Merge remote-tracking branch 'origin/devel-s210a-merge' into devel-s210a

.gitignore

@@ -16,6 +16,11 @@ _output/
 
 /plugins/
 
+/3rdparty/opencv/
+/pkginfo.sh
+/*.nsi
+/*.exe
+
 # ros
 
 /wrappers/ros/build

CMakeLists.txt

@@ -14,10 +14,14 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.2.1 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.2 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
+if(NOT CMAKE_DEBUG_POSTFIX)
+  set(CMAKE_DEBUG_POSTFIX d)
+endif()
+
 # options
 
 include(cmake/Option.cmake)
@@ -79,6 +83,17 @@ configure_file(
   include/mynteye/mynteye.h @ONLY
 )
 
+configure_file(
+  cmake/templates/pkginfo.sh.in
+  ${CMAKE_CURRENT_SOURCE_DIR}/pkginfo.sh @ONLY
+)
+if(OS_WIN)
+  configure_file(
+    scripts/win/nsis/winpack.nsi.in
+    ${CMAKE_CURRENT_SOURCE_DIR}/winpack.nsi @ONLY
+  )
+endif()
+
 # targets
 
 add_definitions(-DMYNTEYE_EXPORTS)
@@ -90,13 +105,7 @@ set_outdir(
   "${OUT_DIR}/bin"
 )
 
-set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
-set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
-set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
-set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
-
 ## main
-
 if(WITH_GLOG)
   add_executable(main src/main.cc)
   target_link_libraries(main glog::glog)
@@ -114,27 +123,6 @@ if(NOT WITH_GLOG AND NOT OS_WIN)
   set(CMAKE_CXX_FLAGS "${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/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
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/device/context.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/device/device.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/files.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/strings.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/internal/times.h
-)
-if(WITH_API)
-  list(APPEND MYNTEYE_PUBLIC_H
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/api.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/plugin.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
-  )
-endif()
 if(NOT WITH_GLOG)
   list(APPEND MYNTEYE_PUBLIC_H
     ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
@@ -142,50 +130,68 @@ if(NOT WITH_GLOG)
 endif()
 
 if(OS_WIN)
-  set(UVC_SRC src/uvc/uvc-wmf.cc)
+  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
 elseif(OS_MAC)
-  set(UVC_SRC src/uvc/uvc-libuvc.cc)
+  add_compile_options(-x objective-c++)
+  ## INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx)
+  ## INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit)
+  ## aux_source_directory(src/mynteye/uvc/macosx/VVUVCKit/ MAC_VVUVCKIT_SRC_LIST)
+  ## aux_source_directory(src/mynteye/uvc/macosx/USBBusProber/ MAC_USBBUSPROBER_SRC_LIST)
+  ## add_library(usbBusProber SHARED ${MAC_USBBUSPROBER_SRC_LIST})
+  ## set_target_properties(usbBusProber PROPERTIES FRAMEWORK TRUE )
+  ## add_library(vvuvckit SHARED ${MAC_VVUVCKIT_SRC_LIST})
+  ## set_target_properties(vvuvckit PROPERTIES FRAMEWORK TRUE )
+
+  INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/USBBusProber.framework/Headers)
+  INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit.framework/Headers)
+  find_library(VVUVCKIT_LIBRARY VVUVCKit PATHS src/mynteye/uvc/macosx)
+  find_library(USB_LIBRARY USBBusProber PATHS src/mynteye/uvc/macosx)
+  MARK_AS_ADVANCED (VVUVCKIT_LIBRARY USB_LIBRARY)
+  SET(OSX_EXTRA_LIBS ${VVUVCKIT_LIBRARY} ${USB_LIBRARY})
+
+  set(UVC_SRC src/mynteye/uvc/macosx/CameraEngine.cpp src/mynteye/uvc/macosx/AVfoundationCamera.mm src/mynteye/uvc/macosx/uvc-vvuvckit.cc )
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}") 
 
   find_package(libuvc REQUIRED)
   set(UVC_LIB ${libuvc_LIBRARIES})
 
   include_directories(${libuvc_INCLUDE_DIRS})
 elseif(OS_LINUX)
-  set(UVC_SRC src/uvc/uvc-v4l2.cc)
+  set(UVC_SRC src/mynteye/uvc/linux/uvc-v4l2.cc)
 else()
   message(FATAL_ERROR "Unsupported OS.")
 endif()
 
 set(MYNTEYE_SRCS
   ${UVC_SRC}
-  src/internal/channels.cc
-  src/internal/config.cc
-  src/internal/dl.cc
-  src/internal/files.cc
-  src/internal/motions.cc
-  src/internal/streams.cc
-  src/internal/strings.cc
-  src/internal/types.cc
-  src/public/types.cc
-  src/public/utils.cc
-  src/device/context.cc
-  src/device/device.cc
-  src/device/device_s.cc
+  src/mynteye/types.cc
+  src/mynteye/util/files.cc
+  src/mynteye/util/strings.cc
+  src/mynteye/device/channels.cc
+  src/mynteye/device/config.cc
+  src/mynteye/device/context.cc
+  src/mynteye/device/device.cc
+  src/mynteye/device/device_s.cc
+  src/mynteye/device/motions.cc
+  src/mynteye/device/streams.cc
+  src/mynteye/device/types.cc
+  src/mynteye/device/utils.cc
 )
 if(WITH_API)
   list(APPEND MYNTEYE_SRCS
-    src/api/api.cc
-    src/api/synthetic.cc
-    src/api/processor/processor.cc
-    src/api/processor/rectify_processor.cc
-    src/api/processor/disparity_processor.cc
-    src/api/processor/disparity_normalized_processor.cc
-    src/api/processor/depth_processor.cc
-    src/api/processor/points_processor.cc
+    src/mynteye/api/api.cc
+    src/mynteye/api/dl.cc
+    src/mynteye/api/processor.cc
+    src/mynteye/api/synthetic.cc
+    src/mynteye/api/processor/rectify_processor.cc
+    src/mynteye/api/processor/disparity_processor.cc
+    src/mynteye/api/processor/disparity_normalized_processor.cc
+    src/mynteye/api/processor/depth_processor.cc
+    src/mynteye/api/processor/points_processor.cc
   )
 endif()
 if(NOT WITH_GLOG)
-  list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
+  list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
 endif()
 
 set(MYNTEYE_LINKLIBS ${UVC_LIB})
@@ -202,6 +208,9 @@ endif()
 
 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
 target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
+if(OS_MAC)
+  target_link_libraries( ${MYNTEYE_NAME} ${OSX_EXTRA_LIBS} )
+endif()
 target_link_threads(${MYNTEYE_NAME})
 
 if(OS_WIN)
@@ -214,27 +223,78 @@ target_include_directories(${MYNTEYE_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>"
-  "$<INSTALL_INTERFACE:${MYNTEYE_CMAKE_INCLUDE_DIR}>"
+  "$<INSTALL_INTERFACE:include>"
 )
 
 set_target_properties(${MYNTEYE_NAME} PROPERTIES
   VERSION ${PROJECT_VERSION}
   SOVERSION ${PROJECT_VERSION_MAJOR}
 )
-set_target_properties(${MYNTEYE_NAME} PROPERTIES
-  PUBLIC_HEADER "${MYNTEYE_PUBLIC_H}"
-)
 
 # install
 
-#message(STATUS "MYNTEYE_CMAKE_INCLUDE_DIR: ${MYNTEYE_CMAKE_INCLUDE_DIR}")
-#message(STATUS "MYNTEYE_CMAKE_BINDIR: ${MYNTEYE_CMAKE_BINDIR}")
-#message(STATUS "MYNTEYE_CMAKE_LIBDIR: ${MYNTEYE_CMAKE_LIBDIR}")
-#message(STATUS "MYNTEYE_CMAKE_INSTALLDIR: ${MYNTEYE_CMAKE_INSTALLDIR}")
+set(MYNTEYE_CMAKE_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include/${MYNTEYE_NAME}")
+set(MYNTEYE_CMAKE_BINDIR "${CMAKE_INSTALL_PREFIX}/bin")
+set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
+set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/callbacks.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/context.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/utils.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/device
+)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/files.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/strings.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/util/times.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/util
+)
+if(WITH_API)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/api.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/plugin.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/api/object.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/api
+  )
+endif()
+if(NOT WITH_GLOG)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+  )
+endif()
+
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/callbacks.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/context.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/device.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/files.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/glog_init.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/strings.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/times.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/utils.h
+  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+)
+if(WITH_API)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/api.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/plugin.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/object.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
+  )
+endif()
 
 install(TARGETS ${MYNTEYE_NAME}
   EXPORT ${MYNTEYE_NAME}-targets
-  PUBLIC_HEADER DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/${MYNTEYE_NAME}
   RUNTIME DESTINATION ${MYNTEYE_CMAKE_BINDIR}
   LIBRARY DESTINATION ${MYNTEYE_CMAKE_LIBDIR}
   ARCHIVE DESTINATION ${MYNTEYE_CMAKE_LIBDIR}

CommonDefs.mk

@@ -26,6 +26,16 @@ SINGLE_QUOTE := '
 OPEN_PAREN := (
 CLOSE_PAREN := )
 
+# Options
+#
+#   VS_CODE: ignore to auto detect, otherwise specify the version
+#            15|2017, 14|2015, 12|2013, 11|2012, 10|2010, 9|2008, 8|2005
+#   BUILD_TYPE: Debug|Release
+#
+# e.g. make [TARGET] VS_CODE=2017 BUILD_TYPE=Debug
+
+BUILD_TYPE ?= Release
+
 # Host detection
 
 ifeq ($(OS),Windows_NT)
@@ -124,7 +134,7 @@ ifeq ($(HOST_OS),Win)
     CC := cl
     CXX := cl
     MAKE := make
-    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
+    BUILD := msbuild.exe ALL_BUILD.vcxproj /property:Configuration=$(BUILD_TYPE)
   endif
 else
   # mac & linux
@@ -144,8 +154,7 @@ endif
 # CMake
 
 CMAKE := cmake
-# CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Debug
-CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=Release
+CMAKE := $(CMAKE) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 ifneq ($(CC),)
   CMAKE := $(CMAKE) -DCMAKE_C_COMPILER=$(CC)
 endif
@@ -202,6 +211,15 @@ endif
 
 endif
 
+# Package
+
+PKGVERSION := $(shell ./scripts/version.sh)
+PKGNAME := mynteye-s-$(PKGVERSION)-$(HOST_OS)-$(HOST_ARCH)
+ifeq ($(HOST_OS),Linux)
+  PKGNAME := $(PKGNAME)-gcc$(shell gcc -dumpversion | cut -c 1-1)
+endif
+PKGNAME := $(call lower,$(PKGNAME))
+
 # Shell
 
 # `sh` is not possible to export a function

Jenkinsfile

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

Makefile

@@ -22,7 +22,9 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 #   UNIX: /usr/local
 #   Windows: c:/Program Files/${PROJECT_NAME}
 
-.DEFAULT_GOAL := help
+SUDO ?= sudo
+
+.DEFAULT_GOAL := all
 
 help:
 	@echo "Usage:"
@@ -35,13 +37,14 @@ help:
 	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
 	@echo "  make tools           build tools"
+	@echo "  make pkg             package sdk"
 	@echo "  make ros             build ros wrapper"
 	@echo "  make py              build python wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
 
 .PHONY: help
 
-all: test samples tools
+all: init samples tools ros
 
 .PHONY: all
 
@@ -75,15 +78,15 @@ submodules:
 
 # init
 
-init: submodules
+init:
 	@$(call echo,Make $@)
-	@$(SH) ./scripts/init.sh
+	@$(SH) ./scripts/init.sh $(INIT_OPTIONS)
 
 .PHONY: init
 
 # build
 
-build: submodules
+build:
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
 	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
@@ -95,7 +98,7 @@ endif
 
 # test
 
-test: install
+test: submodules install
 	@$(call echo,Make $@)
 	@$(call echo,Make gtest,33)
 ifeq ($(HOST_OS),Win)
@@ -125,7 +128,7 @@ else
 endif
 else
 ifeq ($(HOST_OS),Linux)
-	@cd ./_build; sudo make install
+	@cd ./_build; $(SUDO) make install
 else
 	@cd ./_build; make install
 endif
@@ -133,6 +136,17 @@ endif
 
 .PHONY: install
 
+uninstall:
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Linux)
+	$(SUDO) rm -rf /usr/local/include/mynteye/
+	$(SUDO) rm -rf /usr/local/lib/libmynteye.so*
+	$(SUDO) rm -rf /usr/local/lib/cmake/mynteye/
+	$(SUDO) rm -rf /usr/local/share/mynteye/
+endif
+
+.PHONY: uninstall
+
 # samples
 
 samples: install
@@ -149,14 +163,30 @@ tools: install
 
 .PHONY: tools
 
+# pkg
+
+pkg: clean
+	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Win)
+	@$(SH) ./scripts/win/winpack.sh "$(PKGNAME)"
+else
+	$(error "Can't make pkg on $(HOST_OS)")
+endif
+
+cleanpkg:
+	@$(call echo,Make $@)
+	@$(call rm_f,$(PKGNAME)*)
+
+.PHONY: pkg cleanpkg
+
 # ros
 
 ros: install
 	@$(call echo,Make $@)
-ifeq ($(HOST_OS),Win)
-	$(error "Can't make ros on win")
+ifeq ($(HOST_OS),Linux)
+	@cd ./wrappers/ros && catkin_make -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
 else
-	@cd ./wrappers/ros && catkin_make
+	$(error "Can't make ros on $(HOST_OS)")
 endif
 
 .PHONY: ros
@@ -265,6 +295,7 @@ host:
 	@echo BUILD: $(BUILD)
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
+	@echo PKGNAME: $(PKGNAME)
 
 .PHONY: host
 

README.md

@@ -1,10 +1,10 @@
-# MYNT® EYE SDK
+# MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20SDK-2.0.1--rc2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
-MYNT® EYE SDK 2.0 is a cross-platform library for MYNT® EYE cameras.
+MYNT® EYE S SDK is a cross-platform library for MYNT® EYE Standard cameras.
 
 The following platforms have been tested:
 
@@ -16,12 +16,12 @@ Please follow the guide doc to install the SDK on different platforms.
 
 ## Documentations
 
-* [API Doc](https://github.com/slightech/MYNT-EYE-SDK-2/releases): API reference, some guides and data spec.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422149/mynt-eye-sdk-apidoc-2.0.1-rc2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422151/mynt-eye-sdk-apidoc-2.0.1-rc2-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422152/mynt-eye-sdk-apidoc-2.0.1-rc2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2/files/2422153/mynt-eye-sdk-apidoc-2.0.1-rc2-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-sdk-apidoc-2.0.1-rc2-html-zh-Hans/mynt-eye-sdk-apidoc-2.0.1-rc2-html-zh-Hans/index.html)
-* [Guide Doc](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/releases): How to install and start using the SDK.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422160/mynt-eye-sdk-guide-2.0.1-rc2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422161/mynt-eye-sdk-guide-2.0.1-rc2-html-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-SDK-2-Guide/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422162/mynt-eye-sdk-guide-2.0.1-rc2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-SDK-2-Guide/files/2422164/mynt-eye-sdk-guide-2.0.1-rc2-html-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-sdk-guide-2.0.1-rc2-html-zh-Hans/mynt-eye-sdk-guide-2.0.1-rc2-html-zh-Hans/index.html)
+* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683636/mynt-eye-s-sdk-apidoc-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683637/mynt-eye-s-sdk-apidoc-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683638/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683639/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/index.html)
+* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683625/mynt-eye-s-sdk-guide-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683626/mynt-eye-s-sdk-guide-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683627/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683628/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/index.html)
 
 > Supported languages: `en`, `zh-Hans`.
 
@@ -29,7 +29,7 @@ Please follow the guide doc to install the SDK on different platforms.
 
 [MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
 
-Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.0.1`.
+Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.2`.
 
 ## Usage
 
@@ -61,8 +61,8 @@ make samples
 
 ## Mirrors
 
-国内镜像：[码云](https://gitee.com/mynt/MYNT-EYE-SDK-2)。
+国内镜像：[码云](https://gitee.com/mynt/MYNT-EYE-S-SDK)。
 
 ## License
 
-This project is licensed under the Apache License, Version 2.0. Copyright 2018 Slightech Co., Ltd.
+This project is licensed under the [Apache License, Version 2.0](LICENSE). Copyright 2018 Slightech Co., Ltd.

cmake/Common.cmake

@@ -70,7 +70,9 @@ macro(set_outdir ARCHIVE_OUTPUT_DIRECTORY LIBRARY_OUTPUT_DIRECTORY RUNTIME_OUTPU
   endforeach()
 endmacro()
 
-set(__exe2bat_relative_path false)
+if(NOT __exe2bat_relative_path)
+  set(__exe2bat_relative_path false)
+endif()
 
 macro(exe2bat exe_name exe_dir dll_search_paths)
   message(STATUS "Generating ${exe_name}.bat")

cmake/DetectOpenCV.cmake

@@ -15,14 +15,25 @@
 include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
 cmake_include_guard()
 
-find_package(OpenCV REQUIRED)
-message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
-if(OpenCV_VERSION VERSION_LESS 3.0)
-  add_definitions(-DUSE_OPENCV2)
-elseif(OpenCV_VERSION VERSION_LESS 4.0)
-  add_definitions(-DUSE_OPENCV3)
+if(OpenCV_FIND_QUIET)
+  find_package(OpenCV QUIET)
 else()
-  add_definitions(-DUSE_OPENCV4)
+  find_package(OpenCV REQUIRED)
+endif()
+
+if(OpenCV_FOUND)
+
+#message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+
+set(WITH_OPENCV TRUE)
+add_definitions(-DWITH_OPENCV)
+
+if(OpenCV_VERSION VERSION_LESS 3.0)
+  add_definitions(-DWITH_OPENCV2)
+elseif(OpenCV_VERSION VERSION_LESS 4.0)
+  add_definitions(-DWITH_OPENCV3)
+else()
+  add_definitions(-DWITH_OPENCV4)
 endif()
 
 list(FIND OpenCV_LIBS "opencv_world" __index)
@@ -35,3 +46,9 @@ if(MSVC OR MSYS OR MINGW)
 else()
   set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
 endif()
+
+else()
+
+set(WITH_OPENCV FALSE)
+
+endif()

cmake/Option.cmake

@@ -21,7 +21,6 @@ include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
 # build components
 
 option(WITH_API "Build with API layer, need OpenCV" ON)
-
 option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
 
 # 3rdparty components
@@ -32,7 +31,6 @@ option(WITH_BOOST "Include Boost support" ON)
 #   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
 option(WITH_GLOG "Include glog support" OFF)
 
-
 # packages
 
 if(WITH_API)

cmake/templates/pkginfo.sh.in

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

doc/build.sh

@@ -58,7 +58,7 @@ for lang in "${LANGS[@]}"; do
 
     # html
     if [ -d "$OUTPUT/$lang/html" ]; then
-      dirname="mynt-eye-sdk-apidoc"; \
+      dirname="mynt-eye-s-sdk-apidoc"; \
         [ -n "$version" ] && dirname="$dirname-$version"; \
         dirname="$dirname-$lang"
       cd "$OUTPUT/$lang"
@@ -69,7 +69,7 @@ for lang in "${LANGS[@]}"; do
     # latex
     if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
       _echo_in "doxygen make latex"
-      filename="mynt-eye-sdk-apidoc"; \
+      filename="mynt-eye-s-sdk-apidoc"; \
         [ -n "$version" ] && filename="$filename-$version"; \
         filename="$filename-$lang.pdf"
       cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make

doc/en/api.doxyfile

@@ -32,19 +32,19 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "MYNT EYE SDK"
+PROJECT_NAME           = "MYNT EYE S SDK"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.2.1-rc
+PROJECT_NUMBER         = 2.2.2
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = http://www.myntai.com/camera
+PROJECT_BRIEF          = http://www.myntai.com/mynteye/standard
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
@@ -1310,7 +1310,7 @@ DOCSET_PUBLISHER_ID    = com.slightech.mynteye.documentation
 # The default value is: Publisher.
 # This tag requires that the tag GENERATE_DOCSET is set to YES.
 
-DOCSET_PUBLISHER_NAME  = MYNT EYE SDK
+DOCSET_PUBLISHER_NAME  = MYNT EYE S SDK
 
 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The

doc/en/mainpage.md

@@ -1,4 +1,4 @@
-# MYNT EYE SDK {#mainpage}
+# MYNT EYE S SDK {#mainpage}
 
 * <a class="el" href="annotated.html">API Classes</a>
 * <a class="el" href="modules.html">API Modules</a>

doc/zh-Hans/api.doxyfile

@@ -32,19 +32,19 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "MYNT EYE SDK"
+PROJECT_NAME           = "MYNT EYE S SDK"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.2.1-rc
+PROJECT_NUMBER         = 2.2.2
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = http://www.myntai.com/camera
+PROJECT_BRIEF          = http://www.myntai.com/mynteye/standard
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
@@ -1310,7 +1310,7 @@ DOCSET_PUBLISHER_ID    = com.slightech.mynteye.documentation
 # The default value is: Publisher.
 # This tag requires that the tag GENERATE_DOCSET is set to YES.
 
-DOCSET_PUBLISHER_NAME  = MYNT EYE SDK
+DOCSET_PUBLISHER_NAME  = MYNT EYE S SDK
 
 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The

doc/zh-Hans/guide_build_linux.md

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

doc/zh-Hans/guide_build_win.md

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

doc/zh-Hans/mainpage.md

@@ -1,4 +1,4 @@
-# MYNT EYE SDK {#mainpage}
+# MYNT EYE S SDK {#mainpage}
 
 * <a class="el" href="annotated.html">API 类</a>
 * <a class="el" href="modules.html">API 模块</a>

doc/zh-Hans/spec_control_api.md

@@ -6,23 +6,22 @@
 
 | 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 |
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
-| 增益 | gain | 2 | 24 | 0 | 48 | √ | 0x12 | 关闭自动曝光，手动设定的参数 |
-| 亮度 | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
-| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | 关闭自动曝光，手动设定的参数 |
+| 亮度 | brightness | 2 | 192 | 0 | 255 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
 
 > UVC 标准协议实现的控制，有现成的 API 进行 Get & Set ，包括 Min, Max, Default 。
 
 ## 自定义协议
 
-| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 说明 |
-| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----- |
-| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
-| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} |
-| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 |
-| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
-| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
-| 期望亮度 | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
-| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
-| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0：10-bit；1：12-bit |
-| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
-| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| 名称 | 字段 | 字节数 |  默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 通道地址 | 说明 |
+| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
+| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
+| 最大增益 | max_gain | 2 | 8 | 0 | 255 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
+| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
+| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | - | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | |
+

doc/zh-Hans/spec_control_channel.md

@@ -49,5 +49,5 @@
 | File | ID | Max Size |
 | :--- | :- | :------- |
 | 硬件信息 | 1 | 250 |
-| 图像参数 | 2 | 250 |
+| 图像参数 | 2 | 404 |
 | IMU 参数 | 4 | 500 |

doc/zh-Hans/spec_image_data.md

@@ -3,20 +3,19 @@
 | 名称 | 字段 | 单位 | 字节数 | 说明 |
 | :----- | :----- | :----- | :-------- | :----- |
 | 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] |
-| 时间戳 | timestamp | 10 us | 4 | uint32_t |
-| 曝光时间 | exposure_time | 10 us | 2 | uint16_t |
+| 时间戳 | timestamp | 1 us | 8 | uint64_t |
+| 曝光时间 | exposure_time | 1 us | 2 | uint16_t |
 
 > 图像数据传输方式：倒序排在图像尾部。
 
 ## 图像数据包
 
-| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
-| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
-| 字节数 | 1 | 1 | 2 | 4 | 2 | 1 |
-| 类型 | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
-| 描述 | 0x3B | 0x08 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
+| Name | Header | Size | FrameID | Timestamp | ExposureTime | Checksum |
+| :--- | :----- | :--- | :------ | :-------- | :----------- | :------- |
+| 字节数 | 1 | 1 | 2 | 8 | 2 | 1 |
+| 类型 | uint8_t | uint8_t | uint16_t | uint64_t | uint16_t | uint8_t |
+| 描述 | 0x3B | 0x10 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
 
 * 数据包校验不过，会丢弃该帧。
-* 时间单位的精度为： 0.01 ms / 10 us 。
-  * 4 字节能表示的最大时间约是 11.9 小时，溢出后将重累计。
+* 时间的单位精度为： 1 us 。
 * 时间累计是从上电时从开始，而不是从打开时开始。

doc/zh-Hans/spec_imu_data.md

@@ -10,7 +10,7 @@
 
 ## IMU 响应数据包
 
-IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
+IMU 响应数据包里会包含1个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
 
 | Name | Header | State | Size | IMU Packets | Checksum |
 | :--- | :----- | :---- | :--- | :---------- | :------- |
@@ -22,21 +22,21 @@ IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个
 
 IMU 包/小包，是一组 IMU 数据。
 
-| Name | Serial Number | Timestamp | Count | IMU Datas |
-| :--- | :------------ | :-------- | :---- | :-------- |
-| 字节数 | 4 | 4 | 1 | ... |
-| 类型 | uint32_t | uint32_t | uint8_t | - |
-| 描述 | 序列号 | IMU 基准时间戳 | IMU 段数量 | 所包含的 IMU 段 |
+| Name | Count | IMU Datas |
+| :--- | :-----| :-------- |
+| 字节数 | 2 | ... |
+| 类型 | uint16_t | - |
+| 描述 | IMU 段数量 | 所包含的 IMU 段 |
 
 ### IMU 段
 
-| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
-| :--- | :----- | :------- | :------------ | :---------- | :-------- |
-| 字节数 | 2 | 2 | 6 | 2 | 6 |
-| 类型 | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
-| 描述 | 相对基准时间戳的偏移量 | 图像帧 ID | 加速度计 x y z 三轴的值 | IMU 的温度 | 陀螺仪 x y z 三轴的值 |
+| Name | Serial Number | Timestamp | flag |  Temperature | Accelerometer or Gyroscope |
+| :--- | :------------ | :-------- | :----| :----------- | :------------------------- |
+| 字节数 | 4 | 8 | 1 | 2 | 6 |
+| 类型 | uint32_t | uint64_t | int8_t | int16_t | int16_t * 3 |
+| Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 x y z 三轴的值 |
 
 * 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。
-  * 加速度计量程默认值为 **8 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
+  * 加速度计量程默认值为 **12 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
 * 温度计量值换算成物理值公式： **real = data / ratio + offset** 。
   * ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。

include/deprecated/mynteye/api.h

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

include/deprecated/mynteye/callbacks.h

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

include/deprecated/mynteye/context.h

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

include/deprecated/mynteye/device.h

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

include/deprecated/mynteye/files.h

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

include/deprecated/mynteye/glog_init.h

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

include/deprecated/mynteye/object.h

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

include/deprecated/mynteye/plugin.h

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

include/deprecated/mynteye/strings.h

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

include/deprecated/mynteye/times.h

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

include/deprecated/mynteye/utils.h

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

include/mynteye/api/api.h

@@ -11,17 +11,18 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_API_H_  // NOLINT
-#define MYNTEYE_API_H_
+#ifndef MYNTEYE_API_API_H_
+#define MYNTEYE_API_API_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
+#include <functional>
 #include <limits>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
 
@@ -49,6 +50,8 @@ struct MYNTEYE_API StreamData {
   cv::Mat frame;
   /** Raw frame. */
   std::shared_ptr<device::Frame> frame_raw;
+  /** Frame ID. */
+  std::uint16_t frame_id;
 
   bool operator==(const StreamData &other) const {
     if (img && other.img) {
@@ -69,8 +72,7 @@ struct MYNTEYE_API MotionData {
 
   bool operator==(const MotionData &other) const {
     if (imu && other.imu) {
-      return imu->frame_id == other.imu->frame_id &&
-             imu->timestamp == other.imu->timestamp;
+      return imu->timestamp == other.imu->timestamp;
     }
     return false;
   }
@@ -96,7 +98,14 @@ class MYNTEYE_API API {
    * @return the API instance.
    * @note This will call device::select() to select a device.
    */
-  static std::shared_ptr<API> Create();
+  static std::shared_ptr<API> Create(Resolution res);
+  /**
+   * Create the API instance.
+   * @param device the selected device.
+   * @return the API instance.
+   */
+  static std::shared_ptr<API> Create(
+      std::shared_ptr<Device> device, Resolution res);
   /**
    * Create the API instance.
    * @param device the selected device.
@@ -145,6 +154,10 @@ class MYNTEYE_API API {
    */
   bool Supports(const AddOns &addon) const;
 
+  /**
+   * set the stream request.
+   */
+  void SetStreamRequest(const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
@@ -201,6 +214,11 @@ class MYNTEYE_API API {
    */
   bool RunOptionAction(const Option &option) const;
 
+  /**
+   * Init device resolution.
+   */
+  void InitResolution(const Resolution &res);
+
   /**
    * Set the callback of stream.
    */
@@ -276,8 +294,10 @@ class MYNTEYE_API API {
   std::shared_ptr<Device> device_;
 
   std::unique_ptr<Synthetic> synthetic_;
+
+  void CheckImageParams();
 };
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_API_H_ NOLINT
+#endif  // MYNTEYE_API_API_H_

include/mynteye/api/object.h

@@ -11,18 +11,20 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_OBJECT_H_  // NOLINT
-#define MYNTEYE_OBJECT_H_
+#ifndef MYNTEYE_API_OBJECT_H_
+#define MYNTEYE_API_OBJECT_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
 #include <memory>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
+struct ImgData;
+
 /**
  * Input & output object.
  */
@@ -56,14 +58,22 @@ struct MYNTEYE_API Object {
  */
 struct MYNTEYE_API ObjMat : public Object {
   ObjMat() = default;
-  explicit ObjMat(const cv::Mat &value) : value(value) {}
+  ObjMat(const cv::Mat &value, std::uint16_t id,
+         const std::shared_ptr<ImgData> &data)
+      : value(value), id(id), data(data) {}
 
   /** The value */
   cv::Mat value;
+  /** The id **/
+  std::uint16_t id;
+  /** The data **/
+  std::shared_ptr<ImgData> data;
 
   Object *Clone() const {
     ObjMat *mat = new ObjMat;
     mat->value = value.clone();
+    mat->id = id;
+    mat->data = data;
     return mat;
   }
 
@@ -77,19 +87,35 @@ struct MYNTEYE_API ObjMat : public Object {
  */
 struct MYNTEYE_API ObjMat2 : public Object {
   ObjMat2() = default;
-  ObjMat2(const cv::Mat &first, const cv::Mat &second)
-      : first(first), second(second) {}
+  ObjMat2(const cv::Mat &first, std::uint16_t first_id,
+          const std::shared_ptr<ImgData> &first_data,
+          const cv::Mat &second, std::uint16_t second_id,
+          const std::shared_ptr<ImgData> &second_data)
+      : first(first), first_id(first_id), first_data(first_data),
+        second(second), second_id(second_id), second_data(second_data) {}
 
   /** The first value */
   cv::Mat first;
+  /** The first id **/
+  std::uint16_t first_id;
+  /** The first data **/
+  std::shared_ptr<ImgData> first_data;
 
   /** The second value */
   cv::Mat second;
+  /** The second id **/
+  std::uint16_t second_id;
+  /** The second data **/
+  std::shared_ptr<ImgData> second_data;
 
   Object *Clone() const {
     ObjMat2 *mat2 = new ObjMat2;
     mat2->first = first.clone();
+    mat2->first_id = first_id;
+    mat2->first_data = first_data;
     mat2->second = second.clone();
+    mat2->second_id = second_id;
+    mat2->second_data = second_data;
     return mat2;
   }
 
@@ -100,4 +126,4 @@ struct MYNTEYE_API ObjMat2 : public Object {
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_OBJECT_H_  NOLINT
+#endif  // MYNTEYE_API_OBJECT_H_

include/mynteye/api/plugin.h

@@ -11,14 +11,14 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_PLUGIN_H_  // NOLINT
-#define MYNTEYE_PLUGIN_H_
+#ifndef MYNTEYE_API_PLUGIN_H_
+#define MYNTEYE_API_PLUGIN_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
 #include <cstdint>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/mynteye.h"
 
 #ifndef MYNTEYE_PLUGIN_VERSION_CODE
@@ -135,6 +135,7 @@ MYNTEYE_API mynteye::Plugin *plugin_create();
  * Destroy the plugin.
  */
 MYNTEYE_API void plugin_destroy(mynteye::Plugin *plugin);
+
 }
 
-#endif  // MYNTEYE_PLUGIN_H_ NOLINT
+#endif  // MYNTEYE_API_PLUGIN_H_

include/mynteye/device/callbacks.h

@@ -11,14 +11,15 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_CALLBACKS_H_  // NOLINT
-#define MYNTEYE_CALLBACKS_H_
+#ifndef MYNTEYE_DEVICE_CALLBACKS_H_
+#define MYNTEYE_DEVICE_CALLBACKS_H_
 #pragma once
 
 #include <cstdint>
 
 #include <algorithm>
 #include <functional>
+#include <map>
 #include <memory>
 #include <vector>
 
@@ -29,6 +30,20 @@ MYNTEYE_BEGIN_NAMESPACE
 
 namespace device {
 
+typedef struct ImgParams {
+  bool ok;
+  std::map<Resolution, Intrinsics> in_left_map;
+  std::map<Resolution, Intrinsics> in_right_map;
+  Extrinsics ex_right_to_left;
+} img_params_t;
+
+typedef struct ImuParams {
+  bool ok;
+  ImuIntrinsics in_accel;
+  ImuIntrinsics in_gyro;
+  Extrinsics ex_left_to_imu;
+} imu_params_t;
+
 /**
  * @ingroup datatypes
  * Frame with raw data.
@@ -113,6 +128,8 @@ struct MYNTEYE_API StreamData {
   std::shared_ptr<ImgData> img;
   /** Frame. */
   std::shared_ptr<Frame> frame;
+  /** Frame ID. */
+  std::uint16_t frame_id;
 };
 
 /**
@@ -131,4 +148,4 @@ using MotionCallback = std::function<void(const MotionData &data)>;
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_CALLBACKS_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_CALLBACKS_H_

include/mynteye/device/context.h

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

include/mynteye/device/device.h

@@ -11,20 +11,19 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_DEVICE_H_  // NOLINT
-#define MYNTEYE_DEVICE_H_
+#ifndef MYNTEYE_DEVICE_DEVICE_H_
+#define MYNTEYE_DEVICE_DEVICE_H_
 #pragma once
 
-#include <limits>
 #include <map>
 #include <memory>
 #include <mutex>
 #include <string>
 #include <vector>
 
-#include "mynteye/callbacks.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
+#include "mynteye/device/callbacks.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -67,6 +66,9 @@ class MYNTEYE_API Device {
   using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
   using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;
 
+  using img_params_t = device::img_params_t;
+  using imu_params_t = device::imu_params_t;
+
   Device(const Model &model, std::shared_ptr<uvc::device> device);
   virtual ~Device();
 
@@ -102,7 +104,14 @@ class MYNTEYE_API Device {
    * Supports the addon or not.
    */
   bool Supports(const AddOns &addon) const;
-
+  /**
+   * Init device resolution.
+   */
+  void InitResolution(const Resolution &res);
+  /**
+   * set the stream request.
+   */
+  void SetStreamRequest(const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
@@ -245,12 +254,19 @@ class MYNTEYE_API Device {
   /**
    * Enable cache motion datas.
    */
-  void EnableMotionDatas(
-      std::size_t max_size = std::numeric_limits<std::size_t>::max());
+  void EnableMotionDatas();
+  /**
+   * Enable cache motion datas.
+   */
+  void EnableMotionDatas(std::size_t max_size);
   /**
    * Get the motion datas.
    */
   std::vector<device::MotionData> GetMotionDatas();
+  /**
+   * Get the device img params
+   */
+  img_params_t GetImgParams();
 
  protected:
   std::shared_ptr<uvc::device> device() const {
@@ -286,6 +302,8 @@ class MYNTEYE_API Device {
 
  private:
   Model model_;
+  Resolution res_ = Resolution::RES_752x480;
+  StreamRequest request_;
   std::shared_ptr<uvc::device> device_;
   std::shared_ptr<DeviceInfo> device_info_;
 
@@ -295,6 +313,7 @@ class MYNTEYE_API Device {
   std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
   std::map<Stream, Extrinsics> motion_from_extrinsics_;
 
+  img_params_t img_params_;
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
@@ -313,6 +332,8 @@ class MYNTEYE_API Device {
 
   void ReadAllInfos();
 
+  void ConfigIntrinsics(const Resolution &res);
+
   void CallbackPushedStreamData(const Stream &stream);
   void CallbackMotionData(const device::MotionData &data);
 
@@ -322,4 +343,4 @@ class MYNTEYE_API Device {
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_DEVICE_H_ NOLINT
+#endif  // MYNTEYE_DEVICE_DEVICE_H_

include/mynteye/device/utils.h

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

include/mynteye/mynteye.h.in

@@ -45,7 +45,7 @@ MYNTEYE_API_VERSION_CHECK( \
   ((major<<16)|(minor<<8)|(patch))  // NOLINT
 
 /* MYNTEYE_API_VERSION in "X.Y.Z" format */
-#define MYNTEYE_API_VERSION_STR (STRINGIFY(MYNTEYE_API_VERSION_MAJOR.MYNTEYE_API_VERSION_MINOR.MYNTEYE_API_VERSION_PATCH))  // NOLINT
+#define MYNTEYE_API_VERSION_STR (MYNTEYE_STRINGIFY(MYNTEYE_API_VERSION_MAJOR.MYNTEYE_API_VERSION_MINOR.MYNTEYE_API_VERSION_PATCH))  // NOLINT
 
 #cmakedefine MYNTEYE_NAMESPACE @MYNTEYE_NAMESPACE@
 #if defined(MYNTEYE_NAMESPACE)

include/mynteye/types.h

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_TYPES_H_  // NOLINT
+#ifndef MYNTEYE_TYPES_H_
 #define MYNTEYE_TYPES_H_
 #pragma once
 
@@ -76,6 +76,8 @@ enum class Capabilities : std::uint8_t {
   STEREO,
   /** Provides color stream */
   COLOR,
+  /** Provide stereo color  stream */
+  STEREO_COLOR,
   /** Provides depth stream */
   DEPTH,
   /** Provides point cloud stream */
@@ -163,19 +165,19 @@ enum class Option : std::uint8_t {
   /**
    * Max gain, valid if auto-exposure
    *
-   *   range: [0,48], default: 48
+   *   range: [0,255], default: 8
    */
   MAX_GAIN,
   /**
    * Max exposure time, valid if auto-exposure
    *
-   *   range: [0,240], default: 240
+   *   range: [0,1000], default: 333
    */
   MAX_EXPOSURE_TIME,
   /**
    * Desired brightness, valid if auto-exposure
    *
-   *   range: [0,255], default: 192
+   *   range: [1,255], default: 122
    */
   DESIRED_BRIGHTNESS,
   /**
@@ -195,6 +197,36 @@ enum class Option : std::uint8_t {
   ZERO_DRIFT_CALIBRATION,
   /** Erase chip */
   ERASE_CHIP,
+  /**
+   * min exposure time, valid if auto-exposure
+   *
+   *   range: [0,1000], default: 0
+   */
+  MIN_EXPOSURE_TIME,
+  /**
+   * The range of accelerometer
+   *
+   *   values: {6,12,24,48}, default: 6
+   */
+  ACCELEROMETER_RANGE,
+  /**
+   * The range of gyroscope
+   *
+   *   values: {250,500,1000,2000,4000}, default: 1000
+   */
+  GYROSCOPE_RANGE,
+  /**
+   * The parameter of accelerometer low pass filter
+   *
+   *   values: {0,1,2}, default: 2
+   */
+  ACCELEROMETER_LOW_PASS_FILTER,
+  /**
+   * The parameter of gyroscope low pass filter
+   *
+   *   values: {23,64}, default: 64
+   */
+  GYROSCOPE_LOW_PASS_FILTER,
   /** Last guard */
   LAST
 };
@@ -227,6 +259,40 @@ enum class AddOns : std::uint8_t {
   LAST
 };
 
+/**
+ * @ingroup enumerations
+ * @brief Camera supported resolution.
+ */
+enum class Resolution : std::uint8_t {
+  /** 752x480 */
+  RES_752x480,
+  /** 1280x400 */
+  RES_1280x400,
+  /** 2560x800 */
+  RES_2560x800,
+  /** Last guard */
+  LAST
+};
+
+/**
+ * @ingroup enumerations
+ * @brief Camera supported frame rate.
+ */
+enum class FrameRate : std::uint8_t {
+  /** 10 fps */
+  RATE_10_FPS = 10,
+  /** 20 fps */
+  RATE_20_FPS = 20,
+  /** 20 fps */
+  RATE_25_FPS = 25,
+  /** 30 fps */
+  RATE_30_FPS = 30,
+  /** 60 fps */
+  RATE_60_FPS = 60,
+  /** Last guard */
+  LAST
+};
+
 #define MYNTEYE_ENUM_HELPERS(TYPE)                                       \
   MYNTEYE_API const char *to_string(const TYPE &value);                  \
   inline bool is_valid(const TYPE &value) {                              \
@@ -250,6 +316,8 @@ MYNTEYE_ENUM_HELPERS(Info)
 MYNTEYE_ENUM_HELPERS(Option)
 MYNTEYE_ENUM_HELPERS(Source)
 MYNTEYE_ENUM_HELPERS(AddOns)
+MYNTEYE_ENUM_HELPERS(Resolution)
+MYNTEYE_ENUM_HELPERS(FrameRate)
 
 #undef MYNTEYE_ENUM_HELPERS
 
@@ -266,6 +334,8 @@ enum class Format : std::uint32_t {
   GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
   /** YUV 4:2:2, 16 bits per pixel */
   YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
+  /** BGR 8:8:8, 24 bits per pixel */
+  BGR888 = MYNTEYE_FOURCC('B', 'G', 'R', '3'),
   /** Last guard */
   LAST
 };
@@ -293,6 +363,33 @@ struct MYNTEYE_API StreamRequest {
   /** Stream frames per second (unused) */
   std::uint16_t fps;
 
+  StreamRequest() {}
+
+  StreamRequest(
+      std::uint16_t width, std::uint16_t height, Format format,
+      std::uint16_t fps)
+      : width(width), height(height), format(format), fps(fps) {}
+
+  StreamRequest(Resolution res, Format format, FrameRate rate)
+      : format(format) {
+    fps = static_cast<uint16_t>(rate);
+
+    switch (res) {
+      case Resolution::RES_752x480:
+        width = 480, height = 752;
+        break;
+      case Resolution::RES_1280x400:
+        width = 1280, height = 400;
+        break;
+      case Resolution::RES_2560x800:
+        width = 2560, height = 800;
+        break;
+      default:
+        width = 480, height = 752;
+        break;
+    }
+  }
+
   bool operator==(const StreamRequest &other) const {
     return width == other.width && height == other.height &&
            format == other.format && fps == other.fps;
@@ -409,8 +506,8 @@ std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
 struct MYNTEYE_API ImgData {
   /** Image frame id */
   std::uint16_t frame_id;
-  /** Image timestamp in 0.01ms */
-  std::uint32_t timestamp;
+  /** Image timestamp in 1us */
+  std::uint64_t timestamp;
   /** Image exposure time, virtual value in [1, 480] */
   std::uint16_t exposure_time;
 
@@ -441,10 +538,12 @@ struct MYNTEYE_API ImgData {
  * IMU data.
  */
 struct MYNTEYE_API ImuData {
-  /** Image frame id */
-  std::uint16_t frame_id;
-  /** IMU timestamp in 0.01ms */
-  std::uint32_t timestamp;
+  /** Imu serial number */
+  std::uint32_t serial_number;
+  /** accel or gyro flag:1 for accel,2 for gyro,3 for both */
+  std::uint8_t flag;
+  /** IMU timestamp in 1us */
+  std::uint64_t timestamp;
   /** IMU accelerometer data for 3-axis: X, Y, Z. */
   double accel[3];
   /** IMU gyroscope data for 3-axis: X, Y, Z. */
@@ -453,7 +552,7 @@ struct MYNTEYE_API ImuData {
   double temperature;
 
   void Reset() {
-    frame_id = 0;
+    flag = 0;
     timestamp = 0;
     std::fill(accel, accel + 3, 0);
     std::fill(gyro, gyro + 3, 0);
@@ -483,4 +582,4 @@ std::ostream &operator<<(std::ostream &os, const OptionInfo &info);
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_TYPES_H_ NOLINT
+#endif  // MYNTEYE_TYPES_H_

include/mynteye/util/files.h

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

include/mynteye/util/strings.h

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_INTERNAL_STRINGS_H_  // NOLINT
-#define MYNTEYE_INTERNAL_STRINGS_H_
+#ifndef MYNTEYE_UTIL_STRINGS_H_
+#define MYNTEYE_UTIL_STRINGS_H_
 #pragma once
 
 #include <stdexcept>
@@ -59,4 +59,4 @@ std::string trim_copy(const std::string &text);
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_INTERNAL_STRINGS_H_ NOLINT
+#endif  // MYNTEYE_UTIL_STRINGS_H_

include/mynteye/util/times.h

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_INTERNAL_TIMES_H_  // NOLINT
-#define MYNTEYE_INTERNAL_TIMES_H_
+#ifndef MYNTEYE_UTIL_TIMES_H_
+#define MYNTEYE_UTIL_TIMES_H_
 #pragma once
 
 #include <chrono>
@@ -220,4 +220,4 @@ inline std::string to_utc_string(
 
 MYNTEYE_END_NAMESPACE
 
-#endif  // MYNTEYE_INTERNAL_TIMES_H_ NOLINT
+#endif  // MYNTEYE_UTIL_TIMES_H_

mynteye-config.cmake.in

@@ -13,6 +13,8 @@
 # limitations under the License.
 
 @PACKAGE_INIT@
+set(mynteye_WITH_API @WITH_API@)
+set(mynteye_WITH_GLOG @WITH_GLOG@)
 
 set(mynteye_WITH_API @WITH_API@)
 set(mynteye_WITH_GLOG @WITH_GLOG@)

platforms/projects/vs2017/README.md

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

platforms/projects/vs2017/mynteyes_demo/.gitignore

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

platforms/projects/vs2017/mynteyes_demo/mynteyes_demo.sln

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

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

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

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

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

platforms/win/README.txt

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

samples/CMakeLists.txt

@@ -53,6 +53,10 @@ 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
@@ -71,7 +75,7 @@ add_subdirectory(device)
 
 # samples above uvc layer
 
-add_subdirectory(uvc)
+#add_subdirectory(uvc)
 
 # tutorials
 

samples/api/camera.cc

@@ -14,9 +14,8 @@
 #include <opencv2/highgui/highgui.hpp>
 
 #include "mynteye/logger.h"
-
-#include "mynteye/api.h"
-#include "mynteye/times.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
 
 MYNTEYE_USE_NAMESPACE
 
@@ -24,10 +23,7 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-
-  // api->SetOptionValue(Option::FRAME_RATE, 25);
-  // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  api->SetOptionValue(Option::IR_CONTROL, 80);
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   api->LogOptionInfos();
 
   std::size_t left_count = 0;
@@ -56,8 +52,7 @@ int main(int argc, char *argv[]) {
     CHECK_NOTNULL(data.imu);
     ++imu_count;
     VLOG(2) << "Imu count: " << imu_count;
-    VLOG(2) << "  frame_id: " << data.imu->frame_id
-            << ", timestamp: " << data.imu->timestamp
+    VLOG(2) << ", timestamp: " << data.imu->timestamp
             << ", accel_x: " << data.imu->accel[0]
             << ", accel_y: " << data.imu->accel[1]
             << ", accel_z: " << data.imu->accel[2]
@@ -107,8 +102,7 @@ int main(int argc, char *argv[]) {
     auto &&motion_datas = api->GetMotionDatas();
     motion_count += motion_datas.size();
     for (auto &&data : motion_datas) {
-      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
-                << ", timestamp: " << data.imu->timestamp
+      LOG(INFO) << ", timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]
                 << ", accel_z: " << data.imu->accel[2]

samples/api/get_depth_with_region.cc

@@ -14,7 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 namespace {
 
@@ -184,7 +184,7 @@ int main(int argc, char *argv[]) {
       // Show disparity instead of depth, but show depth values in region.
       auto &&depth_frame = disp_data.frame;
 
-#ifdef USE_OPENCV3
+#ifdef WITH_OPENCV3
       // ColormapTypes
       //   http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
       cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);

samples/device/CMakeLists.txt

@@ -14,6 +14,10 @@
 
 get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
 
+include_directories(
+  ${PRO_DIR}/src
+)
+
 set_outdir(
   "${OUT_DIR}/lib/${DIR_NAME}"
   "${OUT_DIR}/lib/${DIR_NAME}"

samples/device/camera.cc

@@ -15,11 +15,9 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/logger.h"
-
-#include "mynteye/device.h"
-#include "mynteye/utils.h"
-
-#include "mynteye/times.h"
+#include "mynteye/device/device.h"
+#include "mynteye/device/utils.h"
+#include "mynteye/util/times.h"
 
 MYNTEYE_USE_NAMESPACE
 
@@ -29,33 +27,15 @@ int main(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device)
     return 1;
-  /*
-  {  // auto-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
-    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
-    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
-    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
-  }
-  {  // manual-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
-    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
-    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
-    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
-  }
-  device->SetOptionValue(Option::IR_CONTROL, 80);
-  device->SetOptionValue(Option::FRAME_RATE, 25);
-  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  */
-  device->LogOptionInfos();
-
-  // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
 
   std::size_t left_count = 0;
+  device->InitResolution(Resolution::RES_1280x400);
+  device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
         ++left_count;
-        VLOG(2) << Stream::LEFT << ", count: " << left_count;
+        VLOG(2) << Stream::LEFT << "count: " << left_count;
         VLOG(2) << "  frame_id: " << data.img->frame_id
                 << ", timestamp: " << data.img->timestamp
                 << ", exposure_time: " << data.img->exposure_time;
@@ -65,19 +45,19 @@ int main(int argc, char *argv[]) {
       Stream::RIGHT, [&right_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
         ++right_count;
-        VLOG(2) << Stream::RIGHT << ", count: " << right_count;
+        VLOG(2) << Stream::RIGHT << "count: " << right_count;
         VLOG(2) << "  frame_id: " << data.img->frame_id
                 << ", timestamp: " << data.img->timestamp
                 << ", exposure_time: " << data.img->exposure_time;
       });
 
   std::size_t imu_count = 0;
+
   device->SetMotionCallback([&imu_count](const device::MotionData &data) {
     CHECK_NOTNULL(data.imu);
     ++imu_count;
     VLOG(2) << "Imu count: " << imu_count;
-    VLOG(2) << "  frame_id: " << data.imu->frame_id
-            << ", timestamp: " << data.imu->timestamp
+    VLOG(2) << ", timestamp: " << data.imu->timestamp
             << ", accel_x: " << data.imu->accel[0]
             << ", accel_y: " << data.imu->accel[1]
             << ", accel_z: " << data.imu->accel[2]
@@ -90,7 +70,6 @@ int main(int argc, char *argv[]) {
   // Enable this will cache the motion datas until you get them.
   device->EnableMotionDatas();
   device->Start(Source::ALL);
-
   cv::namedWindow("frame");
 
   std::size_t motion_count = 0;
@@ -104,8 +83,7 @@ int main(int argc, char *argv[]) {
     auto &&motion_datas = device->GetMotionDatas();
     motion_count += motion_datas.size();
     for (auto &&data : motion_datas) {
-      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
-                << ", timestamp: " << data.imu->timestamp
+      LOG(INFO) << "timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]
                 << ", accel_z: " << data.imu->accel[2]
@@ -115,15 +93,41 @@ int main(int argc, char *argv[]) {
                 << ", temperature: " << data.imu->temperature;
     }
 
-    cv::Mat left_img(
-        left_data.frame->height(), left_data.frame->width(), CV_8UC1,
-        left_data.frame->data());
-    cv::Mat right_img(
-        right_data.frame->height(), right_data.frame->width(), CV_8UC1,
-        right_data.frame->data());
-
     cv::Mat img;
-    cv::hconcat(left_img, right_img, img);
+
+    // TODO(Kalman): Extract into public or internal method
+    if (left_data.frame->format() == Format::GREY) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC1,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC1,
+          right_data.frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_data.frame->format() == Format::YUYV) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC2,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC2,
+          right_data.frame->data());
+      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_data.frame->format() == Format::BGR888) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC3,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC3,
+          right_data.frame->data());
+      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
+      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
+      cv::hconcat(left_img, right_img, img);
+    } else {
+      return -1;
+    }
+
     cv::imshow("frame", img);
 
     char key = static_cast<char>(cv::waitKey(1));
@@ -146,7 +150,7 @@ int main(int argc, char *argv[]) {
             << ", fps: " << (1000.f * right_count / elapsed_ms);
   LOG(INFO) << "Imu count: " << imu_count
             << ", hz: " << (1000.f * imu_count / elapsed_ms);
-  // LOG(INFO) << "Motion count: " << motion_count
-  //           << ", hz: " << (1000.f * motion_count / elapsed_ms);
+  LOG(INFO) << "Motion count: " << motion_count
+            << ", hz: " << (1000.f * motion_count / elapsed_ms);
   return 0;
 }

samples/tutorials/CMakeLists.txt

@@ -16,6 +16,7 @@ get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
 
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}
+  ${PRO_DIR}/src
 )
 
 set_outdir(
@@ -114,6 +115,7 @@ make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
 ## control
 
 make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV)
+make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
 make_executable2(ctrl_auto_exposure
   SRCS control/auto_exposure.cc util/cv_painter.cc
   WITH_OPENCV
@@ -122,7 +124,6 @@ make_executable2(ctrl_manual_exposure
   SRCS control/manual_exposure.cc util/cv_painter.cc
   WITH_OPENCV
 )
-make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 
 # intermediate level
 

samples/tutorials/control/auto_exposure.cc

@@ -13,8 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 
@@ -24,16 +24,19 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
 
   // auto-exposure: 0
   api->SetOptionValue(Option::EXPOSURE_MODE, 0);
 
-  // max_gain: range [0,48], default 48
-  api->SetOptionValue(Option::MAX_GAIN, 48);
-  // max_exposure_time: range [0,240], default 240
-  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
-  // desired_brightness: range [0,255], default 192
-  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
+  // max_gain: range [0,255], default 8
+  api->SetOptionValue(Option::MAX_GAIN, 8);
+  // max_exposure_time: range [0,1000], default 333
+  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333);
+  // desired_brightness: range [1,255], default 122
+  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122);
+  // min_exposure_time: range [0,1000], default 0
+  api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0);
 
   LOG(INFO) << "Enable auto-exposure";
   LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
@@ -41,10 +44,12 @@ int main(int argc, char *argv[]) {
             << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
   LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
             << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
+  LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
+            << api->GetOptionValue(Option::MIN_EXPOSURE_TIME);
 
   api->Start(Source::VIDEO_STREAMING);
 
-  CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));
+  CVPainter painter(30);
 
   cv::namedWindow("frame");
 

samples/tutorials/control/framerate.cc

@@ -11,33 +11,22 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-
 #include <atomic>
 
-#include "mynteye/api.h"
+#include <opencv2/highgui/highgui.hpp>
+
 #include "mynteye/logger.h"
-#include "mynteye/times.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
 
 MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
-  auto &&api = API::Create(argc, argv);
+  auto &&api = API::Create(Resolution::RES_1280x400);
+  // auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-
-  // 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
-  api->SetOptionValue(Option::FRAME_RATE, 25);
-  // IMU_FREQUENCY values: 100, 200, 250, 333, 500
-  api->SetOptionValue(Option::IMU_FREQUENCY, 500);
-
-  LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE);
-  LOG(INFO) << "Set IMU_FREQUENCY to "
-            << api->GetOptionValue(Option::IMU_FREQUENCY);
-
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   // Count img
   std::atomic_uint img_count(0);
   api->SetStreamCallback(
@@ -46,13 +35,6 @@ int main(int argc, char *argv[]) {
         ++img_count;
       });
 
-  // Count imu
-  std::atomic_uint imu_count(0);
-  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
-    CHECK_NOTNULL(data.imu);
-    ++imu_count;
-  });
-
   api->Start(Source::ALL);
 
   cv::namedWindow("frame");
@@ -85,7 +67,5 @@ int main(int argc, char *argv[]) {
             << ", cost: " << elapsed_ms << "ms";
   LOG(INFO) << "Img count: " << img_count
             << ", fps: " << (1000.f * img_count / elapsed_ms);
-  LOG(INFO) << "Imu count: " << imu_count
-            << ", hz: " << (1000.f * imu_count / elapsed_ms);
   return 0;
 }

samples/tutorials/control/imu_range.cc

@@ -0,0 +1,89 @@
+// 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 <atomic>
+
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
+
+  // ACCELEROMETER_RANGE values: 6, 12, 24, 32
+  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
+  // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
+  api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
+
+  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
+            << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
+  LOG(INFO) << "Set GYROSCOPE_RANGE to "
+            << api->GetOptionValue(Option::GYROSCOPE_RANGE);
+
+  // Count img
+  std::atomic_uint img_count(0);
+  api->SetStreamCallback(
+      Stream::LEFT, [&img_count](const api::StreamData &data) {
+        CHECK_NOTNULL(data.img);
+        ++img_count;
+      });
+
+  // Count imu
+  std::atomic_uint imu_count(0);
+  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
+    CHECK_NOTNULL(data.imu);
+    ++imu_count;
+  });
+
+  api->Start(Source::ALL);
+
+  cv::namedWindow("frame");
+
+  auto &&time_beg = times::now();
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    cv::imshow("frame", img);
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+  auto &&time_end = times::now();
+
+  api->Stop(Source::ALL);
+
+  // Calculate img fps and imu hz
+  float elapsed_ms =
+      times::count<times::microseconds>(time_end - time_beg) * 0.001f;
+  LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
+            << ", end: " << times::to_local_string(time_end)
+            << ", cost: " << elapsed_ms << "ms";
+  LOG(INFO) << "Img count: " << img_count
+            << ", fps: " << (1000.f * img_count / elapsed_ms);
+  LOG(INFO) << "Imu count: " << imu_count
+            << ", hz: " << (1000.f * imu_count / elapsed_ms);
+  return 0;
+}

samples/tutorials/control/infrared.cc

@@ -1,61 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-
-#include "mynteye/api.h"
-#include "mynteye/logger.h"
-
-MYNTEYE_USE_NAMESPACE
-
-int main(int argc, char *argv[]) {
-  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-
-  // Detect infrared add-ons
-  LOG(INFO) << "Support infrared: " << std::boolalpha
-            << api->Supports(AddOns::INFRARED);
-  LOG(INFO) << "Support infrared2: " << std::boolalpha
-            << api->Supports(AddOns::INFRARED2);
-
-  // Get infrared intensity range
-  auto &&info = api->GetOptionInfo(Option::IR_CONTROL);
-  LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}";
-
-  // Set infrared intensity value
-  api->SetOptionValue(Option::IR_CONTROL, 80);
-
-  api->Start(Source::VIDEO_STREAMING);
-
-  cv::namedWindow("frame");
-
-  while (true) {
-    api->WaitForStreams();
-
-    auto &&left_data = api->GetStreamData(Stream::LEFT);
-    auto &&right_data = api->GetStreamData(Stream::RIGHT);
-
-    cv::Mat img;
-    cv::hconcat(left_data.frame, right_data.frame, img);
-    cv::imshow("frame", img);
-
-    char key = static_cast<char>(cv::waitKey(1));
-    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
-      break;
-    }
-  }
-
-  api->Stop(Source::VIDEO_STREAMING);
-  return 0;
-}

samples/tutorials/control/manual_exposure.cc

@@ -13,8 +13,8 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 
@@ -24,25 +24,20 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
 
   // manual-exposure: 1
   api->SetOptionValue(Option::EXPOSURE_MODE, 1);
 
-  // gain: range [0,48], default 24
-  api->SetOptionValue(Option::GAIN, 24);
   // brightness/exposure_time: range [0,240], default 120
   api->SetOptionValue(Option::BRIGHTNESS, 120);
-  // contrast/black_level_calibration: range [0,255], default 127
-  api->SetOptionValue(Option::CONTRAST, 127);
 
   LOG(INFO) << "Enable manual-exposure";
-  LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
   LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS);
-  LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);
 
   api->Start(Source::VIDEO_STREAMING);
 
-  CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));
+  CVPainter painter(30);
 
   cv::namedWindow("frame");
 

samples/tutorials/data/get_depth.cc

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

samples/tutorials/data/get_device_info.cc

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

samples/tutorials/data/get_disparity.cc

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

samples/tutorials/data/get_from_callbacks.cc

@@ -11,15 +11,15 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <sstream>
 
-#include "mynteye/api.h"
+#include <opencv2/highgui/highgui.hpp>
+
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 

samples/tutorials/data/get_img_params.cc

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 MYNTEYE_USE_NAMESPACE
 
@@ -20,7 +20,7 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";

samples/tutorials/data/get_imu.cc

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

samples/tutorials/data/get_imu_params.cc

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

samples/tutorials/data/get_points.cc

@@ -13,7 +13,7 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
+#include "mynteye/api/api.h"
 
 #include "util/pc_viewer.h"
 

samples/tutorials/data/get_stereo.cc

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

samples/tutorials/data/get_stereo_rectified.cc

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

samples/tutorials/data/get_with_plugin.cc

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

samples/tutorials/intermediate/get_all_device_info.cc

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

samples/tutorials/intermediate/get_depth_and_points.cc

@@ -14,7 +14,8 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/api.h"
+// #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
 
 #include "util/cv_painter.h"
 #include "util/pc_viewer.h"
@@ -186,6 +187,8 @@ int main(int argc, char *argv[]) {
     painter.DrawImgData(img, *left_data.img);
 
     cv::imshow("frame", img);
+    // LOG(INFO) << "left id: " << left_data.frame_id
+    //     << ", right id: " << right_data.frame_id;
 
     auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
     auto &&depth_data = api->GetStreamData(Stream::DEPTH);
@@ -193,7 +196,7 @@ int main(int argc, char *argv[]) {
       // Show disparity instead of depth, but show depth values in region.
       auto &&depth_frame = disp_data.frame;
 
-#ifdef USE_OPENCV3
+#ifdef WITH_OPENCV3
       // ColormapTypes
       //   http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
       cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);
@@ -204,6 +207,7 @@ int main(int argc, char *argv[]) {
       depth_region.DrawRect(depth_frame);
 
       cv::imshow("depth", depth_frame);
+      // LOG(INFO) << "depth id: " << disp_data.frame_id;
 
       depth_region.ShowElems<ushort>(
           depth_data.frame,
@@ -223,6 +227,7 @@ int main(int argc, char *argv[]) {
     auto &&points_data = api->GetStreamData(Stream::POINTS);
     if (!points_data.frame.empty()) {
       pcviewer.Update(points_data.frame);
+      // LOG(INFO) << "points id: " << points_data.frame_id;
     }
 
     char key = static_cast<char>(cv::waitKey(1));

samples/tutorials/util/cv_painter.cc

@@ -13,15 +13,15 @@
 // limitations under the License.
 #include "util/cv_painter.h"
 
-#include <opencv2/imgproc/imgproc.hpp>
-
 #include <iomanip>
 #include <iostream>
 #include <memory>
 #include <utility>
 
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include "mynteye/logger.h"
-#include "mynteye/utils.h"
+#include "mynteye/device/utils.h"
 
 #define FONT_FACE cv::FONT_HERSHEY_PLAIN
 #define FONT_SCALE 1
@@ -117,7 +117,7 @@ cv::Rect CVPainter::DrawImuData(
   if (gravity == BOTTOM_LEFT || gravity == BOTTOM_RIGHT)
     sign = -1;
 
-  Clear(ss) << "frame_id: " << data.frame_id << ", stamp: " << data.timestamp
+  Clear(ss) << "stamp: " << data.timestamp
             << ", temp: " << fmt_temp << data.temperature;
   cv::Rect rect_i = DrawText(img, ss.str(), gravity, 5);
 
@@ -178,7 +178,7 @@ cv::Rect CVPainter::DrawText(
   y += offset_y;
 
   cv::Point org(x, y);
-#ifdef USE_OPENCV2
+#ifdef WITH_OPENCV2
   cv::putText(
       const_cast<cv::Mat &>(img), text, org, FONT_FACE, FONT_SCALE, FONT_COLOR,
       THICKNESS);

samples/tutorials/util/cv_painter.h

@@ -15,10 +15,10 @@
 #define MYNTEYE_TUTORIALS_CV_PAINTER_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
 #include <string>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/types.h"
 
 class CVPainter {

samples/tutorials/util/pc_viewer.h

@@ -15,12 +15,12 @@
 #define MYNTEYE_TUTORIALS_PC_VIEWER_H_
 #pragma once
 
+#include <memory>
+
 #include <opencv2/core/core.hpp>
 
 #include <pcl/visualization/pcl_visualizer.h>
 
-#include <memory>
-
 class PCViewer {
  public:
   PCViewer();

samples/uvc/camera.cc

@@ -11,19 +11,19 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-
 #include <chrono>
 #include <condition_variable>
 #include <iomanip>
 #include <iostream>
 #include <mutex>
 
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include "mynteye/logger.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
-#include "uvc/uvc.h"
+#include "mynteye/uvc/uvc.h"
 
 struct frame {
   const void *data = nullptr;
@@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
   const auto frame_empty = [&frame]() { return frame == nullptr; };
 
   uvc::set_device_mode(
-      *device, 752, 480, static_cast<int>(Format::YUYV), 25,
+      *device, 1280, 400, static_cast<int>(Format::BGR888), 20,
       [&mtx, &cv, &frame, &frame_ready](
           const void *data, std::function<void()> continuation) {
         // reinterpret_cast<const std::uint8_t *>(data);
@@ -143,8 +143,8 @@ int main(int argc, char *argv[]) {
     }
 
     // only lastest frame is valid
-    cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame->data));
-    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
+    cv::cvtColor(img, img, CV_BGR2RGB);
     cv::imshow("frame", img);
 
     frame = nullptr;

scripts/common/echo.sh

@@ -27,11 +27,13 @@ ECHO="echo -e"
 # task colors
 COLOR_STRONG="1;35"  # Magenta
 COLOR_INFO="1;34"    # Blue
+COLOR_WARN="1;33"    # Yellow
 COLOR_DONE="1;32"    # Green
 COLOR_ERROR="1;31"   # Red
 # action colors
 COLOR_STRONG_NORMAL="35"
 COLOR_INFO_NORMAL="34"
+COLOR_WARN_NORMAL="33"
 COLOR_DONE_NORMAL="32"
 COLOR_ERROR_NORMAL="31"
 
@@ -59,6 +61,10 @@ _echo_i() {
   _echo_ "$1" "$COLOR_INFO"
 }
 
+_echo_w() {
+  _echo_ "$1" "$COLOR_WARN"
+}
+
 _echo_d() {
   _echo_ "$1" "$COLOR_DONE"
 }
@@ -75,6 +81,10 @@ _echo_in() {
   _echo_ "$1" "$COLOR_INFO_NORMAL"
 }
 
+_echo_wn() {
+  _echo_ "$1" "$COLOR_WARN_NORMAL"
+}
+
 _echo_dn() {
   _echo_ "$1" "$COLOR_DONE_NORMAL"
 }

scripts/init.sh

@@ -16,6 +16,7 @@
 # _VERBOSE_=1
 # _INIT_LINTER_=1
 # _FORCE_INSRALL_=1
+_INSTALL_OPTIONS_=$@
 
 BASE_DIR=$(cd "$(dirname "$0")" && pwd)
 

scripts/init_tools.sh

@@ -16,6 +16,7 @@
 _INIT_BUILD_=1
 # _INIT_LINTER_=1
 # _FORCE_INSRALL_=1
+# _INSTALL_OPTIONS_=-y
 
 BASE_DIR=$(cd "$(dirname "$0")" && pwd)
 
@@ -42,6 +43,9 @@ fi
 
 _install_deps() {
   _cmd="$1"; shift; _deps_all=($@)
+  if [ -n "${_INSTALL_OPTIONS_}" ]; then
+    _cmd="$_cmd $_INSTALL_OPTIONS_"
+  fi
   _echo "Install cmd: $_cmd"
   _echo "Install deps: ${_deps_all[*]}"
   if [ -n "${_FORCE_INSRALL_}" ]; then
@@ -68,6 +72,7 @@ _echo_s "Init tools"
 if [ "$HOST_OS" = "Linux" ]; then
   # sudo
   SUDO="sudo"
+  _detect_cmd $SUDO || SUDO=
   # detect apt-get
   _detect apt-get
   # apt-get install

scripts/version.sh

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+# 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.
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+ROOT_DIR=$(dirname "$BASE_DIR")
+CONFIG_FILE="$ROOT_DIR/CMakeLists.txt"
+
+version=$(cat "$CONFIG_FILE" | grep -m1 "mynteye VERSION")
+version=$(echo "${version%LANGUAGES*}")
+version=$(echo "${version#*VERSION}" | tr -d '[:space:]')
+
+echo "$version"

scripts/win/cmake/mynteye-targets-release.cmake

@@ -0,0 +1,29 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "mynteye" for configuration "Release"
+set_property(TARGET mynteye APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(mynteye PROPERTIES
+  IMPORTED_IMPLIB_RELEASE "${MYNTEYES_SDK_ROOT}/lib/mynteye.lib"
+  IMPORTED_LOCATION_RELEASE "${MYNTEYES_SDK_ROOT}/bin/mynteye.dll"
+  )
+
+# Import target "mynteye" for configuration "Debug"
+set_property(TARGET mynteye APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG)
+set_target_properties(mynteye PROPERTIES
+  IMPORTED_IMPLIB_DEBUG "${MYNTEYES_SDK_ROOT}/lib/mynteyed.lib"
+  IMPORTED_LOCATION_DEBUG "${MYNTEYES_SDK_ROOT}/bin/mynteyed.dll"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS mynteye )
+list(APPEND _IMPORT_CHECK_FILES_FOR_mynteye
+  "${MYNTEYES_SDK_ROOT}/lib/mynteye.lib" "${MYNTEYES_SDK_ROOT}/bin/mynteye.dll"
+  "${MYNTEYES_SDK_ROOT}/lib/mynteyed.lib" "${MYNTEYES_SDK_ROOT}/bin/mynteyed.dll"
+  )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

scripts/win/cmake/mynteye-targets.cmake

@@ -0,0 +1,102 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget mynteye)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+if(NOT MYNTEYES_SDK_ROOT)
+  if(DEFINED ENV{MYNTEYES_SDK_ROOT})
+    set(MYNTEYES_SDK_ROOT $ENV{MYNTEYES_SDK_ROOT})
+  else()
+    get_filename_component(MYNTEYES_SDK_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+  endif()
+endif()
+
+# The installation prefix configured by this project.
+set(_IMPORT_PREFIX "${MYNTEYES_SDK_ROOT}")
+
+# Create imported target mynteye
+add_library(mynteye SHARED IMPORTED)
+
+set_target_properties(mynteye PROPERTIES
+  INTERFACE_COMPILE_DEFINITIONS "GLOG_NO_ABBREVIATED_SEVERITIES"
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab;opencv_world"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/mynteye-targets-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

scripts/win/generate.bat

@@ -0,0 +1,20 @@
+@echo off
+setlocal
+set _MY_DIR=%~dp0
+
+set _VS_GEN="Visual Studio 15 2017 Win64"
+REM set _VS_GEN="Visual Studio 14 2015 Win64"
+
+cd %_MY_DIR%
+
+mkdir _build
+cd _build/
+
+cmake -DCMAKE_BUILD_TYPE=Release ^
+-DCMAKE_PREFIX_PATH="%_MY_DIR%/../lib/cmake" ^
+-DOpenCV_DIR="%_MY_DIR%/../3rdparty/opencv/build" ^
+-G %_VS_GEN% ^
+..
+
+cd %_MY_DIR%
+pause