamera(
       const Stream &stream, const api::StreamData &data, std::uint32_t seq,
       ros::Time stamp) {
-    if (camera_publishers_[stream].getNumSubscribers() == 0)
-      return;
+    // if (camera_publishers_[stream].getNumSubscribers() == 0)
+    //   return;
     std_msgs::Header header;
     header.seq = seq;
     header.stamp = stamp;
@@ -363,6 +470,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     camera_publishers_[stream].publish(msg, info);
   }
 
+  /*
   void publishImage(
       const Stream &stream, const api::StreamData &data, std::uint32_t seq,
       ros::Time stamp) {
@@ -380,11 +488,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         cv_bridge::CvImage(header, image_encodings_[stream], img).toImageMsg();
     image_publishers_[stream].publish(msg);
   }
+  */
 
   void publishPoints(
       const api::StreamData &data, std::uint32_t seq, ros::Time stamp) {
-    if (points_publisher_.getNumSubscribers() == 0)
-      return;
+    // if (points_publisher_.getNumSubscribers() == 0)
+    //   return;
 
     auto &&in = api_->GetIntrinsics(Stream::LEFT);
 
@@ -534,6 +643,43 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
 
     api_ = API::Create(device);
+
+    computeRectTransforms();
+  }
+
+  void computeRectTransforms() {
+    ROS_ASSERT(api_);
+    auto &&in_left = api_->GetIntrinsics(Stream::LEFT);
+    auto &&in_right = api_->GetIntrinsics(Stream::RIGHT);
+    auto &&ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);
+
+    cv::Size size{in_left.width, in_left.height};
+
+    cv::Mat M1 =
+        (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
+         in_left.cy, 0, 0, 1);
+    cv::Mat M2 =
+        (cv::Mat_<double>(3, 3) << in_right.fx, 0, in_right.cx, 0, in_right.fy,
+         in_right.cy, 0, 0, 1);
+    cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
+    cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
+    cv::Mat R =
+        (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
+         ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
+         ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
+         ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
+         ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
+    cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
+
+    cv::stereoRectify(
+        M1, D1, M2, D2, size, R, T, left_r_, right_r_, left_p_, right_p_, q_,
+        cv::CALIB_ZERO_DISPARITY, 0, size, &left_roi_, &right_roi_);
+
+    NODELET_DEBUG_STREAM("left_r: " << left_r_);
+    NODELET_DEBUG_STREAM("right_r: " << right_r_);
+    NODELET_DEBUG_STREAM("left_p: " << left_p_);
+    NODELET_DEBUG_STREAM("right_p: " << right_p_);
+    NODELET_DEBUG_STREAM("q: " << q_);
   }
 
   sensor_msgs::CameraInfoPtr getCameraInfo(const Stream &stream) {
@@ -541,10 +687,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       return camera_info_ptrs_[stream];
     }
 
+    // http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/CameraInfo.html
     sensor_msgs::CameraInfo *camera_info = new sensor_msgs::CameraInfo();
     camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info);
 
-    auto &&in = api_->GetIntrinsics(stream);
+    Intrinsics in;
+    if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
+      in = api_->GetIntrinsics(Stream::RIGHT);
+    } else {
+      in = api_->GetIntrinsics(Stream::LEFT);
+    }
 
     camera_info->header.frame_id = frame_ids_[stream];
     camera_info->width = in.width;
@@ -562,26 +714,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     //     [fx'  0  cx' Tx]
     // P = [ 0  fy' cy' Ty]
     //     [ 0   0   1   0]
-    camera_info->P.at(0) = camera_info->K.at(0);
-    camera_info->P.at(1) = 0;
-    camera_info->P.at(2) = camera_info->K.at(2);
-    camera_info->P.at(3) = 0;
-
-    camera_info->P.at(4) = 0;
-    camera_info->P.at(5) = camera_info->K.at(4);
-    camera_info->P.at(6) = camera_info->K.at(5);
-    camera_info->P.at(7) = 0;
-
-    camera_info->P.at(8) = 0;
-    camera_info->P.at(9) = 0;
-    camera_info->P.at(10) = 1;
-    camera_info->P.at(11) = 0;
-
-    if (stream == Stream::RIGHT) {
-      auto &&ex = api_->GetExtrinsics(stream, Stream::LEFT);
-      camera_info->P.at(3) = ex.translation[0];
-      camera_info->P.at(7) = ex.translation[1];
-      camera_info->P.at(11) = ex.translation[2];
+    cv::Mat p = left_p_;
+    if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
+      p = right_p_;
+    }
+    for (int i = 0; i < p.rows; i++) {
+      for (int j = 0; j < p.cols; j++) {
+        camera_info->P.at(i * p.cols + j) = p.at<double>(i, j);
+      }
     }
 
     camera_info->distortion_model = "plumb_bob";
@@ -759,16 +899,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   ros::NodeHandle nh_;
   ros::NodeHandle private_nh_;
 
-  // camera: LEFT, RIGHT
+  // camera:
+  //   LEFT, RIGHT, LEFT_RECTIFIED, RIGHT_RECTIFIED,
+  //   DISPARITY, DISPARITY_NORMALIZED,
+  //   DEPTH
   std::map<Stream, image_transport::CameraPublisher> camera_publishers_;
   std::map<Stream, sensor_msgs::CameraInfoPtr> camera_info_ptrs_;
   std::map<Stream, std::string> camera_encodings_;
 
-  // image: LEFT_RECTIFIED, RIGHT_RECTIFIED, DISPARITY, DISPARITY_NORMALIZED,
-  // DEPTH
-  std::map<Stream, image_transport::Publisher> image_publishers_;
-  std::map<Stream, std::string> image_encodings_;
-
   // pointcloud: POINTS
   ros::Publisher points_publisher_;
 
@@ -792,10 +930,22 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
   std::shared_ptr<API> api_;
 
+  // rectification transforms
+  cv::Mat left_r_, right_r_, left_p_, right_p_, q_;
+  cv::Rect left_roi_, right_roi_;
+
   double time_beg_ = -1;
+  double left_time_beg_ = -1;
+  double right_time_beg_ = -1;
+  double imu_time_beg_ = -1;
   std::size_t left_count_ = 0;
   std::size_t right_count_ = 0;
   std::size_t imu_count_ = 0;
+
+  std::map<Stream, bool> is_published_;
+  bool is_motion_published_;
+  bool is_started_;
+  int frame_rate_;
 };
 
 MYNTEYE_END_NAMESPACE