Update mynteye_image_pipeline

Merge branch 'devel-s210a' into devel-s210a-image-pipeline
Merge remote-tracking branch 'origin/devel-s210a-merge' into devel-s210a
2018-12-18 20:09:34 +08:00 · 2018-12-18 10:56:52 +08:00 · 2018-12-18 10:46:35 +08:00 · 2018-12-18 10:44:26 +08:00 · 2018-12-17 18:00:37 +08:00 · 2018-12-17 11:48:04 +08:00
988 changed files with 416841 additions and 734 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -106,7 +106,6 @@ set_outdir(
 )

 ## main
-
 if(WITH_GLOG)
  add_executable(main src/main.cc)
  target_link_libraries(main glog::glog)
@@ -124,11 +123,34 @@ if(NOT WITH_GLOG AND NOT OS_WIN)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
  unset(__MINIGLOG_FLAGS)
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_PUBLIC_H
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+  )
+endif()

 if(OS_WIN)
  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
 elseif(OS_MAC)
-  set(UVC_SRC src/mynteye/uvc/macosx/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})
@@ -186,6 +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)
--- a/2
+++ b/2
@@ -139,8 +139,8 @@ endif
 uninstall:
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Linux)
-	$(SUDO) rm -rf /usr/local/lib/libmynteye*
 	$(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
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK

-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2--rc1-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](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

@@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations

 * [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/2612865/mynt-eye-s-sdk-apidoc-2.2.2-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2612866/mynt-eye-s-sdk-apidoc-2.2.2-rc1-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/2612867/mynt-eye-s-sdk-apidoc-2.2.2-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2612868/mynt-eye-s-sdk-apidoc-2.2.2-rc1-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-rc1-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-rc1-zh-Hans/index.html)
+  * 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/2612872/mynt-eye-s-sdk-guide-2.2.2-rc1-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2612873/mynt-eye-s-sdk-guide-2.2.2-rc1-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/2612874/mynt-eye-s-sdk-guide-2.2.2-rc1-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2612875/mynt-eye-s-sdk-guide-2.2.2-rc1-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-rc1-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-rc1-zh-Hans/index.html)
+  * 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`.

--- a/cmake/Option.cmake
+++ b/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)
--- a/doc/en/api.doxyfile
+++ b/doc/en/api.doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.

-PROJECT_NUMBER         = 2.2.2-rc1
+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
--- a/doc/zh-Hans/api.doxyfile
+++ b/doc/zh-Hans/api.doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.

-PROJECT_NUMBER         = 2.2.2-rc1
+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
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@@ -6,25 +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 | |
+
--- a/doc/zh-Hans/spec_control_channel.md
+++ b/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 |
--- a/doc/zh-Hans/spec_image_data.md
+++ b/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。
--- a/doc/zh-Hans/spec_imu_data.md
+++ b/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℃** 。
--- a/include/mynteye/api/api.h
+++ b/include/mynteye/api/api.h
@@ -15,6 +15,7 @@
 #define MYNTEYE_API_API_H_
 #pragma once

+#include <functional>
 #include <limits>
 #include <memory>
 #include <string>
@@ -71,8 +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;
  }
@@ -98,7 +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.
@@ -147,6 +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.
   */
@@ -203,6 +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.
   */
@@ -278,6 +294,8 @@ class MYNTEYE_API API {
  std::shared_ptr<Device> device_;

  std::unique_ptr<Synthetic> synthetic_;
+
+  void CheckImageParams();
 };

 MYNTEYE_END_NAMESPACE
--- a/include/mynteye/device/callbacks.h
+++ b/include/mynteye/device/callbacks.h
@@ -19,6 +19,7 @@

 #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.
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -66,6 +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();

@@ -101,7 +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.
   */
@@ -253,6 +263,10 @@ class MYNTEYE_API Device {
   * 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 {
@@ -288,6 +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_;

@@ -297,6 +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_;

@@ -315,6 +332,8 @@ class MYNTEYE_API Device {

  void ReadAllInfos();

+  void ConfigIntrinsics(const Resolution &res);
+
  void CallbackPushedStreamData(const Stream &stream);
  void CallbackMotionData(const device::MotionData &data);

--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -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,
  /**
@@ -195,18 +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: {4,8,16,32}, default: 8
+   *   values: {6,12,24,48}, default: 6
   */
  ACCELEROMETER_RANGE,
  /**
   * The range of gyroscope
   *
-   *   values: {500,1000,2000,4000}, default: 1000
+   *   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
 };
@@ -239,6 +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) {                              \
@@ -262,6 +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

@@ -278,6 +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
 };
@@ -305,6 +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;
@@ -421,8 +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;

@@ -453,10 +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. */
@@ -465,7 +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);
--- a/mynteye-config.cmake.in
+++ b/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@)
--- a/samples/CMakeLists.txt
+++ b/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

--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -23,10 +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;
@@ -55,8 +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]
@@ -106,8 +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]
--- a/samples/device/CMakeLists.txt
+++ b/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}"
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -27,33 +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;
@@ -63,19 +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]
@@ -88,7 +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;
@@ -102,8 +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]
@@ -113,15 +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));
@@ -144,7 +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;
 }
--- a/samples/tutorials/CMakeLists.txt
+++ b/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(
@@ -123,7 +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

--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@@ -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");

--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@@ -22,22 +22,11 @@
 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;
 }
--- a/samples/tutorials/control/imu_range.cc
+++ b/samples/tutorials/control/imu_range.cc
@@ -26,9 +26,9 @@ int main(int argc, char *argv[]) {
  if (!api)
    return 1;

-  // ACCELEROMETER_RANGE values: 4, 8, 16, 32
-  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
-  // GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
+  // 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 "
--- a/samples/tutorials/control/infrared.cc
+++ b/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/logger.h"
-#include "mynteye/api/api.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;
-}
--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@@ -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");

--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -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)
            << "}";
--- a/samples/tutorials/util/cv_painter.cc
+++ b/samples/tutorials/util/cv_painter.cc
@@ -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);

--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -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;
--- a/src/main.cc
+++ b/src/main.cc
@@ -16,12 +16,12 @@
 #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
 #define GLOG_NO_ABBREVIATED_SEVERITIES
 #endif
-#include <glog/logging.h>

 #ifdef HAVE_LIB_GFLAGS
 #include <gflags/gflags.h>
 #endif

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

 int main(int /*argc*/, char *argv[]) {
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@@ -210,26 +210,7 @@ std::vector<std::string> get_plugin_paths() {

 API::API(std::shared_ptr<Device> device) : device_(device) {
  VLOG(2) << __func__;
-  if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
-    bool in_l_ok, in_r_ok, ex_r2l_ok;
-    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
-    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT, &ex_r2l_ok);
-    if (!in_l_ok || !in_r_ok || !ex_r2l_ok) {
-#if defined(WITH_DEVICE_INFO_REQUIRED)
-      LOG(FATAL)
-#else
-      LOG(WARNING)
-#endif
-          << "Image params not found, but we need it to process the "
-             "images. Please `make tools` and use `img_params_writer` "
-             "to write the image params. If you update the SDK from "
-             "1.x, the `SN*.conf` is the file contains them. Besides, "
-             "you could also calibrate them by yourself. Read the guide "
-             "doc (https://github.com/slightech/MYNT-EYE-S-SDK-Guide) "
-             "to learn more.";
-    }
-  }
+  std::dynamic_pointer_cast<StandardDevice>(device_);
  synthetic_.reset(new Synthetic(this));
 }

@@ -237,29 +218,52 @@ API::~API() {
  VLOG(2) << __func__;
 }

-std::shared_ptr<API> API::Create() {
-  return Create(device::select());
-}
-
-std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
-  if (!device)
-    return nullptr;
-  return std::make_shared<API>(device);
-}
-
-std::shared_ptr<API> API::Create(int argc, char *argv[]) {
-  static glog_init _(argc, argv);
+std::shared_ptr<API> API::Create(Resolution res) {
  auto &&device = device::select();
  if (!device)
    return nullptr;
+  device->InitResolution(res);
  return std::make_shared<API>(device);
 }

 std::shared_ptr<API> API::Create(
-    int argc, char *argv[], std::shared_ptr<Device> device) {
-  static glog_init _(argc, argv);
+    std::shared_ptr<Device> device, Resolution res) {
  if (!device)
    return nullptr;
+  device->InitResolution(res);
+  return std::make_shared<API>(device);
+}
+
+// TODO(Kalman): Compatible with two generation
+std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
+  return Create(device, Resolution::RES_2560x800);
+}
+
+std::shared_ptr<API> API::Create(int argc, char *argv[]) {
+  auto &&device = device::select();
+  return Create(argc, argv, device);
+}
+
+// TODO(Kalman): Compatible with two generation
+std::shared_ptr<API> API::Create(
+    int argc, char *argv[], std::shared_ptr<Device> device) {
+  static glog_init _(argc, argv);
+  int index = 0;
+  if (argc >= 2) {
+    try {
+      index = std::stoi(argv[1]);
+    } catch (...) {
+      LOG(WARNING) << "Unexpected index.";
+    }
+  }
+  if (!device)
+    return nullptr;
+  if (index == 0)
+    device->InitResolution(Resolution::RES_1280x400);
+  else if (index == 1)
+    device->InitResolution(Resolution::RES_2560x800);
+  else
+    device->InitResolution(Resolution::RES_1280x400);
  return std::make_shared<API>(device);
 }

@@ -283,6 +287,14 @@ bool API::Supports(const AddOns &addon) const {
  return device_->Supports(addon);
 }

+void API::InitResolution(const Resolution &res) {
+  return device_->InitResolution(res);
+}
+
+void API::SetStreamRequest(const Format &format, const FrameRate &rate) {
+  device_->SetStreamRequest(format, rate);
+}
+
 const std::vector<StreamRequest> &API::GetStreamRequests(
    const Capabilities &capability) const {
  return device_->GetStreamRequests(capability);
@@ -450,4 +462,23 @@ std::shared_ptr<Device> API::device() {
  return device_;
 }

+// TODO(Kalman): Call this function in the appropriate place
+void API::CheckImageParams() {
+  if (device_ != nullptr) {
+    bool in_l_ok, in_r_ok, ex_l2r_ok;
+    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
+    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
+    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
+    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
+      LOG(FATAL) << "Image params not found, but we need it to process the "
+                    "images. Please `make tools` and use `img_params_writer` "
+                    "to write the image params. If you update the SDK from "
+                    "1.x, the `SN*.conf` is the file contains them. Besides, "
+                    "you could also calibrate them by yourself. Read the guide "
+                    "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+                    "to learn more.";
+    }
+  }
+}
+
 MYNTEYE_END_NAMESPACE
--- a/src/mynteye/api/processor/disparity_processor.cc
+++ b/src/mynteye/api/processor/disparity_processor.cc
@@ -98,7 +98,7 @@ bool DisparityProcessor::OnProcess(
  // whereas other algorithms output 32-bit floating-point disparity map.
  sgbm_->compute(input->first, input->second, disparity);
 #endif
-  output->value = disparity / 16 + 1;
+  disparity.convertTo(output->value, CV_32F, 1./16, 1);
  output->id = input->first_id;
  output->data = input->first_data;
  return true;
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -17,6 +17,8 @@
 #include <functional>
 #include <stdexcept>

+#include <opencv2/imgproc/imgproc.hpp>
+
 #include "mynteye/logger.h"
 #include "mynteye/api/object.h"
 #include "mynteye/api/plugin.h"
@@ -39,9 +41,17 @@ MYNTEYE_BEGIN_NAMESPACE
 namespace {

 cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
-  // TODO(JohnZhao) Support different format frame to cv::Mat
-  CHECK_EQ(frame->format(), Format::GREY);
-  return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
+  if (frame->format() == Format::YUYV) {
+    cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
+    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    return img;
+  } else if (frame->format() == Format::BGR888) {
+    cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
+    cv::cvtColor(img, img, CV_BGR2RGB);
+    return img;
+  } else {
+    return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
+  }
 }

 api::StreamData data2api(const device::StreamData &data) {
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -24,6 +24,8 @@
 #include "mynteye/util/strings.h"
 #include "mynteye/util/times.h"

+#include "mynteye/logger.h"
+
 #define IMU_TRACK_PERIOD 25  // ms

 MYNTEYE_BEGIN_NAMESPACE
@@ -63,12 +65,21 @@ int XuCamCtrlId(Option option) {
    case Option::FRAME_RATE:
      return 7;
      break;
+    case Option::MIN_EXPOSURE_TIME:
+      return 8;
+      break;
    case Option::ACCELEROMETER_RANGE:
      return 9;
      break;
    case Option::GYROSCOPE_RANGE:
      return 10;
      break;
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+      return 11;
+      break;
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
+      return 12;
+      break;
    default:
      LOG(FATAL) << "No cam ctrl id for " << option;
  }
@@ -92,7 +103,7 @@ void CheckSpecVersion(const Version *spec_version) {
    LOG(FATAL) << "Spec version must be specified";
  }

-  std::vector<std::string> spec_versions{"1.0"};
+  std::vector<std::string> spec_versions{"1.0", "1.1"};
  for (auto &&spec_ver : spec_versions) {
    if (*spec_version == Version(spec_ver)) {
      return;  // supported
@@ -132,27 +143,29 @@ void Channels::LogControlInfos() const {
  }
 }

+// TODO(Kalman): Compatible with two generation
 void Channels::UpdateControlInfos() {
-  for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
-                                           Option::CONTRAST}) {
+  for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) {
    control_infos_[option] = PuControlInfo(option);
-  }
-
-  for (auto &&option : std::vector<Option>{
-           Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
-           Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-           Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE,
-           Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}) {
-    control_infos_[option] = XuControlInfo(option);
-  }
-
-  if (VLOG_IS_ON(2)) {
-    for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
-      VLOG(2) << it->first << ": min=" << it->second.min
-              << ", max=" << it->second.max << ", def=" << it->second.def
-              << ", cur=" << GetControlValue(it->first);
    }
-  }
+
+    for (auto &&option : std::vector<Option>{
+             Option::EXPOSURE_MODE, Option::DESIRED_BRIGHTNESS,
+             Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
+             Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
+             Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+             Option::GYROSCOPE_LOW_PASS_FILTER}) {
+      control_infos_[option] = XuControlInfo(option);
+    }
+
+    if (VLOG_IS_ON(2)) {
+      for (auto &&it = control_infos_.begin(); it != control_infos_.end();
+           it++) {
+        VLOG(2) << it->first << ": min=" << it->second.min
+                << ", max=" << it->second.max << ", def=" << it->second.def
+                << ", cur=" << GetControlValue(it->first);
+      }
+    }
 }

 Channels::control_info_t Channels::GetControlInfo(const Option &option) const {
@@ -184,8 +197,11 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
    case Option::DESIRED_BRIGHTNESS:
    case Option::IR_CONTROL:
    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
    case Option::ACCELEROMETER_RANGE:
    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
      return XuCamCtrlGet(option);
    case Option::ZERO_DRIFT_CALIBRATION:
    case Option::ERASE_CHIP:
@@ -242,12 +258,22 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
      XuCamCtrlSet(option, value);
    } break;
    case Option::ACCELEROMETER_RANGE: {
-      if (!in_range() || !in_values({4, 8, 16, 32}))
+      if (!in_range() || !in_values({6, 12, 24, 48}))
        break;
      XuCamCtrlSet(option, value);
    } break;
    case Option::GYROSCOPE_RANGE: {
-      if (!in_range() || !in_values({500, 1000, 2000, 4000}))
+      if (!in_range() || !in_values({250, 500, 1000, 2000, 4000}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::ACCELEROMETER_LOW_PASS_FILTER: {
+      if (!in_range() || !in_values({0, 1, 2}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::GYROSCOPE_LOW_PASS_FILTER: {
+      if (!in_range() || !in_values({23, 64}))
        break;
      XuCamCtrlSet(option, value);
    } break;
@@ -256,7 +282,8 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
    case Option::MAX_EXPOSURE_TIME:
    case Option::DESIRED_BRIGHTNESS:
    case Option::IR_CONTROL:
-    case Option::HDR_MODE: {
+    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME: {
      if (!in_range())
        break;
      XuCamCtrlSet(option, value);
@@ -287,8 +314,11 @@ bool Channels::RunControlAction(const Option &option) const {
    case Option::DESIRED_BRIGHTNESS:
    case Option::IR_CONTROL:
    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
    case Option::ACCELEROMETER_RANGE:
    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
      LOG(WARNING) << option << " run action useless";
      return false;
    default:
@@ -318,6 +348,10 @@ void Channels::DoImuTrack() {
    return;
  }

+  if (res_packet.packets.back().count == 0) {
+    return;
+  }
+
  VLOG(2) << "Imu req sn: " << imu_sn_ << ", res count: " << []() {
    std::size_t n = 0;
    for (auto &&packet : res_packet.packets) {
@@ -326,7 +360,7 @@ void Channels::DoImuTrack() {
    return n;
  }();

-  auto &&sn = res_packet.packets.back().serial_number;
+  auto &&sn = res_packet.packets.back().segments.back().serial_number;
  if (imu_sn_ == sn) {
    VLOG(2) << "New imu not ready, dropped";
    return;
@@ -529,18 +563,44 @@ std::size_t from_data(
  return i;
 }

+// TODO(Kalman): Is there a more elegant way?
 std::size_t from_data(
-    Channels::img_params_t *img_params, const std::uint8_t *data,
+    device::img_params_t *img_params, const std::uint8_t *data,
    const Version *spec_version) {
  std::size_t i = 0;
-  i += from_data(&img_params->in_left, data + i, spec_version);
-  i += from_data(&img_params->in_right, data + i, spec_version);
+
+  if (spec_version->major() == 1) {
+    if (spec_version->minor() == 0) {
+      i += from_data(
+          &img_params->in_left_map[Resolution::RES_752x480], data + i,
+          spec_version);
+      i += from_data(
+          &img_params->in_right_map[Resolution::RES_752x480], data + i,
+          spec_version);
+    }
+
+    if (spec_version->minor() == 1) {
+      i += from_data(
+          &img_params->in_left_map[Resolution::RES_1280x400], data + i,
+          spec_version);
+      i += from_data(
+          &img_params->in_right_map[Resolution::RES_1280x400], data + i,
+          spec_version);
+      i += from_data(
+          &img_params->in_left_map[Resolution::RES_2560x800], data + i,
+          spec_version);
+      i += from_data(
+          &img_params->in_right_map[Resolution::RES_2560x800], data + i,
+          spec_version);
+    }
+  }
+
  i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
  return i;
 }

 std::size_t from_data(
-    Channels::imu_params_t *imu_params, const std::uint8_t *data,
+    device::imu_params_t *imu_params, const std::uint8_t *data,
    const Version *spec_version) {
  std::size_t i = 0;
  i += from_data(&imu_params->in_accel, data + i, spec_version);
@@ -617,7 +677,9 @@ bool Channels::GetFiles(
          img_params->ok = file_size > 0;
          if (img_params->ok) {
            CheckSpecVersion(spec_ver);
-            CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
+            from_data(img_params, data + i, spec_ver);
+            // Considering the upgrade, comment this
+            // CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
          }
        } break;
        case FID_IMU_PARAMS: {
@@ -802,11 +864,37 @@ std::size_t to_data(
 }

 std::size_t to_data(
-    const Channels::img_params_t *img_params, std::uint8_t *data,
+    const device::img_params_t *img_params, std::uint8_t *data,
    const Version *spec_version) {
  std::size_t i = 3;  // skip id, size
-  i += to_data(&img_params->in_left, data + i, spec_version);
-  i += to_data(&img_params->in_right, data + i, spec_version);
+
+  if (spec_version->major() == 1) {
+    if (spec_version->minor() == 0) {
+      i += to_data(
+          &img_params->in_left_map.at(Resolution::RES_752x480), data + i,
+          spec_version);
+      i += to_data(
+          &img_params->in_right_map.at(Resolution::RES_752x480), data + i,
+          spec_version);
+    }
+
+    if (spec_version->minor() == 1) {
+      i += to_data(
+          &img_params->in_left_map.at(Resolution::RES_1280x400), data + i,
+          spec_version);
+      i += to_data(
+          &img_params->in_right_map.at(Resolution::RES_1280x400), data + i,
+          spec_version);
+
+      i += to_data(
+          &img_params->in_left_map.at(Resolution::RES_2560x800), data + i,
+          spec_version);
+      i += to_data(
+          &img_params->in_right_map.at(Resolution::RES_2560x800), data + i,
+          spec_version);
+    }
+  }
+
  i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
  // others
  std::size_t size = i - 3;
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -21,6 +21,7 @@

 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
+#include "mynteye/device/device.h"
 #include "mynteye/device/types.h"
 #include "mynteye/uvc/uvc.h"

@@ -67,10 +68,13 @@ class MYNTEYE_API Channels {

  using device_info_t = DeviceInfo;

+  using imu_params_t = device::imu_params_t;
+  using img_params_t = device::img_params_t;
+/*
  typedef struct ImgParams {
    bool ok;
-    Intrinsics in_left;
-    Intrinsics in_right;
+    std::map<Resolution, Intrinsics> in_left_map;
+    std::map<Resolution, Intrinsics> in_right_map;
    Extrinsics ex_right_to_left;
  } img_params_t;

@@ -80,7 +84,7 @@ class MYNTEYE_API Channels {
    ImuIntrinsics in_gyro;
    Extrinsics ex_left_to_imu;
  } imu_params_t;
-
+*/
  explicit Channels(std::shared_ptr<uvc::device> device);
  ~Channels();

--- a/src/mynteye/device/config.cc
+++ b/src/mynteye/device/config.cc
@@ -19,19 +19,36 @@ const std::map<Model, StreamSupports> stream_supports_map = {
    {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}}};

 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
-    {Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}}};
+    {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};

+// TODO(Kalman): Compatible with two generation
 const std::map<Model, OptionSupports> option_supports_map = {
    {Model::STANDARD,
-     {Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST, Option::FRAME_RATE,
-      Option::IMU_FREQUENCY, Option::EXPOSURE_MODE, Option::MAX_GAIN,
-      Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
-      Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP,
-      Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}}};
+     {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN,
+      Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
+      Option::MIN_EXPOSURE_TIME, Option::ERASE_CHIP,
+      Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
+      Option::ACCELEROMETER_LOW_PASS_FILTER,
+      Option::GYROSCOPE_LOW_PASS_FILTER}}};

 const std::map<Model, std::map<Capabilities, StreamRequests>>
    stream_requests_map = {
        {Model::STANDARD,
-         {{Capabilities::STEREO, {{752, 480, Format::YUYV, 25}}}}}};
+         {{Capabilities::STEREO, {{480, 752, Format::YUYV, 25}}},
+          {Capabilities::STEREO_COLOR,
+           {// {1280, 400, Format::YUYV, 10},
+            // {1280, 400, Format::YUYV, 20},
+            // {1280, 400, Format::YUYV, 30},
+            // {1280, 400, Format::YUYV, 60},
+            // {2560, 800, Format::YUYV, 10},
+            // {2560, 800, Format::YUYV, 20},
+            // {2560, 800, Format::YUYV, 30},
+            {1280, 400, Format::BGR888, 10},
+            {1280, 400, Format::BGR888, 20},
+            {1280, 400, Format::BGR888, 30},
+            {1280, 400, Format::BGR888, 60},
+            {2560, 800, Format::BGR888, 10},
+            {2560, 800, Format::BGR888, 20},
+            {2560, 800, Format::BGR888, 30}}}}}};

 MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/config.h
+++ b/src/mynteye/device/config.h
@@ -27,13 +27,18 @@ MYNTEYE_BEGIN_NAMESPACE
 using StreamSupports = std::set<Stream>;
 using CapabilitiesSupports = std::set<Capabilities>;
 using OptionSupports = std::set<Option>;
-
+using ResolutionSupports = std::set<Resolution>;
+using FrameRateSupports = std::set<FrameRate>;
 extern const std::map<Model, StreamSupports> stream_supports_map;
 extern const std::map<Model, CapabilitiesSupports> capabilities_supports_map;
 extern const std::map<Model, OptionSupports> option_supports_map;
+extern const std::map<Model, ResolutionSupports> resolution_supports_map;

 using StreamRequests = std::vector<StreamRequest>;

+extern const std::map<Model, std::map<Resolution, FrameRateSupports>>
+    framerate_Supports_supports_map;
+
 extern const std::map<Model, std::map<Capabilities, StreamRequests>>
    stream_requests_map;

--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -100,14 +100,20 @@ std::shared_ptr<Device> Device::Create(
    return std::make_shared<StandardDevice>(device);
  } else if (strings::starts_with(name, "MYNT-EYE-")) {
    // TODO(JohnZhao): Create different device by name, such as MYNT-EYE-S1000
-    std::string model_s = name.substr(9);
+    std::string model_s = name.substr(9, 5);
    VLOG(2) << "MYNE EYE Model: " << model_s;
    DeviceModel model(model_s);
-    switch (model.type) {
-      case 'S':
-        return std::make_shared<StandardDevice>(device);
-      default:
-        LOG(FATAL) << "MYNT EYE model is not supported now";
+    if (model.type == 'S') {
+      switch (model.generation) {
+        case '1':
+          return std::make_shared<StandardDevice>(device);
+        case '2':
+          return std::make_shared<StandardDevice>(device);
+        default:
+          LOG(FATAL) << "No such generation now";
+      }
+    } else {
+      LOG(FATAL) << "MYNT EYE model is not supported now";
    }
  }
  return nullptr;
@@ -431,13 +437,26 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
  return motions_->GetMotionDatas();
 }

+void Device::InitResolution(const Resolution &res) {
+  res_ = res;
+  ConfigIntrinsics(res_);
+}
+
+void Device::SetStreamRequest(const Format &format, const FrameRate &rate) {
+  StreamRequest request(res_, format, rate);
+  request_ = request;
+}
+
 const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
  try {
    return stream_config_requests_.at(capability);
  } catch (const std::out_of_range &e) {
    auto &&requests = GetStreamRequests(capability);
    if (requests.size() >= 1) {
-      VLOG(2) << "Select the first one stream request of " << capability;
+      for (auto &&request : requests) {
+        if (request == request_)
+          return request;
+      }
      return requests[0];
    } else {
      LOG(FATAL) << "Please config the stream request of " << capability;
@@ -454,53 +473,48 @@ void Device::StartVideoStreaming() {
  streams_ = std::make_shared<Streams>(GetKeyStreams());

  // if stream capabilities are supported with subdevices of device_
-  /*
  Capabilities stream_capabilities[] = {
-    Capabilities::STEREO,
-    Capabilities::COLOR,
-    Capabilities::DEPTH,
-    Capabilities::POINTS,
-    Capabilities::FISHEYE,
-    Capabilities::INFRARED,
-    Capabilities::INFRARED2
-  };
+      Capabilities::STEREO,       Capabilities::COLOR,
+      Capabilities::STEREO_COLOR, Capabilities::DEPTH,
+      Capabilities::POINTS,       Capabilities::FISHEYE,
+      Capabilities::INFRARED,     Capabilities::INFRARED2};
  for (auto &&capability : stream_capabilities) {
-  }
-  */
-  if (Supports(Capabilities::STEREO)) {
-    // do stream request selection if more than one request of each stream
-    auto &&stream_request = GetStreamRequest(Capabilities::STEREO);
+    if (Supports(capability)) {
+      // do stream request selection if more than one request of each stream
+      auto &&stream_request = GetStreamRequest(capability);

-    streams_->ConfigStream(Capabilities::STEREO, stream_request);
-    uvc::set_device_mode(
-        *device_, stream_request.width, stream_request.height,
-        static_cast<int>(stream_request.format), stream_request.fps,
-        [this](const void *data, std::function<void()> continuation) {
-          // drop the first stereo stream data
-          static std::uint8_t drop_count = 1;
-          if (drop_count > 0) {
-            --drop_count;
-            continuation();
-            return;
-          }
-          // auto &&time_beg = times::now();
-          {
-            std::lock_guard<std::mutex> _(mtx_streams_);
-            if (streams_->PushStream(Capabilities::STEREO, data)) {
-              CallbackPushedStreamData(Stream::LEFT);
-              CallbackPushedStreamData(Stream::RIGHT);
+      streams_->ConfigStream(capability, stream_request);
+      uvc::set_device_mode(
+          *device_, stream_request.width, stream_request.height,
+          static_cast<int>(stream_request.format), stream_request.fps,
+          [this, capability](
+              const void *data, std::function<void()> continuation) {
+            // drop the first stereo stream data
+            static std::uint8_t drop_count = 1;
+            if (drop_count > 0) {
+              --drop_count;
+              continuation();
+              return;
            }
-          }
-          continuation();
-          OnStereoStreamUpdate();
-          // VLOG(2) << "Stereo video callback cost "
-          //     << times::count<times::milliseconds>(times::now() - time_beg)
-          //     << " ms";
-        });
-  } else {
-    LOG(FATAL) << "Not any stream capabilities are supported by this device";
+            // auto &&time_beg = times::now();
+            {
+              std::lock_guard<std::mutex> _(mtx_streams_);
+              if (streams_->PushStream(capability, data)) {
+                CallbackPushedStreamData(Stream::LEFT);
+                CallbackPushedStreamData(Stream::RIGHT);
+              }
+            }
+            continuation();
+            OnStereoStreamUpdate();
+            // VLOG(2) << "Stereo video callback cost "
+            //     << times::count<times::milliseconds>(times::now() - time_beg)
+            //     << " ms";
+          });
+    } else {
+      // LOG(FATAL) << "Not any stream capabilities are supported by this
+      // device";
+    }
  }
-
  uvc::start_streaming(*device_, 0);
  video_streaming_ = true;
 }
@@ -543,9 +557,8 @@ void Device::ReadAllInfos() {
  device_info_ = std::make_shared<DeviceInfo>();

  CHECK_NOTNULL(channels_);
-  Channels::img_params_t img_params;
-  Channels::imu_params_t imu_params;
-  if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
+  Device::imu_params_t imu_params;
+  if (!channels_->GetFiles(device_info_.get(), &img_params_, &imu_params)) {
 #if defined(WITH_DEVICE_INFO_REQUIRED)
    LOG(FATAL)
 #else
@@ -566,14 +579,10 @@ void Device::ReadAllInfos() {
          << ", nominal_baseline: " << device_info_->nominal_baseline << "}";

  device_info_->name = uvc::get_name(*device_);
-  if (img_params.ok) {
-    SetIntrinsics(Stream::LEFT, img_params.in_left);
-    SetIntrinsics(Stream::RIGHT, img_params.in_right);
-    SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
-    VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
-    VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
-    VLOG(2) << "Extrinsics right to left: {"
-            << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
+  if (img_params_.ok) {
+    SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params_.ex_right_to_left);
+    VLOG(2) << "Extrinsics left to right: {"
+            << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
  } else {
    LOG(WARNING) << "Intrinsics & extrinsics not exist";
  }
@@ -588,6 +597,15 @@ void Device::ReadAllInfos() {
  }
 }

+void Device::ConfigIntrinsics(const Resolution &res) {
+  if (img_params_.ok) {
+    SetIntrinsics(Stream::LEFT, img_params_.in_left_map[res]);
+    SetIntrinsics(Stream::RIGHT, img_params_.in_right_map[res]);
+    VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
+    VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+  }
+}
+
 void Device::CallbackPushedStreamData(const Stream &stream) {
  if (HasStreamCallback(stream)) {
    auto &&datas = streams_->stream_datas(stream);
@@ -611,4 +629,8 @@ void Device::CallbackMotionData(const device::MotionData &data) {
  }
 }

+Device::img_params_t Device::GetImgParams() {
+  return img_params_;
+}
+
 MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/motions.cc
+++ b/src/mynteye/device/motions.cc
@@ -36,7 +36,7 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
  if (motion_callback_) {
    accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
    if (accel_range == -1)
-      accel_range = 8;
+      accel_range = 12;

    gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
    if (gyro_range == -1)
@@ -48,20 +48,34 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
      }
      for (auto &&seg : packet.segments) {
        auto &&imu = std::make_shared<ImuData>();
-        imu->frame_id = seg.frame_id;
+        // imu->frame_id = seg.frame_id;
        // if (seg.offset < 0 &&
        //     static_cast<uint32_t>(-seg.offset) > packet.timestamp) {
        //   LOG(WARNING) << "Imu timestamp offset is incorrect";
        // }
-        imu->timestamp = packet.timestamp + seg.offset;
-        imu->accel[0] = seg.accel[0] * 1.f * accel_range / 0x10000;
-        imu->accel[1] = seg.accel[1] * 1.f * accel_range / 0x10000;
-        imu->accel[2] = seg.accel[2] * 1.f * accel_range / 0x10000;
-        imu->gyro[0] = seg.gyro[0] * 1.f * gyro_range / 0x10000;
-        imu->gyro[1] = seg.gyro[1] * 1.f * gyro_range / 0x10000;
-        imu->gyro[2] = seg.gyro[2] * 1.f * gyro_range / 0x10000;
+        imu->serial_number = seg.serial_number;
+        imu->timestamp = seg.timestamp;
+        imu->flag = seg.flag;
        imu->temperature = seg.temperature / 326.8f + 25;

+        if (imu->flag == 1) {
+          imu->accel[0] = seg.accel_or_gyro[0] * 1.f * accel_range / 0x10000;
+          imu->accel[1] = seg.accel_or_gyro[1] * 1.f * accel_range / 0x10000;
+          imu->accel[2] = seg.accel_or_gyro[2] * 1.f * accel_range / 0x10000;
+          imu->gyro[0] = 0;
+          imu->gyro[1] = 0;
+          imu->gyro[2] = 0;
+        } else if (imu->flag == 2) {
+          imu->accel[0] = 0;
+          imu->accel[1] = 0;
+          imu->accel[2] = 0;
+          imu->gyro[0] = seg.accel_or_gyro[0] * 1.f * gyro_range / 0x10000;
+          imu->gyro[1] = seg.accel_or_gyro[1] * 1.f * gyro_range / 0x10000;
+          imu->gyro[2] = seg.accel_or_gyro[2] * 1.f * gyro_range / 0x10000;
+        } else {
+          imu->Reset();
+        }
+
        std::lock_guard<std::mutex> _(mtx_datas_);
        motion_data_t data = {imu};
        if (motion_datas_enabled_) {
--- a/src/mynteye/device/motions.h
+++ b/src/mynteye/device/motions.h
@@ -58,7 +58,7 @@ class Motions {

  std::mutex mtx_datas_;

-  int accel_range = 8;
+  int accel_range = 12;
  int gyro_range = 1000;
 };

--- a/src/mynteye/device/streams.cc
+++ b/src/mynteye/device/streams.cc
@@ -28,8 +28,6 @@ namespace {
 bool unpack_stereo_img_data(
    const void *data, const StreamRequest &request, ImgData *img) {
  CHECK_NOTNULL(img);
-  CHECK_EQ(request.format, Format::YUYV);
-
  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
  std::size_t data_n =
      request.width * request.height * bytes_per_pixel(request.format);
@@ -59,6 +57,7 @@ bool unpack_stereo_img_data(
  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
    checksum = (checksum ^ packet[i]);
  }
+
  if (img_packet.checksum != checksum) {
    VLOG(2) << "Image packet checksum should be 0x" << std::hex
            << std::uppercase << std::setw(2) << std::setfill('0')
@@ -77,26 +76,53 @@ bool unpack_stereo_img_data(
 bool unpack_left_img_pixels(
    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::GREY);
+  CHECK_EQ(request.format, frame->format());
  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
-  for (std::size_t i = 0; i < n; i++) {
-    frame->data()[i] = *(data_new + (i * 2));
+  if (request.format == Format::YUYV || request.format == Format::BGR888) {
+    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+    std::size_t w = frame->width() * n;
+    std::size_t h = frame->height();
+    for (std::size_t i = 0; i < h; i++) {
+      for (std::size_t j = 0; j < w; j++) {
+        frame->data()[i * w + j] = *(data_new + 2 * i * w + j);
+      }
+    }
+  } else if (request.format == Format::GREY) {
+    std::size_t n = frame->width() * frame->height();
+    for (std::size_t i = 0; i < n; i++) {
+      frame->data()[i] = *(data_new + (i * 2));
+    }
+  } else {
+    return false;
  }
+
  return true;
 }

+// TODO(Kalman): Too similar to 'unpack_left_img_pixels'
 bool unpack_right_img_pixels(
    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::GREY);
+  CHECK_EQ(request.format, frame->format());
  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
-  for (std::size_t i = 0; i < n; i++) {
-    frame->data()[i] = *(data_new + (i * 2 + 1));
+  if (request.format == Format::YUYV || request.format == Format::BGR888) {
+    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+    std::size_t w = frame->width() * n;
+    std::size_t h = frame->height();
+    for (std::size_t i = 0; i < h; i++) {
+      for (std::size_t j = 0; j < w; j++) {
+        frame->data()[i * w + j] = *(data_new + (2 * i + 1) * w + j);
+      }
+    }
+  } else if (request.format == Format::GREY) {
+    std::size_t n = frame->width() * frame->height();
+    for (std::size_t i = 0; i < n; i++) {
+      frame->data()[i] = *(data_new + (i * 2 + 1));
+    }
+  } else {
+    return false;
  }
+
  return true;
 }

@@ -107,7 +133,7 @@ Streams::Streams(const std::vector<Stream> key_streams)
      stream_capabilities_(
          {Capabilities::STEREO, Capabilities::COLOR, Capabilities::DEPTH,
           Capabilities::POINTS, Capabilities::FISHEYE, Capabilities::INFRARED,
-           Capabilities::INFRARED2}),
+           Capabilities::INFRARED2, Capabilities::STEREO_COLOR}),
      unpack_img_data_map_(
          {{Stream::LEFT, unpack_stereo_img_data},
           {Stream::RIGHT, unpack_stereo_img_data}}),
@@ -139,16 +165,16 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
  auto &&request = GetStreamConfigRequest(capability);
  bool pushed = false;
  switch (capability) {
-    case Capabilities::STEREO: {
+    case Capabilities::STEREO_COLOR: {
      // alloc left
-      AllocStreamData(Stream::LEFT, request, Format::GREY);
+      AllocStreamData(Stream::LEFT, request);
      auto &&left_data = stream_datas_map_[Stream::LEFT].back();
      // unpack img data
      if (unpack_img_data_map_[Stream::LEFT](
              data, request, left_data.img.get())) {
        left_data.frame_id = left_data.img->frame_id;
        // alloc right
-        AllocStreamData(Stream::RIGHT, request, Format::GREY);
+        AllocStreamData(Stream::RIGHT, request);
        auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
        *right_data.img = *left_data.img;
        right_data.frame_id = left_data.img->frame_id;
@@ -282,8 +308,11 @@ void Streams::AllocStreamData(
    data.img = nullptr;
  }
  if (!data.frame) {
-    data.frame = std::make_shared<frame_t>(
-        request.width, request.height, format, nullptr);
+    int width = request.width;
+    if (format != Format::GREY)
+      width /= 2;
+    data.frame =
+        std::make_shared<frame_t>(width, request.height, format, nullptr);
  }
  data.frame_id = 0;
  stream_datas_map_[stream].push_back(data);
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@@ -16,7 +16,6 @@
 #pragma once

 #include <cstdint>
-
 #include <array>
 #include <bitset>
 #include <string>
@@ -148,7 +147,7 @@ struct ImagePacket {
  std::uint8_t header;
  std::uint8_t size;
  std::uint16_t frame_id;
-  std::uint32_t timestamp;
+  std::uint64_t timestamp;
  std::uint16_t exposure_time;
  std::uint8_t checksum;

@@ -158,13 +157,19 @@ struct ImagePacket {
  }

  void from_data(std::uint8_t *data) {
+    std::uint32_t timestamp_l;
+    std::uint32_t timestamp_h;
+
    header = *data;
    size = *(data + 1);
    frame_id = (*(data + 2) << 8) | *(data + 3);
-    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
-                *(data + 7);
-    exposure_time = (*(data + 8) << 8) | *(data + 9);
-    checksum = *(data + 10);
+    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
+                  (*(data + 6) << 8) | *(data + 7);
+    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
+                  (*(data + 10) << 8) | *(data + 11);
+    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
+    exposure_time = (*(data + 12) << 8) | *(data + 13);
+    checksum = *(data + 14);
  }
 };
 #pragma pack(pop)
@@ -199,11 +204,11 @@ struct ImuReqPacket {
 */
 #pragma pack(push, 1)
 struct ImuSegment {
-  std::int16_t offset;
-  std::uint16_t frame_id;
-  std::int16_t accel[3];
+  std::uint32_t serial_number;
+  std::uint64_t timestamp;
+  std::uint8_t flag;
  std::int16_t temperature;
-  std::int16_t gyro[3];
+  std::int16_t accel_or_gyro[3];

  ImuSegment() = default;
  explicit ImuSegment(std::uint8_t *data) {
@@ -211,15 +216,21 @@ struct ImuSegment {
  }

  void from_data(std::uint8_t *data) {
-    offset = (*(data) << 8) | *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    accel[0] = (*(data + 4) << 8) | *(data + 5);
-    accel[1] = (*(data + 6) << 8) | *(data + 7);
-    accel[2] = (*(data + 8) << 8) | *(data + 9);
-    temperature = (*(data + 10) << 8) | *(data + 11);
-    gyro[0] = (*(data + 12) << 8) | *(data + 13);
-    gyro[1] = (*(data + 14) << 8) | *(data + 15);
-    gyro[2] = (*(data + 16) << 8) | *(data + 17);
+    std::uint32_t timestamp_l;
+    std::uint32_t timestamp_h;
+
+    serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
+                    *(data + 3);
+    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
+                  (*(data + 6) << 8) | *(data + 7);
+    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
+                  (*(data + 10) << 8) | *(data + 11);
+    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
+    flag = *(data + 12);
+    temperature = (*(data + 13) << 8) | *(data + 14);
+    accel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
+    accel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
+    accel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
  }
 };
 #pragma pack(pop)
@@ -230,27 +241,19 @@ struct ImuSegment {
 */
 #pragma pack(push, 1)
 struct ImuPacket {
-  std::uint32_t serial_number;
-  std::uint32_t timestamp;
  std::uint8_t count;
  std::vector<ImuSegment> segments;

  ImuPacket() = default;
-  explicit ImuPacket(std::uint8_t *data) {
+  explicit ImuPacket(std::uint8_t seg_count, std::uint8_t *data) {
+    count = seg_count;
    from_data(data);
  }
-
  void from_data(std::uint8_t *data) {
-    serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
-                    *(data + 3);
-    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
-                *(data + 7);
-    count = *(data + 8);
-
-    std::size_t seg_n = sizeof(ImuSegment);  // 18
-    for (std::size_t i = 0; i < count; i++) {
-      segments.push_back(ImuSegment(data + 9 + (seg_n * i)));
-    }
+        std::size_t seg_n = sizeof(ImuSegment);  // 21
+        for (std::size_t i = 0; i < count; i++) {
+          segments.push_back(ImuSegment(data + seg_n * i));
+        }
  }
 };
 #pragma pack(pop)
@@ -277,13 +280,11 @@ struct ImuResPacket {
    state = *(data + 1);
    size = (*(data + 2) << 8) | *(data + 3);

-    std::size_t seg_n = sizeof(ImuSegment);  // 18
-    for (std::size_t i = 4; i < size;) {
-      ImuPacket packet(data + i);
-      packets.push_back(packet);
-      i += 9 + (packet.count * seg_n);
-    }
-
+    std::size_t seg_n = sizeof(ImuSegment);  // 21
+    std::uint8_t seg_count = size / seg_n;
+    ImuPacket packet(seg_count, data + 4);
+    packets.push_back(packet);
+    // packet(2);
    checksum = *(data + 4 + size);
  }
 };
--- a/src/mynteye/device/utils.cc
+++ b/src/mynteye/device/utils.cc
@@ -20,6 +20,8 @@
 #include "mynteye/device/context.h"
 #include "mynteye/device/device.h"

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

 namespace device {
--- a/src/mynteye/types.cc
+++ b/src/mynteye/types.cc
@@ -114,8 +114,11 @@ const char *to_string(const Option &value) {
    CASE(HDR_MODE)
    CASE(ZERO_DRIFT_CALIBRATION)
    CASE(ERASE_CHIP)
+    CASE(MIN_EXPOSURE_TIME)
    CASE(ACCELEROMETER_RANGE)
    CASE(GYROSCOPE_RANGE)
+    CASE(ACCELEROMETER_LOW_PASS_FILTER)
+    CASE(GYROSCOPE_LOW_PASS_FILTER)
    default:
      CHECK(is_valid(value));
      return "Option::UNKNOWN";
@@ -169,6 +172,8 @@ std::size_t bytes_per_pixel(const Format &value) {
      return 1;
    case Format::YUYV:
      return 2;
+    case Format::BGR888:
+      return 3;
    default:
      LOG(FATAL) << "Unknown format";
  }
--- a/src/mynteye/uvc/linux/uvc-v4l2.cc
+++ b/src/mynteye/uvc/linux/uvc-v4l2.cc
@@ -46,9 +46,10 @@ namespace uvc {
  } while (0)

 #define NO_DATA_MAX_COUNT 200
+#define LIVING_MAX_COUNT 9000

 int no_data_count = 0;
-
+int living_count = 0;
 /*
 class device_error : public std::exception {
 public:
@@ -394,6 +395,12 @@ struct device {
          if (xioctl(fd, VIDIOC_QBUF, &buf) < 0)
            throw_error("VIDIOC_QBUF");
        });
+        if (living_count < LIVING_MAX_COUNT) {
+          living_count++;
+        } else {
+          living_count = 0;
+          // LOG(INFO) << "UVC pulse detection,Please ignore.";
+        }
      }

      no_data_count = 0;
@@ -402,7 +409,12 @@ struct device {
    }

    if (no_data_count > NO_DATA_MAX_COUNT) {
-      throw_error("v4l2 get stream time out!");
+      no_data_count = 0;
+      living_count = 0;
+      LOG(WARNING) << __func__
+                   << " failed: v4l2 get stream time out,Try to reboot!";
+      stop_capture();
+      start_capture();
    }
  }

--- a/src/mynteye/uvc/macosx/AVfoundationCamera.h
+++ b/src/mynteye/uvc/macosx/AVfoundationCamera.h
@@ -0,0 +1,91 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AVfoundationCamera_H
+#define AVfoundationCamera_H
+
+#import <AVFoundation/AVFoundation.h>
+#import <Cocoa/Cocoa.h>
+#import "VVUVCKit.h"
+
+#include "CameraEngine.h"
+
+static int32_t codec_table[] = { 0, 40,  0,  24, 0, 0, 0, 0, 0, 0, 'yuvs', '2vuy', 0, 'v308', '420v', '410v', 0, 0, 0, 0, 'dmb1', 'dmb1', 'mp1v', 'mp2v', 'mp4v', 'h263', 'avc1', 'dvcp', 'dvc ' };
+
+
+@interface FrameGrabber : NSObject <AVCaptureVideoDataOutputSampleBufferDelegate>
+{
+    bool new_frame;
+    int cam_width, cam_height;
+    int frm_width, frm_height;
+    int xoff, yoff;
+    unsigned char *buffer;
+    bool crop;
+    bool color;
+}
+- (id) initWithCameraSize:(int)w :(int)h :(int)b;
+- (id) initWithCropSize:(int)cw :(int)ch :(int)b :(int)fw :(int)fh :(int)xo :(int)yo;
+- (void)captureOutput:(AVCaptureOutput *)captureOutput
+didOutputSampleBuffer:(CMSampleBufferRef)sampleBuffer
+       fromConnection:(AVCaptureConnection *)connection;
+- (unsigned char*) getFrame;
+
+@end
+
+class AVfoundationCamera : public CameraEngine
+{
+
+public:
+    AVfoundationCamera(CameraConfig* cam_cfg);
+    ~AVfoundationCamera();
+	
+	static int getDeviceCount();
+	static std::vector<CameraConfig> getCameraConfigs(int dev_id = -1);
+	static CameraEngine* getCamera(CameraConfig* cam_cfg);
+	
+	bool initCamera();
+	bool startCamera();
+	unsigned char* getFrame();
+	bool stopCamera();
+	bool stillRunning();
+	bool resetCamera();
+	bool closeCamera();
+
+    int getCameraSettingStep(int mode);
+    bool setCameraSettingAuto(int mode, bool flag);
+    bool getCameraSettingAuto(int mode);
+    bool setCameraSetting(int mode, int value);
+    int getCameraSetting(int mode);
+    int getMaxCameraSetting(int mode);
+    int getMinCameraSetting(int mode);
+    bool setDefaultCameraSetting(int mode);
+    int getDefaultCameraSetting(int mode);
+    bool hasCameraSetting(int mode);
+    bool hasCameraSettingAuto(int mode);
+    
+	bool showSettingsDialog(bool lock);
+    
+private:
+    
+    bool disconnected;
+    
+    VVUVCController				*uvcController;
+    FrameGrabber                *grabber;
+    
+    AVCaptureSession			*session;
+    AVCaptureDeviceInput		*videoDeviceInput;
+    AVCaptureVideoDataOutput    *videoOutput;
+    AVCaptureDevice             *videoDevice;
+};
+#endif
--- a/src/mynteye/uvc/macosx/AVfoundationCamera.mm
+++ b/src/mynteye/uvc/macosx/AVfoundationCamera.mm
@@ -0,0 +1,739 @@
+// 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 "AVfoundationCamera.h"
+#include <iostream>
+#include <vector>
+// #include "CameraTool.h"
+
+#ifdef OSC_HOST_BIG_ENDIAN
+#define FourCC2Str(fourcc) (const char[]){*((char*)&fourcc), *(((char*)&fourcc)+1), *(((char*)&fourcc)+2), *(((char*)&fourcc)+3),0}
+#else
+#define FourCC2Str(fourcc) (const char[]){*(((char*)&fourcc)+3), *(((char*)&fourcc)+2), *(((char*)&fourcc)+1), *(((char*)&fourcc)+0),0}
+#endif
+
+@implementation FrameGrabber
+- (id) initWithCameraSize:(int)cw :(int)ch :(int) bytes
+{
+    self = [super init];
+    cam_width = cw;
+    cam_height = ch;
+    new_frame = false;
+    crop = false;
+    
+    if(bytes==3) color = true;
+    else color = false;
+    
+    buffer = new unsigned char[cam_width*cam_height*bytes];
+    return self;
+}
+
+- (id) initWithCropSize:(int)cw :(int)ch :(int)bytes :(int)fw :(int)fh :(int)xo :(int)yo
+{
+    self = [super init];
+    cam_width =  cw;
+    cam_height = ch;
+    frm_width =  fw;
+    frm_height = fh;
+    xoff = xo;
+    yoff = yo;
+    new_frame = false;
+    crop = true;
+    
+    if(bytes==3) color = true;
+    else color = false;
+    
+    buffer = new unsigned char[frm_width*frm_height*bytes];
+    return self;
+}
+
+
+- (void)captureOutput:(AVCaptureOutput *)captureOutput
+didOutputSampleBuffer:(CMSampleBufferRef)sampleBuffer
+       fromConnection:(AVCaptureConnection *)connection
+{
+    
+    new_frame = false;
+    CVImageBufferRef imageBuffer = CMSampleBufferGetImageBuffer(sampleBuffer);
+    if (CVPixelBufferLockBaseAddress(imageBuffer, 0) == kCVReturnSuccess) {
+        
+        unsigned char *src = (unsigned char*)CVPixelBufferGetBaseAddress(imageBuffer);
+        unsigned char *dest = buffer;
+        
+        if (color) {
+            
+            if (crop) {
+                unsigned char *src_buf = src + 3*(yoff*cam_width + xoff);
+                
+                for (int i=0;i<frm_height;i++) {
+                    memcpy(dest, src_buf, 3*frm_width);
+                    
+                    src_buf += 3*cam_width;
+                    dest += 3*frm_width;
+                }
+                
+            } else {
+                
+                memcpy(dest,src,cam_width*cam_height*3);
+            }
+            
+        } else {
+            
+            if (crop) {
+                
+                src += 2*(yoff*cam_width);
+                int xend = (cam_width-(frm_width+xoff));
+                
+                for (int i=0;i<frm_height;i++) {
+                    
+                    src +=  2*xoff;
+                    for (int j=frm_width/2;j>0;j--) {
+                        *dest++ = *src++;
+                        src++;
+                        *dest++ = *src++;
+                        src++;
+                    }
+                    src +=  2*xend;
+                    
+                }
+                
+            } else {
+                
+                int size = cam_width*cam_height/2;
+                for (int i=size;i>0;i--) {
+                    *dest++ = *src++;
+                    src++;
+                    *dest++ = *src++;
+                    src++;
+                }
+            }
+        }
+		
+		CVPixelBufferUnlockBaseAddress(imageBuffer, 0);
+        new_frame = true;
+    }
+}
+
+- (unsigned char*) getFrame
+{
+    if (new_frame){
+        new_frame = false;
+        return buffer;
+    } else return NULL;
+}
+
+
+- (void)dealloc
+{
+    if(buffer) delete []buffer;
+    [super dealloc];
+}
+@end
+
+AVfoundationCamera::AVfoundationCamera(CameraConfig *cam_cfg):CameraEngine(cam_cfg)
+{
+    disconnected = false;
+    running=false;
+    lost_frames=0;
+    timeout = 1000;
+    
+    uvcController = NULL;
+    
+    session = NULL;
+    videoDeviceInput = NULL;
+    videoOutput = NULL;
+    
+    videoDevice = NULL;
+    grabber = NULL;
+	
+	cam_cfg->driver = DRIVER_DEFAULT;
+}
+
+AVfoundationCamera::~AVfoundationCamera()
+{
+    if (uvcController) [uvcController release];
+    //if (videoDevice)   [videoDevice release];
+    if (videoOutput)   [videoOutput release];
+    if (grabber)       [grabber release];
+}
+
+int AVfoundationCamera::getDeviceCount() {
+	
+	NSInteger dev_count0 = [AVCaptureDevice devicesWithMediaType:AVMediaTypeVideo].count;
+	NSInteger dev_count1 = [AVCaptureDevice devicesWithMediaType:AVMediaTypeMuxed].count;
+	return (dev_count0 + dev_count1);
+}
+
+std::vector<CameraConfig> AVfoundationCamera::getCameraConfigs(int dev_id) {
+    std::vector<CameraConfig> cfg_list;
+
+    int dev_count = getDeviceCount();
+    if (dev_count==0) return cfg_list;
+	
+    NSMutableArray *captureDevices = [NSMutableArray arrayWithCapacity:dev_count];
+	NSArray *dev_list0 = [AVCaptureDevice devicesWithMediaType:AVMediaTypeVideo];
+	for (AVCaptureDevice* device in dev_list0) [captureDevices addObject:device];
+	NSArray *dev_list1 = [AVCaptureDevice devicesWithMediaType:AVMediaTypeMuxed];
+    for (AVCaptureDevice* device in dev_list1)[captureDevices addObject:device];
+    
+    int cam_id = -1;
+    for (AVCaptureDevice* device in captureDevices) {
+		cam_id ++;
+		if ((dev_id>=0) && (dev_id!=cam_id)) continue;
+        
+        CameraConfig cam_cfg;
+        // CameraTool::initCameraConfig(&cam_cfg);
+        
+        cam_cfg.driver = DRIVER_DEFAULT;
+        cam_cfg.device = cam_id;
+
+        if ([device localizedName]!=NULL)
+            sprintf(cam_cfg.name,"%s",[[device localizedName] cStringUsingEncoding:NSUTF8StringEncoding]);
+        else sprintf(cam_cfg.name,"unknown device");
+		
+		std::vector<CameraConfig> fmt_list;
+		int last_format = FORMAT_UNKNOWN;
+        NSArray *captureDeviceFormats = [device formats];
+		for (AVCaptureDeviceFormat *format in captureDeviceFormats) {
+						
+            int32_t codec = CMVideoFormatDescriptionGetCodecType((CMVideoFormatDescriptionRef)[format formatDescription]);
+			
+			if (codec == '420f') codec = '420v';
+			
+			cam_cfg.cam_format = FORMAT_UNKNOWN;
+			for (int i=FORMAT_MAX-1;i>0;i--) {
+				if (codec == codec_table[i]) {
+					cam_cfg.cam_format = i;
+					break;
+				}
+			}
+			
+			if (cam_cfg.cam_format != last_format) {
+				std::sort(fmt_list.begin(), fmt_list.end());
+				cfg_list.insert( cfg_list.end(), fmt_list.begin(), fmt_list.end() );
+				fmt_list.clear();
+				last_format = cam_cfg.cam_format;
+			}
+			
+            CMVideoDimensions dim = CMVideoFormatDescriptionGetDimensions((CMVideoFormatDescriptionRef)[format formatDescription]);
+            
+            cam_cfg.cam_width = dim.width;
+            cam_cfg.cam_height = dim.height;
+            
+            for (AVFrameRateRange *frameRateRange in [format videoSupportedFrameRateRanges]) {
+                cam_cfg.cam_fps = roundf([frameRateRange maxFrameRate]*10)/10.0f;
+                fmt_list.push_back(cam_cfg);
+            }
+        }
+		std::sort(fmt_list.begin(), fmt_list.end());
+		cfg_list.insert( cfg_list.end(), fmt_list.begin(), fmt_list.end() );
+    }
+	
+	//[captureDevices release];
+	return cfg_list;
+}
+
+CameraEngine* AVfoundationCamera::getCamera(CameraConfig *cam_cfg) {
+		
+	int dev_count = getDeviceCount();
+	if (dev_count==0) return NULL;
+	
+	if ((cam_cfg->device==SETTING_MIN) || (cam_cfg->device==SETTING_DEFAULT)) cam_cfg->device=0;
+	else if (cam_cfg->device==SETTING_MAX) cam_cfg->device=dev_count-1;
+	
+	std::vector<CameraConfig> cfg_list = AVfoundationCamera::getCameraConfigs(cam_cfg->device);
+	if (cam_cfg->cam_format==FORMAT_UNKNOWN) cam_cfg->cam_format = cfg_list[0].cam_format;
+	setMinMaxConfig(cam_cfg,cfg_list);
+	
+	if (cam_cfg->force) return new AVfoundationCamera(cam_cfg);
+	
+	for (int i=0;i<cfg_list.size();i++) {
+		
+		if (cam_cfg->cam_format != cfg_list[i].cam_format) continue;
+		if ((cam_cfg->cam_width >=0) && (cam_cfg->cam_width != cfg_list[i].cam_width)) continue;
+		if ((cam_cfg->cam_height >=0) && (cam_cfg->cam_height != cfg_list[i].cam_height)) continue;
+		if ((cam_cfg->cam_fps >=0) && (cam_cfg->cam_fps != cfg_list[i].cam_fps)) continue;
+
+		return new AVfoundationCamera(cam_cfg);
+	}
+	
+	return NULL;
+}
+
+bool AVfoundationCamera::initCamera() {
+	
+    int dev_count = getDeviceCount();
+    if ((dev_count==0) || (cfg->device < 0) || (cfg->device>=dev_count)) return false;
+	
+    NSMutableArray *videoDevices = [NSMutableArray arrayWithCapacity:dev_count];
+	NSArray *dev_list0 = [AVCaptureDevice devicesWithMediaType:AVMediaTypeVideo];
+    for (AVCaptureDevice* dev in dev_list0) [videoDevices addObject:dev];
+	NSArray *dev_list1 = [AVCaptureDevice devicesWithMediaType:AVMediaTypeMuxed];
+    for (AVCaptureDevice* dev in dev_list1) [videoDevices addObject:dev];
+	
+    videoDevice = [videoDevices objectAtIndex:cfg->device];
+    if (videoDevice==NULL) return false;
+    //else [videoDevices release];
+	
+    if ([videoDevice localizedName]!=NULL)
+        sprintf(cfg->name,"%s",[[videoDevice localizedName] cStringUsingEncoding:NSUTF8StringEncoding]);
+    else sprintf(cfg->name,"unknown");
+    
+    session = [[AVCaptureSession alloc] init];
+    if (session==NULL) return false;
+    
+    NSError *error = nil;
+    videoDeviceInput = [AVCaptureDeviceInput deviceInputWithDevice:videoDevice error:&error];
+    if (videoDeviceInput == NULL) return false;
+
+	std::vector<CameraConfig> cfg_list = getCameraConfigs(cfg->device);
+	if (cfg->cam_format==FORMAT_UNKNOWN) cfg->cam_format = cfg_list[0].cam_format;
+	setMinMaxConfig(cfg, cfg_list);
+	
+    AVCaptureDeviceFormat *selectedFormat = NULL;
+    AVFrameRateRange *selectedFrameRateRange = NULL;
+	NSArray *videoDeviceFormats = [videoDevice formats];
+    for (AVCaptureDeviceFormat *format in videoDeviceFormats) {
+        
+        CMVideoDimensions dim = CMVideoFormatDescriptionGetDimensions((CMVideoFormatDescriptionRef)[format formatDescription]);
+
+        if ((dim.width!=cfg->cam_width) || (dim.height!=cfg->cam_height)) continue; // wrong size
+        
+        int cam_format=0;
+        int32_t codec = CMVideoFormatDescriptionGetCodecType((CMVideoFormatDescriptionRef)[format formatDescription]);
+		if (codec == '420f') codec = '420v';
+
+		for (int i=FORMAT_MAX-1;i>0;i--) {
+
+			if ((codec == codec_table[i]) && (cfg->cam_format==i)) {
+				cam_format = i;
+				break;
+			}
+		}
+		
+        if (!cam_format) continue; // wrong format
+		else selectedFormat = format;
+        
+        for (AVFrameRateRange *frameRateRange in [selectedFormat videoSupportedFrameRateRanges]) {
+            float framerate = roundf([frameRateRange maxFrameRate]*10)/10.0f;
+            if (framerate==cfg->cam_fps) { // found exact framerate
+                selectedFrameRateRange = frameRateRange;
+				break;
+            }
+        }
+        
+        if (selectedFrameRateRange) break;
+    }
+    
+    if ((selectedFrameRateRange==NULL) || (selectedFormat==NULL)) return false;
+	
+    [videoDevice lockForConfiguration:&error];
+    [videoDevice setActiveFormat:selectedFormat];
+    if ([[[videoDevice activeFormat] videoSupportedFrameRateRanges] containsObject:selectedFrameRateRange]) {
+        //[videoDevice setActiveVideoMaxFrameDuration:[selectedFrameRateRange maxFrameDuration]];
+        [videoDevice setActiveVideoMinFrameDuration:[selectedFrameRateRange minFrameDuration]];
+	}
+    [videoDevice unlockForConfiguration];
+	
+    CMVideoDimensions dimensions =
+    CMVideoFormatDescriptionGetDimensions((CMVideoFormatDescriptionRef)[[videoDevice activeFormat] formatDescription]);
+    
+    cfg->cam_width =  dimensions.width;
+    cfg->cam_height = dimensions.height;
+	
+    for (AVFrameRateRange *frameRateRange in [[videoDevice activeFormat] videoSupportedFrameRateRanges])
+    {
+        cfg->cam_fps = roundf([frameRateRange maxFrameRate]*10)/10.0f;
+		if (CMTIME_COMPARE_INLINE([frameRateRange minFrameDuration], ==, [videoDevice activeVideoMinFrameDuration])) {
+			break;
+		}
+    }
+    
+    videoOutput = [[AVCaptureVideoDataOutput alloc] init];
+    
+    unsigned int pixelformat = kCVPixelFormatType_422YpCbCr8_yuvs;
+	cfg->src_format = FORMAT_YUYV;
+	if (cfg->color) {
+		pixelformat = kCVPixelFormatType_24RGB;
+		cfg->src_format = FORMAT_RGB;
+	}
+    
+    NSDictionary *pixelBufferOptions = [NSDictionary dictionaryWithObjectsAndKeys:
+                                        [NSNumber numberWithDouble:cfg->cam_width], (id)kCVPixelBufferWidthKey,
+                                        [NSNumber numberWithDouble:cfg->cam_height], (id)kCVPixelBufferHeightKey,
+                                        [NSNumber numberWithUnsignedInt: pixelformat ],
+										(id)kCVPixelBufferPixelFormatTypeKey, nil];
+	
+    [videoOutput setVideoSettings:pixelBufferOptions];
+    
+    videoOutput.alwaysDiscardsLateVideoFrames = YES;
+    [session addInput:videoDeviceInput];
+    [session addOutput:videoOutput];
+    
+    // configure output.
+    setupFrame();
+    dispatch_queue_t queue = dispatch_queue_create("queue", NULL);
+    if (cfg->frame) {
+        grabber = [[FrameGrabber alloc] initWithCropSize:cfg->cam_width :cfg->cam_height :cfg->buf_format :cfg->frame_width :cfg->frame_height :cfg->frame_xoff :cfg->frame_yoff];
+    } else {
+        grabber = [[FrameGrabber alloc] initWithCameraSize:cfg->cam_width :cfg->cam_height: cfg->buf_format];
+    }
+    [videoOutput setSampleBufferDelegate:grabber queue:queue];
+    dispatch_release(queue);
+    
+    NSString *uniqueID = [videoDevice uniqueID];
+    if (uniqueID!=NULL) {
+        uvcController = [[VVUVCController alloc] initWithDeviceIDString:[videoDevice uniqueID]];
+        if (uvcController) [uvcController resetParamsToDefaults];
+    } // else std::cout << "VVUVCController NULL" << std::endl;
+
+    return true;
+}
+
+unsigned char* AVfoundationCamera::getFrame()
+{
+    unsigned char *cambuffer = [grabber getFrame];
+    if (cambuffer!=NULL) {
+        timeout=100;
+        lost_frames=0;
+        return cambuffer;
+    } else {
+        usleep(10000);
+        lost_frames++;
+        if (lost_frames>timeout) {
+            disconnected=true;
+            running=false;
+        }
+        return NULL;
+    }
+    
+    return NULL;
+}
+
+bool AVfoundationCamera::startCamera()
+{
+    [session startRunning];
+	applyCameraSettings();
+    running = true;
+    return true;
+}
+
+bool AVfoundationCamera::stopCamera()
+{
+    [session stopRunning];
+    running=false;
+    return true;
+}
+
+bool AVfoundationCamera::stillRunning() {
+    return running;
+}
+
+bool AVfoundationCamera::resetCamera()
+{
+    return (stopCamera() && startCamera());
+}
+
+bool AVfoundationCamera::closeCamera()
+{
+    if ((uvcController) && (!disconnected)) {
+        updateSettings();
+        // CameraTool::saveSettings();
+    }
+    [session release];
+    return true;
+}
+
+bool AVfoundationCamera::showSettingsDialog(bool lock) {
+    
+    if (uvcController) {
+        [uvcController closeSettingsWindow];
+        [uvcController openSettingsWindow];
+    }
+    
+    return lock;
+}
+
+bool AVfoundationCamera::hasCameraSettingAuto(int mode) {
+    
+    if (uvcController==NULL) return false;
+    
+    switch (mode) {
+        case EXPOSURE:
+            return [uvcController autoExposureModeSupported];
+        case WHITE:
+            return [uvcController autoWhiteBalanceSupported];
+        case FOCUS:
+            return [uvcController autoFocusSupported];
+        case COLOR_HUE:
+            return [uvcController autoHueSupported];
+    }
+    
+    return false;
+}
+
+bool AVfoundationCamera::getCameraSettingAuto(int mode) {
+    
+    if (uvcController==NULL) return false;
+    if (!hasCameraSettingAuto(mode)) return false;
+    
+    switch (mode) {
+        case EXPOSURE:
+            if ([uvcController autoExposureMode]>UVC_AEMode_Manual) return true;
+            else return false;
+        case WHITE:
+            return [uvcController autoWhiteBalance];
+        case FOCUS:
+            return [uvcController autoFocus];
+        case COLOR_HUE:
+            return [uvcController autoHue];
+    }
+    
+    return false;
+}
+
+bool AVfoundationCamera::setCameraSettingAuto(int mode, bool flag) {
+    
+    if (uvcController==NULL) return false;
+    if (!hasCameraSettingAuto(mode)) return false;
+	
+    switch (mode) {
+        case EXPOSURE:
+            if (flag==true) [uvcController setAutoExposureMode:UVC_AEMode_Auto];
+			else [uvcController setAutoExposureMode:UVC_AEMode_Manual];
+            return true;
+        case WHITE:
+            [uvcController setAutoWhiteBalance:flag];
+            return true;
+        case FOCUS:
+            [uvcController setAutoFocus:flag];
+            return true;
+        case COLOR_HUE:
+            [uvcController setAutoHue:flag];
+            return true;
+    }
+    
+    return false;
+}
+
+bool AVfoundationCamera::hasCameraSetting(int mode) {
+    
+    if (uvcController==NULL) return false;
+    
+    switch (mode) {
+        case BRIGHTNESS:	return [uvcController brightSupported];
+        case CONTRAST:		return [uvcController contrastSupported];
+        case SHARPNESS:		return [uvcController sharpnessSupported];
+		case GAMMA:			return [uvcController gammaSupported];
+        case GAIN:			return [uvcController gainSupported];
+        case AUTO_GAIN:		return hasCameraSettingAuto(GAIN);
+        case EXPOSURE:		return [uvcController exposureTimeSupported];
+        case AUTO_EXPOSURE:	return hasCameraSettingAuto(EXPOSURE);
+        case FOCUS:			return [uvcController focusSupported];
+        case AUTO_FOCUS:	return hasCameraSettingAuto(FOCUS);
+        case WHITE:			return [uvcController whiteBalanceSupported];
+        case AUTO_WHITE:	return hasCameraSettingAuto(WHITE);
+        case BACKLIGHT:		return [uvcController backlightSupported];
+		case SATURATION:	return [uvcController saturationSupported];
+        case COLOR_HUE:		return [uvcController hueSupported];
+        case AUTO_HUE:		return hasCameraSettingAuto(COLOR_HUE);
+		case POWERLINE:		return [uvcController powerLineSupported];
+    }
+	
+    return false;
+}
+
+bool AVfoundationCamera::setCameraSetting(int mode, int setting) {
+    
+    if (uvcController==NULL) return false;
+    if (!hasCameraSetting(mode)) return false;
+	setCameraSettingAuto(mode, false);
+	
+    switch (mode) {
+        case BRIGHTNESS:	[uvcController setBright:setting]; return true;
+        case CONTRAST:		[uvcController setContrast:setting]; return true;
+        case SHARPNESS:		[uvcController setSharpness:setting]; return true;
+        case GAIN:			[uvcController setGain:setting]; return true;
+		case GAMMA:			[uvcController setGamma:setting]; return true;
+        case EXPOSURE:		[uvcController setExposureTime:setting]; return true;
+        case FOCUS:			[uvcController setFocus:setting]; return true;
+        case WHITE:			[uvcController setWhiteBalance:setting]; return true;
+        case BACKLIGHT:		[uvcController setBacklight:setting]; return true;
+		case SATURATION:	[uvcController setSaturation:setting]; return true;
+        case COLOR_HUE:		[uvcController setHue:setting]; return true;
+		case POWERLINE:		[uvcController setPowerLine:setting]; return true;
+    }
+	
+    return false;
+}
+
+int AVfoundationCamera::getCameraSetting(int mode) {
+    
+    if (uvcController==NULL) return 0;
+    if (!hasCameraSetting(mode)) return 0;
+    //if (getCameraSettingAuto(mode)) return 0;
+    
+    switch (mode) {
+        case BRIGHTNESS:	return [uvcController bright];
+        case CONTRAST:		return [uvcController contrast];
+        case SHARPNESS:		return [uvcController sharpness];
+        case GAIN:			return [uvcController gain];
+		case GAMMA:			return [uvcController gamma];
+        case EXPOSURE:		return [uvcController exposureTime];
+        case FOCUS:			return [uvcController focus];
+        case WHITE:			return [uvcController whiteBalance];
+        case BACKLIGHT:		return [uvcController backlight];
+		case SATURATION:	return [uvcController saturation];
+        case COLOR_HUE:		return [uvcController hue];
+		case POWERLINE:		return [uvcController powerLine];
+    }
+	
+    return 0;
+}
+
+int AVfoundationCamera::getMaxCameraSetting(int mode) {
+    
+    if (uvcController==NULL) return 0;
+    if (!hasCameraSetting(mode)) return 0;
+    //if (getCameraSettingAuto(mode)) return 0;
+    
+    switch (mode) {
+        case BRIGHTNESS:    return [uvcController maxBright];
+        case CONTRAST:      return [uvcController maxContrast];
+        case SHARPNESS:     return [uvcController maxSharpness];
+        case GAIN:          return [uvcController maxGain];
+		case GAMMA:         return [uvcController maxGamma];
+        case EXPOSURE:      return [uvcController maxExposureTime];
+        case FOCUS:         return [uvcController maxFocus];
+        case WHITE:         return [uvcController maxWhiteBalance];
+        case BACKLIGHT:     return [uvcController maxBacklight];
+		case SATURATION:	return [uvcController maxSaturation];
+        case COLOR_HUE:     return [uvcController maxHue];
+		case POWERLINE:		return [uvcController maxPowerLine];
+    }
+    
+    return 0;
+}
+
+int AVfoundationCamera::getMinCameraSetting(int mode) {
+    
+    if (uvcController==NULL) return 0;
+    if (!hasCameraSetting(mode)) return 0;
+    //if (getCameraSettingAuto(mode)) return 0;
+    
+    switch (mode) {
+        case BRIGHTNESS:    return [uvcController minBright];
+        case CONTRAST:      return [uvcController minContrast];
+        case GAIN:          return [uvcController minGain];
+		case GAMMA:         return [uvcController minGamma];
+        case EXPOSURE:      return [uvcController minExposureTime];
+        case SHARPNESS:     return [uvcController minSharpness];
+        case FOCUS:         return [uvcController minFocus];
+        case WHITE:         return [uvcController minWhiteBalance];
+        case BACKLIGHT:     return [uvcController minBacklight];
+		case SATURATION:	return [uvcController minSaturation];
+		case COLOR_HUE:     return [uvcController minHue];
+		case POWERLINE:		return [uvcController minPowerLine];
+    }
+    
+    return 0;
+}
+
+bool AVfoundationCamera::setDefaultCameraSetting(int mode) {
+    
+    if (uvcController==NULL) return false;
+    if (!hasCameraSetting(mode)) return false;
+	setCameraSettingAuto(mode, false);
+
+    switch (mode) {
+        case BRIGHTNESS:
+            [uvcController resetBright];
+            default_brightness = [uvcController bright];
+            break;
+        case CONTRAST:
+            [uvcController resetContrast];
+            default_contrast = [uvcController contrast];
+            break;
+        case SHARPNESS:
+            [uvcController resetSharpness];
+            default_sharpness = [uvcController sharpness];
+            break;
+        case GAIN:
+            [uvcController resetGain];
+            default_gain = [uvcController gain];
+            break;
+		case GAMMA:
+			[uvcController resetGamma];
+			default_gamma = [uvcController gamma];
+			break;
+        case EXPOSURE:
+            [uvcController resetExposureTime];
+            default_exposure = [uvcController exposureTime];
+            break;
+        case FOCUS:
+            [uvcController resetFocus];
+            default_focus = [uvcController focus];
+            break;
+        case WHITE:
+            [uvcController resetWhiteBalance];
+            default_white = [uvcController whiteBalance];
+            break;
+        case BACKLIGHT:
+            [uvcController resetBacklight];
+            default_backlight = [uvcController backlight];
+            break;
+		case SATURATION:
+			[uvcController resetSaturation];
+			default_saturation = [uvcController saturation];
+			break;
+		case COLOR_HUE:
+            [uvcController resetHue];
+            default_hue = [uvcController hue];
+            break;
+		case POWERLINE:
+			[uvcController resetPowerLine];
+			default_powerline = [uvcController powerLine];
+			break;
+    }
+	
+    return false;
+}
+
+int AVfoundationCamera::getDefaultCameraSetting(int mode) {
+    
+    if (uvcController==NULL) return 0;
+    if (!hasCameraSetting(mode)) return 0;
+    
+    switch (mode) {
+        case BRIGHTNESS: return default_brightness;
+        case CONTRAST: return default_contrast;
+        case GAIN: return default_gain;
+		case GAMMA: return default_gamma;
+        case EXPOSURE: return default_exposure;
+        case SHARPNESS: return default_sharpness;
+        case FOCUS: return default_focus;
+        case WHITE: return default_white;
+        case BACKLIGHT: return default_backlight;
+		case SATURATION: return default_saturation;
+        case COLOR_HUE: return default_hue;
+		case POWERLINE: return default_powerline;
+    }
+	
+    return 0;
+}
+
+int AVfoundationCamera::getCameraSettingStep(int mode) {
+    if (!hasCameraSetting(mode)) return 0;
+    return 1;
+}
--- a/src/mynteye/uvc/macosx/CameraEngine.cpp
+++ b/src/mynteye/uvc/macosx/CameraEngine.cpp
@@ -0,0 +1,697 @@
+// 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 <vector>
+#include "CameraEngine.h"
+
+const char* dstr[] = { "default","dc1394","ps3eye","raspi","uvccam","","","","","","file","folder"};
+
+const char* fstr[] =  { "unknown", "mono8",  "mono16", "rgb8", "rgb16", "mono16s", "rgb16s", "raw8", "raw16", "rgba", "yuyv", "uyvy", "yuv411", "yuv444", "yuv420p", "yuv410p",  "yvyu", "yuv211", "", "", "jpeg", "mjpeg", "mpeg", "mpeg2", "mpeg4", "h263", "h264", "", "", "", "dvpal", "dvntsc" };
+
+
+void CameraEngine::printInfo() {
+	printf("camera: %s\n",cfg->name);
+	printf("driver: %s\n",dstr[cfg->driver]);
+	printf("codec:  %s\n",fstr[cfg->cam_format]);
+	if (cfg->frame_mode<0) {
+		if (cfg->cam_fps==(int)cfg->cam_fps) printf("format: %dx%d, %dfps\n",cfg->frame_width,cfg->frame_height,(int)cfg->cam_fps);
+		else printf("format: %dx%d, %.1ffps\n",cfg->frame_width,cfg->frame_height,cfg->cam_fps);
+	}
+	else printf("format7_%d: %dx%d\n",cfg->frame_mode,cfg->frame_width,cfg->frame_height);
+}
+
+void CameraEngine::setMinMaxConfig(CameraConfig *cam_cfg, std::vector<CameraConfig> cfg_list) {
+	if ((cam_cfg->cam_width>0) && (cam_cfg->cam_height>0) && (cam_cfg->cam_fps>0)) return;
+
+	int max_width = 0;
+	int max_height = 0;
+	int min_width = INT_MAX;
+	int min_height = INT_MAX;
+	float max_fps = 0;
+	float min_fps = INT_MAX;
+
+	for (unsigned int i=0;i<cfg_list.size();i++) {
+		if (cfg_list[i].cam_format!=cam_cfg->cam_format) continue; // wrong format
+		if (cfg_list[i].frame_mode!=cam_cfg->frame_mode) continue; // wrong format7
+
+		if (cfg_list[i].cam_width>max_width) max_width = cfg_list[i].cam_width;
+		if (cfg_list[i].cam_width<min_width) min_width = cfg_list[i].cam_width;
+
+		if (cfg_list[i].cam_height>max_height) max_height = cfg_list[i].cam_height;
+		if (cfg_list[i].cam_width<min_height) min_height = cfg_list[i].cam_height;
+	}
+
+	if ((cam_cfg->cam_width==SETTING_MAX) || (cam_cfg->cam_width>max_width)) cam_cfg->cam_width = max_width;
+	else if ((cam_cfg->cam_width==SETTING_MIN) || (cam_cfg->cam_width<min_width)) cam_cfg->cam_width = min_width;
+	if ((cam_cfg->cam_height==SETTING_MAX) || (cam_cfg->cam_height>max_height)) cam_cfg->cam_height = max_height;
+	else if ((cam_cfg->cam_height==SETTING_MIN) || (cam_cfg->cam_height<min_height)) cam_cfg->cam_height = min_height;
+
+	if (cam_cfg->cam_fps>0) return;
+
+	for (unsigned int i=0;i<cfg_list.size();i++) {
+		if (cfg_list[i].cam_format!=cam_cfg->cam_format) continue; // wrong format
+		if (cfg_list[i].frame_mode!=cam_cfg->frame_mode) continue; // wrong format7
+		if ((cfg_list[i].cam_width!=cam_cfg->cam_width) || (cfg_list[i].cam_height!=cam_cfg->cam_height)) continue; // wrong size
+
+		if (cfg_list[i].cam_fps>max_fps) max_fps = cfg_list[i].cam_fps;
+		if (cfg_list[i].cam_fps<min_fps) min_fps = cfg_list[i].cam_fps;
+	}
+
+	if ((cam_cfg->cam_fps==SETTING_MAX) || (cam_cfg->cam_fps>max_fps)) cam_cfg->cam_fps = max_fps;
+	if ((cam_cfg->cam_fps==SETTING_MIN) || (cam_cfg->cam_fps<min_fps)) cam_cfg->cam_fps = min_fps;
+}
+
+bool CameraEngine::showSettingsDialog(bool lock) {
+    return true;
+}
+
+void CameraEngine::control(unsigned char key) {
+    if(!settingsDialog) return;
+
+    int step = 0;
+    switch(key) {
+        case VALUE_DECREASE:
+            step = getCameraSettingStep(currentCameraSetting);
+            if (step==1) step = (int)((float)ctrl_max/256.0f);
+            if (step<1) step=1;
+            ctrl_val -= step;
+            if (ctrl_val<ctrl_min) ctrl_val=ctrl_min;
+            setCameraSetting(currentCameraSetting,ctrl_val);
+            break;
+        case VALUE_INCREASE:
+            step = getCameraSettingStep(currentCameraSetting);
+            if (step==1) step = (int)((float)ctrl_max/256.0f);
+            if (step<1) step=1;
+            ctrl_val += step;
+            if (ctrl_val>ctrl_max) ctrl_val=ctrl_max;
+            setCameraSetting(currentCameraSetting,ctrl_val);
+            break;
+        case SETTING_PREVIOUS:
+            currentCameraSetting--;
+            if(currentCameraSetting<0) {
+                if (cfg->color) currentCameraSetting=COLOR_BLUE;
+                else currentCameraSetting=BACKLIGHT;
+            }
+            if ((!hasCameraSetting(currentCameraSetting)) || (getCameraSettingAuto(currentCameraSetting)))
+                control(SETTING_PREVIOUS);
+            break;
+        case SETTING_NEXT:
+            currentCameraSetting++;
+            if ((cfg->color) && (currentCameraSetting>COLOR_BLUE)) currentCameraSetting=0;
+            else if ((!cfg->color) && (currentCameraSetting>BACKLIGHT)) currentCameraSetting=0;
+            if ((!hasCameraSetting(currentCameraSetting)) || (getCameraSettingAuto(currentCameraSetting)))
+                control(SETTING_NEXT);
+            break;
+        case KEY_D:
+            resetCameraSettings();
+            break;
+
+    }
+
+    ctrl_val = getCameraSetting(currentCameraSetting);
+    ctrl_max = getMaxCameraSetting(currentCameraSetting);
+    ctrl_min = getMinCameraSetting(currentCameraSetting);
+}
+
+void CameraEngine::uyvy2gray(int width, int height, unsigned char *src, unsigned char *dest) {
+
+    for (int i=height*width/2;i>0;i--) {
+        src++;
+        *dest++ = *src++;
+        src++;
+        *dest++ = *src++;
+    }
+}
+
+void CameraEngine::crop_uyvy2gray(int cam_w, unsigned char *cam_buf, unsigned char *frm_buf) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    cam_buf += 2*y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+
+    for (int i=frm_h;i>0;i--) {
+
+        cam_buf += 2*x_off;
+        for (int j=frm_w/2;j>0;j--) {
+            cam_buf++;
+            *frm_buf++ = *cam_buf++;
+            cam_buf++;
+            *frm_buf++ = *cam_buf++;
+        }
+        cam_buf +=  2*x_end;
+    }
+}
+
+void CameraEngine::yuyv2gray(int width, int height, unsigned char *src, unsigned char *dest) {
+    for (int i=height*width/2;i>0;i--) {
+        *dest++ = *src++;
+        src++;
+        *dest++ = *src++;
+        src++;
+    }
+}
+
+void CameraEngine::crop_yuyv2gray(int cam_w, unsigned char *cam_buf, unsigned char *frm_buf) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    cam_buf += 2*y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+
+    for (int i=frm_h;i>0;i--) {
+
+        cam_buf +=  2*x_off;
+        for (int j=frm_w/2;j>0;j--) {
+            *frm_buf++ = *cam_buf++;
+            cam_buf++;
+            *frm_buf++ = *cam_buf++;
+            cam_buf++;
+        }
+        cam_buf +=  2*x_end;
+    }
+}
+
+//void yuv2rgb_conv(int Y1, int Y2, int U, int V, unsigned char *dest) {
+void yuv2rgb_conv(int Y, int U, int V, unsigned char *dest) {
+
+	/*int R = (int)(Y + 1.370705f * V);
+	int G = (int)(Y - 0.698001f * V - 0.337633f * U);
+	int B = (int)(Y + 1.732446f * U);*/
+
+	// integer method is twice as fast
+	int C = 298*(Y - 16);
+	int R = (C + 409*V + 128) >> 8;
+	int G = (C - 100*U - 208*V + 128) >> 8;
+	int B = (C + 516*U + 128) >> 8;
+
+	SAT(R);
+	SAT(G);
+	SAT(B);
+
+	*dest++ = R;
+    *dest++ = G;
+	*dest++ = B;
+}
+
+void CameraEngine::uyvy2rgb(int width, int height, unsigned char *src, unsigned char *dest) {
+
+	int Y1,Y2,U,V;
+
+	for(int i=width*height/2;i>0;i--) {
+		// U and V are +-0.5
+        U  = *src++ - 128;
+        Y1 = *src++;
+        V  = *src++ - 128;
+        Y2 = *src++;
+
+        yuv2rgb_conv(Y1,U,V,dest);
+        yuv2rgb_conv(Y2,U,V,dest+=3);
+        dest+=3;
+	}
+}
+
+void CameraEngine::crop_uyvy2rgb(int cam_w, unsigned char *cam_buf, unsigned char *frm_buf) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    int Y1,Y2,U,V;
+
+    cam_buf += 2*y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+
+    for (int i=frm_h;i>0;i--) {
+
+        cam_buf +=  2*x_off;
+        for (int j=frm_w/2;j>0;j--) {
+            // U and V are +-0.5
+            U  = *cam_buf++ - 128;
+            Y1 = *cam_buf++;
+            V  = *cam_buf++ - 128;
+            Y2 = *cam_buf++;
+
+            yuv2rgb_conv(Y1,U,V,frm_buf);
+            yuv2rgb_conv(Y2,U,V,frm_buf+=3);
+            frm_buf+=3;
+        }
+        cam_buf += 2*x_end;
+    }
+}
+
+void CameraEngine::yuyv2rgb(int width, int height, unsigned char *src, unsigned char *dest) {
+
+    int Y1,Y2,U,V;
+
+    for(int i=width*height/2;i>0;i--) {
+
+        Y1 = *src++;
+        U  = *src++ - 128;
+        Y2 = *src++;
+        V  = *src++ - 128;
+
+        yuv2rgb_conv(Y1,U,V,dest);
+        yuv2rgb_conv(Y2,U,V,dest+=3);
+        dest+=3;
+    }
+}
+
+void CameraEngine::crop_yuyv2rgb(int cam_w, unsigned char *cam_buf, unsigned char *frm_buf) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    int Y1,Y2,U,V;
+
+    cam_buf += 2*y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+
+    for (int i=frm_h;i>0;i--) {
+
+        cam_buf +=  2*x_off;
+        for (int j=frm_w/2;j>0;j--) {
+            // U and V are +-0.5
+            Y1 = *cam_buf++;
+            U  = *cam_buf++ - 128;
+            Y2 = *cam_buf++;
+            V  = *cam_buf++ - 128;
+
+            yuv2rgb_conv(Y1,U,V,frm_buf);
+            yuv2rgb_conv(Y2,U,V,frm_buf+=3);
+            frm_buf+=3;
+        }
+        cam_buf += 2*x_end;
+    }
+}
+
+void CameraEngine::gray2rgb(int width, int height, unsigned char *src, unsigned char *dest) {
+
+    int size = width*height;
+    for (int i=size;i>0;i--) {
+        unsigned char pixel = *src++;
+            *dest++ = pixel;
+            *dest++ = pixel;
+            *dest++ = pixel;
+        }
+}
+
+void CameraEngine::crop_gray2rgb(int cam_w, unsigned char *cam_buf, unsigned char *frm_buf) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    cam_buf += y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+
+    for (int i=frm_h;i>0;i--) {
+
+        cam_buf += x_off;
+        for (int j=frm_w;j>0;j--) {
+            unsigned char pixel = *cam_buf++;
+            *frm_buf++ = pixel;
+            *frm_buf++ = pixel;
+            *frm_buf++ = pixel;
+        }
+        cam_buf +=  x_end;
+    }
+}
+
+void CameraEngine::grayw2rgb(int width, int height, unsigned char *src, unsigned char *dest) {
+    unsigned short src_pixel;
+    unsigned char dest_pixel;
+	unsigned char pixel;
+
+    for(int i=width*height;i>0;i--) {
+		pixel = *src++ ;
+        src_pixel = pixel | (*src++ << 8);
+        dest_pixel = (unsigned char)(src_pixel/4);
+        *dest++ = dest_pixel;
+        *dest++ = dest_pixel;
+        *dest++ = dest_pixel;        
+    }
+}
+
+void CameraEngine::crop_grayw2rgb(int cam_w, unsigned char *src, unsigned char *dest) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    unsigned short src_pixel;
+    unsigned char dest_pixel;
+	unsigned char pixel;
+
+    src += 2*y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+
+    for (int i=frm_h;i>0;i--) {
+
+        src += 2*x_off;
+        for (int j=frm_w;j>0;j--) {
+			pixel = *src++;
+            src_pixel = pixel | (*src++ << 8);
+            dest_pixel = (unsigned char)(src_pixel/4);
+
+            *dest++ = dest_pixel;
+            *dest++ = dest_pixel;
+            *dest++ = dest_pixel;
+        }
+        src +=  2*x_end;
+    }
+
+}
+
+void CameraEngine::grayw2gray(int width, int height, unsigned char *src, unsigned char *dest) {
+
+    unsigned short value;
+	unsigned char pixel;
+
+    for(int i=width*height;i>0;i--) {
+		pixel = *src++;
+        value = pixel | (*src++ << 8);
+        *dest++ = (unsigned char)(value/4);
+    }
+}
+
+void CameraEngine::crop_grayw2gray(int cam_w, unsigned char *src, unsigned char *dest) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    unsigned short src_pixel;
+	unsigned char pixel;
+
+    src += 2*y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+
+    for (int i=frm_h;i>0;i--) {
+
+        src += 2*x_off;
+        for (int j=frm_w;j>0;j--) {
+			pixel = *src++;
+            src_pixel = pixel | (*src++ << 8);
+            *dest++ = (unsigned char)(src_pixel/4);
+        }
+        src +=  2*x_end;
+    }
+}
+
+void CameraEngine::crop(int cam_w, int cam_h, unsigned char *cam_buf, unsigned char *frm_buf, int b) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    cam_buf += b*(y_off*cam_w + x_off);
+
+    for (int i=frm_h;i>0;i--) {
+        memcpy(frm_buf, cam_buf, b*cam_w);
+
+        cam_buf += b*cam_w;
+        frm_buf += b*frm_w;
+    }
+ }
+
+void CameraEngine::flip(int width, int height, unsigned char *src, unsigned char *dest, int b) {
+
+    int size = b*width*height;
+    dest += size-1;
+    for(int i=size;i>0;i--) {
+        *dest-- = *src++;
+    }
+}
+
+void CameraEngine::flip_crop(int cam_w, int cam_h, unsigned char *cam_buf, unsigned char *frm_buf, int b) {
+
+	if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+	cam_buf += b*y_off*cam_w;
+	frm_buf += b*frm_w*frm_h-1;
+    int xend = (cam_w-(frm_w+x_off));
+
+    for (int i=frm_h;i>0;i--) {
+
+		cam_buf +=  b*x_off;
+        for (int j=b*frm_w;j>0;j--) {
+ 			*frm_buf-- = *cam_buf++;
+	    }
+        cam_buf +=  b*xend;
+    }
+}
+
+void CameraEngine::rgb2gray(int width, int height, unsigned char *src, unsigned char *dest) {
+
+    int R,G,B;
+    for (int i=width*height;i>0;i--) {
+
+        R = *src++;
+        G = *src++;
+        B = *src++;
+        *dest++ = HBT(R*77 + G*151 + B*28);
+    }
+}
+
+void CameraEngine::flip_rgb2gray(int width, int height, unsigned char *src, unsigned char *dest) {
+
+	int size = width*height;
+	dest += size-1;
+
+    int R,G,B;
+    for (int i=size;i>0;i--) {
+
+        R = *src++;
+        G = *src++;
+        B = *src++;
+        *dest-- = HBT(R*77 + G*151 + B*28);
+    }
+}
+void CameraEngine::crop_rgb2gray(int cam_w, unsigned char *cam_buf, unsigned char *frm_buf) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    cam_buf += 3*y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+
+    int R,G,B;
+    for (int i=frm_h;i>0;i--) {
+
+        cam_buf += 3*x_off;
+        for (int j=frm_w;j>0;j--) {
+            R = *cam_buf++;
+            G = *cam_buf++;
+            B = *cam_buf++;
+            *frm_buf++ = HBT(R*77 + G*151 + B*28);
+        }
+        cam_buf += 3*x_end;
+    }
+}
+
+void CameraEngine::flip_crop_rgb2gray(int cam_w, unsigned char *cam_buf, unsigned char *frm_buf) {
+
+    if(!cfg->frame) return;
+    int x_off = cfg->frame_xoff;
+    int y_off = cfg->frame_yoff;
+    int frm_w = cfg->frame_width;
+    int frm_h = cfg->frame_height;
+
+    cam_buf += 3*y_off*cam_w;
+    int x_end = cam_w-(frm_w+x_off);
+	frm_buf += frm_w*frm_h-1;
+
+    int R,G,B;
+    for (int i=frm_h;i>0;i--) {
+
+        cam_buf += 3*x_off;
+        for (int j=frm_w;j>0;j--) {
+            R = *cam_buf++;
+            G = *cam_buf++;
+            B = *cam_buf++;
+            *frm_buf-- = HBT(R*77 + G*151 + B*28);
+        }
+        cam_buf += 3*x_end;
+    }
+}
+
+void CameraEngine::setupFrame() {
+
+    if(!cfg->frame) {
+        cfg->frame_width = cfg->cam_width;
+        cfg->frame_height = cfg->cam_height;
+        return;
+    }
+
+    // size sanity check
+    if (cfg->frame_width%2!=0) cfg->frame_width--;
+    if (cfg->frame_height%2!=0) cfg->frame_height--;
+
+    if (cfg->frame_width<=0) cfg->frame_width = cfg->cam_width;
+    if (cfg->frame_height<=0) cfg->frame_height = cfg->cam_height;
+
+    if (cfg->frame_width > cfg->cam_width) cfg->frame_width = cfg->cam_width;
+    if (cfg->frame_height > cfg->cam_height) cfg->frame_height = cfg->cam_height;
+
+    // no cropping if same size
+    if ((cfg->frame_width==cfg->cam_width) && (cfg->frame_height==cfg->cam_height)) {
+
+        cfg->frame_width = cfg->cam_width;
+        cfg->frame_height = cfg->cam_height;
+        cfg->frame = false;
+        return;
+    }
+
+    // offset sanity check
+    int xdiff = cfg->cam_width-cfg->frame_width;
+    if (xdiff<0) cfg->frame_xoff = 0;
+    else if (cfg->frame_xoff > xdiff) cfg->frame_xoff = xdiff;
+    int ydiff = cfg->cam_height-cfg->frame_height;
+    if (ydiff<0) cfg->frame_yoff = 0;
+    else if (cfg->frame_yoff > ydiff) cfg->frame_yoff = ydiff;
+
+}
+
+void CameraEngine::applyCameraSetting(int mode, int value) {
+
+    if (!hasCameraSetting(mode)) return;
+
+    switch (value) {
+        case SETTING_AUTO:
+            if (hasCameraSettingAuto(mode)) {
+                setCameraSettingAuto(mode,true);
+                return;
+            }
+		case SETTING_OFF:
+        case SETTING_DEFAULT:
+            setDefaultCameraSetting(mode);
+            return;
+        case SETTING_MIN:
+			setCameraSettingAuto(mode,false);
+            setCameraSetting(mode,getMinCameraSetting(mode)); return;
+        case SETTING_MAX:
+			setCameraSettingAuto(mode,false);
+            setCameraSetting(mode,getMaxCameraSetting(mode)); return;
+        default: {
+            int max = getMaxCameraSetting(mode);
+            int min = getMinCameraSetting(mode);
+            if (value<min) value = min;
+            else if (value>max) value = max;
+            setCameraSettingAuto(mode,false);
+            setCameraSetting(mode,value);
+        }
+    }
+}
+
+void CameraEngine::resetCameraSettings() {
+
+   for (int mode=MODE_MIN;mode<=MODE_MAX;mode++)
+        setDefaultCameraSetting(mode);
+}
+
+void CameraEngine::applyCameraSettings() {
+
+    resetCameraSettings();
+
+    applyCameraSetting(BRIGHTNESS,cfg->brightness);
+    applyCameraSetting(CONTRAST,cfg->contrast);
+    applyCameraSetting(SHARPNESS,cfg->sharpness);
+    applyCameraSetting(GAIN,cfg->gain);
+    applyCameraSetting(EXPOSURE,cfg->exposure);
+    applyCameraSetting(SHUTTER,cfg->shutter);
+    applyCameraSetting(FOCUS,cfg->focus);
+    applyCameraSetting(WHITE,cfg->white);
+    applyCameraSetting(POWERLINE,cfg->powerline);
+    applyCameraSetting(BACKLIGHT,cfg->backlight);
+    applyCameraSetting(GAMMA,cfg->gamma);
+
+    applyCameraSetting(SATURATION,cfg->saturation);
+    applyCameraSetting(COLOR_HUE,cfg->hue);
+    applyCameraSetting(COLOR_RED,cfg->red);
+    applyCameraSetting(COLOR_GREEN,cfg->green);
+    applyCameraSetting(COLOR_BLUE,cfg->blue);
+}
+
+int CameraEngine::updateSetting(int mode) {
+
+    if (!hasCameraSetting(mode))    return SETTING_OFF;
+    if (getCameraSettingAuto(mode)) return SETTING_AUTO;
+
+    int value = getCameraSetting(mode);
+	if (value==getDefaultCameraSetting(mode))  value = SETTING_DEFAULT;
+    else if (value==getMinCameraSetting(mode)) value = SETTING_MIN;
+    else if (value==getMaxCameraSetting(mode)) value = SETTING_MAX;
+
+    return value;
+}
+
+void CameraEngine::updateSettings() {
+
+    cfg->brightness = updateSetting(BRIGHTNESS);
+    cfg->contrast = updateSetting(CONTRAST);
+    cfg->sharpness = updateSetting(SHARPNESS);
+
+    cfg->gain = updateSetting(GAIN);
+    cfg->exposure = updateSetting(EXPOSURE);
+    cfg->shutter = updateSetting(SHUTTER);
+    cfg->focus = updateSetting(FOCUS);
+    cfg->white = updateSetting(WHITE);
+    cfg->backlight = updateSetting(BACKLIGHT);
+    cfg->powerline = updateSetting(POWERLINE);
+    cfg->gamma = updateSetting(GAMMA);
+
+	if (cfg->color) {
+		cfg->saturation = updateSetting(SATURATION);
+		cfg->hue = updateSetting(COLOR_HUE);
+		cfg->red = updateSetting(COLOR_RED);
+		cfg->green = updateSetting(COLOR_GREEN);
+		cfg->blue = updateSetting(COLOR_BLUE);
+	} else {
+		cfg->saturation = SETTING_OFF;
+		cfg->hue = SETTING_OFF;
+		cfg->red = SETTING_OFF;
+		cfg->green = SETTING_OFF;
+		cfg->blue = SETTING_OFF;
+	}
+
+}
--- a/src/mynteye/uvc/macosx/CameraEngine.h
+++ b/src/mynteye/uvc/macosx/CameraEngine.h
@@ -0,0 +1,306 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CAMERAENGINE_H
+#define CAMERAENGINE_H
+
+#include <list>
+#include <fstream>
+#include <iostream>
+#include <algorithm>
+
+#include <limits.h>
+#include <math.h>
+
+#include <CoreFoundation/CFBundle.h>
+
+#define SAT(c) \
+if (c & (~255)) { if (c < 0) c = 0; else c = 255; }
+#define HBT(x) (unsigned char)((x)>>8)
+
+#define KEY_A 4
+#define KEY_B 5
+#define KEY_C 6
+#define KEY_D 7
+#define KEY_E 8
+#define KEY_F 9
+#define KEY_G 10
+#define KEY_H 11
+#define KEY_I 12
+#define KEY_J 13
+#define KEY_K 14
+#define KEY_L 15
+#define KEY_M 16
+#define KEY_N 17
+#define KEY_O 18
+#define KEY_P 19
+#define KEY_Q 20
+#define KEY_R 21
+#define KEY_S 22
+#define KEY_T 23
+#define KEY_U 24
+#define KEY_V 25
+#define KEY_W 26
+#define KEY_X 27
+#define KEY_Y 29
+#define KEY_Z 28
+
+#define KEY_SPACE 44
+#define KEY_RIGHT 79
+#define KEY_LEFT 80
+#define KEY_DOWN 81
+#define KEY_UP 82
+
+#define WIDTH 640
+#define HEIGHT 480
+
+#define SETTING_DEFAULT -100000
+#define SETTING_AUTO    -200000
+#define SETTING_MIN     -300000
+#define SETTING_MAX     -400000
+#define SETTING_OFF     -500000
+
+#define FORMAT_UNSUPPORTED  -1
+#define FORMAT_UNKNOWN  0
+#define FORMAT_GRAY     1
+#define FORMAT_GRAY16   2
+#define FORMAT_RGB      3
+#define FORMAT_RGB16    4
+#define FORMAT_GRAY16S  5
+#define FORMAT_RGB16S   6
+#define FORMAT_RAW8		7
+#define FORMAT_RAW16    8
+#define FORMAT_RGBA		9
+#define FORMAT_YUYV    10
+#define FORMAT_UYVY    11
+#define FORMAT_YUV411  12
+#define FORMAT_YUV444  13
+#define FORMAT_420P    14
+#define FORMAT_410P    15
+#define FORMAT_YVYU    16
+#define FORMAT_YUV211  17
+#define FORMAT_JPEG    20
+#define FORMAT_MJPEG   21
+#define FORMAT_MPEG    22
+#define FORMAT_MPEG2   23
+#define FORMAT_MPEG4   24
+#define FORMAT_H263    25
+#define FORMAT_H264    26
+#define FORMAT_DVPAL   30
+#define FORMAT_DVNTSC  31
+#define FORMAT_MAX     31
+
+extern const char* fstr[];
+extern const char* dstr[];
+
+#define DRIVER_DEFAULT  0
+#define DRIVER_DC1394   1
+#define DRIVER_PS3EYE   2
+#define DRIVER_RASPI    3
+#define DRIVER_UVCCAM   4
+#define DRIVER_FILE    10
+#define DRIVER_FOLDER  11
+
+#define VALUE_INCREASE   79
+#define VALUE_DECREASE   80
+#define SETTING_NEXT     81
+#define SETTING_PREVIOUS 82
+
+enum CameraSetting { BRIGHTNESS, CONTRAST, SHARPNESS, AUTO_GAIN, GAIN, AUTO_EXPOSURE, EXPOSURE, SHUTTER, AUTO_FOCUS, FOCUS, AUTO_WHITE, WHITE, GAMMA, POWERLINE, BACKLIGHT, SATURATION, AUTO_HUE, COLOR_HUE, COLOR_RED, COLOR_GREEN, COLOR_BLUE };
+#define MODE_MIN BRIGHTNESS
+#define MODE_MAX COLOR_BLUE
+
+struct CameraConfig {
+
+    char path[256];
+
+    int driver;
+    int device;
+
+	char name[256];
+    char src[256];
+
+    bool color;
+    bool frame;
+
+    int cam_format;
+    int src_format;
+    int buf_format;
+
+    int cam_width;
+    int cam_height;
+    float cam_fps;
+
+    int frame_width;
+    int frame_height;
+    int frame_xoff;
+    int frame_yoff;
+    int frame_mode;
+
+    int brightness;
+    int contrast;
+    int sharpness;
+
+    int gain;
+    int shutter;
+    int exposure;
+    int focus;
+    int gamma;
+    int white;
+    int powerline;
+    int backlight;
+
+	int saturation;
+    int hue;
+    int red;
+    int blue;
+    int green;
+	
+	bool force;
+
+    bool operator < (const CameraConfig& c) const {
+
+       //if (device < c.device) return true;
+       //if (cam_format < c.cam_format) return true;
+
+       if (cam_width > c.cam_width || (cam_width == c.cam_width && cam_height < c.cam_height))
+                return true;
+
+       if (cam_width == c.cam_width && cam_height == c.cam_height) {
+                return (cam_fps > c.cam_fps);
+       } else return false;
+
+    }
+};
+
+class CameraEngine
+{
+public:
+
+    CameraEngine(CameraConfig *cam_cfg) {
+        cfg = cam_cfg;
+        settingsDialog=false;
+
+        if (cfg->color) cfg->buf_format=FORMAT_RGB;
+        else cfg->buf_format=FORMAT_GRAY;
+    }
+
+    virtual ~CameraEngine() {};
+
+    virtual bool initCamera() = 0;
+    virtual bool startCamera() = 0;
+    virtual unsigned char* getFrame() = 0;
+    virtual bool stopCamera() = 0;
+    virtual bool resetCamera() = 0;
+    virtual bool closeCamera() = 0;
+    virtual bool stillRunning() = 0;
+
+    void printInfo();
+    static void setMinMaxConfig(CameraConfig *cam_cfg, std::vector<CameraConfig> cfg_list);
+
+    virtual int getCameraSettingStep(int mode) = 0;
+    virtual int getMinCameraSetting(int mode) = 0;
+    virtual int getMaxCameraSetting(int mode) = 0;
+    virtual int getCameraSetting(int mode) = 0;
+    virtual bool setCameraSetting(int mode, int value) = 0;
+    virtual bool setCameraSettingAuto(int mode, bool flag) = 0;
+    virtual bool getCameraSettingAuto(int mode) = 0;
+    virtual bool setDefaultCameraSetting(int mode) = 0;
+    virtual int getDefaultCameraSetting(int mode) = 0;
+    virtual bool hasCameraSetting(int mode) = 0;
+    virtual bool hasCameraSettingAuto(int mode) = 0;
+
+    virtual bool showSettingsDialog(bool lock);
+    virtual void control(unsigned char key);
+
+    int getId() { return cfg->device; }
+    int getFps() { return (int)floor(cfg->cam_fps+0.5f); }
+    int getWidth() { return cfg->frame_width; }
+    int getHeight() { return cfg->frame_height; }
+    int getFormat() { return cfg->buf_format; }
+    char* getName() { return cfg->name; }
+
+protected:
+
+    CameraConfig *cfg;
+
+    unsigned char* frm_buffer;
+    unsigned char* cam_buffer;
+
+    int lost_frames, timeout;
+
+    bool running;
+    bool settingsDialog;
+    int currentCameraSetting;
+
+    void crop(int width, int height, unsigned char *src, unsigned char *dest, int bytes);
+    void flip(int width, int height, unsigned char *src, unsigned char *dest, int bytes);
+    void flip_crop(int width, int height, unsigned char *src, unsigned char *dest, int bytes);
+
+    void rgb2gray(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_rgb2gray(int width, unsigned char *src, unsigned char *dest);
+    void flip_rgb2gray(int width, int height, unsigned char *src, unsigned char *dest);
+    void flip_crop_rgb2gray(int width, unsigned char *src, unsigned char *dest);
+
+    void uyvy2gray(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_uyvy2gray(int width, unsigned char *src, unsigned char *dest);
+    void yuyv2gray(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_yuyv2gray(int width, unsigned char *src, unsigned char *dest);
+    void yuv2gray(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_yuv2gray(int width, unsigned char *src, unsigned char *dest);
+
+    void gray2rgb(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_gray2rgb(int width, unsigned char *src, unsigned char *dest);
+    void uyvy2rgb(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_uyvy2rgb(int width, unsigned char *src, unsigned char *dest);
+    void yuyv2rgb(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_yuyv2rgb(int width, unsigned char *src, unsigned char *dest);
+
+    void grayw2rgb(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_grayw2rgb(int width, unsigned char *src, unsigned char *dest);
+    void grayw2gray(int width, int height, unsigned char *src, unsigned char *dest);
+    void crop_grayw2gray(int width, unsigned char *src, unsigned char *dest);
+
+    void resetCameraSettings();
+    void applyCameraSettings();
+    void applyCameraSetting(int mode, int value);
+    void updateSettings();
+    int updateSetting(int mode);
+
+    void setupFrame();
+
+    int default_brightness;
+    int default_contrast;
+    int default_sharpness;
+
+    int default_gain;
+    int default_shutter;
+    int default_exposure;
+    int default_focus;
+    int default_gamma;
+    int default_powerline;
+    int default_white;
+    int default_backlight;
+
+    int default_saturation;
+    int default_hue;
+    int default_red;
+    int default_blue;
+    int default_green;
+
+    int ctrl_min;
+    int ctrl_max;
+    int ctrl_val;
+};
+#endif
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Headers
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Headers
@@ -0,0 +1 @@
+Versions/Current/Headers
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Resources
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Resources
@@ -0,0 +1 @@
+Versions/Current/Resources
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/USBBusProber
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/USBBusProber
@@ -0,0 +1 @@
+Versions/Current/USBBusProber
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/BusProbeClass.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/BusProbeClass.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+#import <Foundation/Foundation.h>
+
+
+@interface BusProbeClass : NSObject {
+    UInt8   _classNum;
+    UInt8   _subclassNum;
+    UInt8   _protocolNum;
+    NSString *  _className;
+    NSString *  _subclassName;
+    NSString *  _protocolName;
+}
+
+ (BusProbeClass *)withClass:(UInt8)classNum subclass:(UInt8)subclassNum protocol:(UInt8)protocolNum;
+- (UInt8)classNum;
+- (void)setClassNum:(UInt8)classNum;
+- (UInt8)subclassNum;
+- (void)setSubclassNum:(UInt8)subclassNum;
+- (UInt8)protocolNum;
+- (void)setProtocolNum:(UInt8)protocolNum;
+- (NSString *)className;
+- (void)setClassName:(NSString *)deviceClass;
+- (NSString *)subclassName;
+- (void)setSubclassName:(NSString *)deviceSubclass;
+- (NSString *)protocolName;
+- (void)setProtocolName:(NSString *)deviceProtocol;
+- (NSString *)classDescription;
+- (NSString *)subclassDescription;
+- (NSString *)protocolDescription;
+
+-(NSMutableDictionary *)dictionaryVersionOfMe;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/BusProbeDevice.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/BusProbeDevice.h
@@ -0,0 +1,82 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import <IOKit/usb/USB.h>
+#import "BusProberSharedFunctions.h"
+#import "OutlineViewNode.h"
+#import "BusProbeClass.h"
+
+@interface BusProbeDevice : NSObject {
+    OutlineViewNode *   _rootNode;
+    UInt8               _speed;
+    USBDeviceAddress    _address;
+    UInt32              _locationID;
+    UInt32              _vendorID;
+    UInt32              _productID;
+    UInt16              _usbRelease;
+    BusProbeClass *     _deviceClassInfo;
+    BusProbeClass *     _lastInterfaceClassInfo;
+    UInt8               _lastInterfaceSubclass;
+    int                 _currentInterfaceNumber;
+	uint32_t			_portInfo;
+}
+
+- (OutlineViewNode *)rootNode;
+- (void)addProperty:(char *)property withValue:(char *)value atDepth:(int)depth;
+- (void)addNumberProperty:(char *)property value:(UInt32)value size:(int)sizeInBytes atDepth:(int)depth usingStyle:(int)style;
+- (void)addStringProperty:(char *)property fromStringIndex:(UInt8)strIndex fromDeviceInterface:(IOUSBDeviceRef)deviceIntf atDepth:(int)depth;
+
+- (NSString *)deviceName;
+- (void)setDeviceName:(NSString *)name;
+- (NSString *)deviceDescription;
+- (void)setDeviceDescription:(NSString *)description;
+- (UInt8)speed;
+- (void)setSpeed:(UInt8)speed;
+- (USBDeviceAddress)address;
+- (void)setAddress:(USBDeviceAddress)address;
+- (uint32_t)portInfo;
+- (void)setPortInfo:(uint32_t)portInfo;
+//- (UInt32)locationID;
+//- (void)setLocationID:(UInt32)locationID;
+- (UInt32)vendorID;
+- (void)setVendorID:(UInt32)vendorID;
+- (UInt32)productID;
+- (void)setProductID:(UInt32)productID;
+- (UInt32)locationID;
+- (void)setLocationID:(UInt32)locationID;
+- (BusProbeClass *)deviceClassInfo;
+- (void)setDeviceClassInfo:(BusProbeClass *)classInfo;
+- (BusProbeClass *)lastInterfaceClassInfo;
+- (void)setLastInterfaceClassInfo:(BusProbeClass *)classInfo;
+- (int)currentInterfaceNumber;
+- (void)setCurrentInterfaceNumber:(int)currentNum;
+- (UInt16)usbRelease;
+- (void)setUSBRelease:(UInt16)usbRelease;
+
+- (NSString *)descriptionForName:(NSString*)name;
+- (NSString *)description;
+- (NSMutableDictionary *)dictionaryVersionOfMe;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/BusProber.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/BusProber.h
@@ -0,0 +1,65 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import <IOKit/usb/IOUSBLib.h>
+#import <IOKit/usb/USB.h>
+#import <IOKit/usb/USBSpec.h>
+#import <IOKit/IOCFPlugIn.h>
+#import <mach/mach_port.h>
+#import "BusProberSharedFunctions.h"
+#import "OutlineViewNode.h"
+#import "BusProbeDevice.h"
+#import "BusProbeClass.h"
+
+#import "DescriptorDecoder.h"
+
+@interface BusProber : NSObject {
+    id      _listener;
+    
+    NSMutableArray *        _devicesArray;
+    CFRunLoopSourceRef      _runLoopSource;
+}
+
+- (BOOL)registerForUSBNotifications;
+- (void)unregisterForUSBNotifications;
+
+- (void)refreshData:(BOOL)shouldForce;
+
+- (void)processDevice:(IOUSBDeviceRef)deviceIntf deviceNumber:(int)deviceNumber usbName:(NSString*)usbName;
+- (void)PrintPortInfo: (uint32_t)portInfo forDevice:(BusProbeDevice *)thisDevice;
+- (void)GetAndPrintNumberOfEndpoints:(IOUSBDeviceRef)deviceIntf forDevice:(BusProbeDevice *)thisDevice portInfo:(UInt32)portInfo;
+
+- (NSMutableArray *) devicesArray;
+
+@end
+
+
+
+
+@protocol BusProberListener <NSObject>
+
+- (void)busProberInformationDidChange:(BusProber *)aProber;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/BusProberSharedFunctions.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/BusProberSharedFunctions.h
@@ -0,0 +1,87 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#include <AvailabilityMacros.h>
+
+
+#import <Foundation/Foundation.h>
+#import <IOKit/usb/IOUSBLib.h>
+#import <IOKit/usb/USB.h>
+#import <IOKit/usb/USBSpec.h>
+#import <IOKit/IOCFPlugIn.h>
+#import "BusProbeClass.h"
+
+typedef struct 	IOUSBDeviceStruct320**	 			IOUSBDeviceRef ;
+typedef struct 	IOUSBInterfaceStruct220**	 		IOUSBInterfaceRef ;
+
+#define ROOT_LEVEL                              0
+#define DEVICE_DESCRIPTOR_LEVEL			ROOT_LEVEL + 1
+#define CONFIGURATION_DESCRIPTOR_LEVEL          ROOT_LEVEL + 1
+#define INTERFACE_LEVEL                         CONFIGURATION_DESCRIPTOR_LEVEL + 1
+#define ENDPOINT_LEVEL                          INTERFACE_LEVEL + 1
+#define HID_DESCRIPTOR_LEVEL			INTERFACE_LEVEL + 1
+#define DFU_DESCRIPTOR_LEVEL			INTERFACE_LEVEL + 1
+#define CCID_DESCRIPTOR_LEVEL			INTERFACE_LEVEL + 1
+#define HUB_DESCRIPTOR_LEVEL			ROOT_LEVEL + 1
+#define DEVICE_QUAL_DESCRIPTOR_LEVEL            ROOT_LEVEL + 1
+#define	BOS_DESCRIPTOR_LEVEL			ROOT_LEVEL + 1
+
+enum {
+    kIntegerOutputStyle = 0,
+    kHexOutputStyle = 1
+};
+
+IOReturn 			GetNumberOfConfigurations( IOUSBDeviceRef deviceIntf, uint8_t * numberOfConfigs );
+IOReturn 			GetConfigurationDescriptor( IOUSBDeviceRef deviceIntf, uint8_t config, IOUSBConfigurationDescriptorPtr * description );
+IOReturn 			GetConfiguration( IOUSBDeviceRef deviceIntf, uint8_t * currentConfig );
+IOReturn 			GetPortInformation( IOUSBDeviceRef deviceIntf, uint32_t * portInfo );
+int 				GetDeviceLocationID( IOUSBDeviceRef deviceIntf, UInt32 * locationID );
+int 				GetDeviceSpeed( IOUSBDeviceRef deviceIntf, UInt8 * speed );
+int 				GetDeviceAddress( IOUSBDeviceRef deviceIntf, USBDeviceAddress * address );
+int 				SuspendDevice( IOUSBDeviceRef deviceIntf, BOOL suspend );
+IOReturn 			GetDescriptor(IOUSBDeviceRef deviceIntf, UInt8 descType, UInt8 descIndex, void *buf, UInt16 len, IOReturn *actError);
+int 				GetStringDescriptor(IOUSBDeviceRef deviceIntf, UInt8 descIndex, void *buf, UInt16 len, UInt16 lang);
+int 				GetClassDescriptor(IOUSBDeviceRef deviceIntf, UInt8 descType, UInt8 descIndex, void *buf, UInt16 len);
+int 				GetDescriptorFromInterface(IOUSBDeviceRef deviceIntf, UInt8 descType, UInt8 descIndex, UInt16 wIndex, void *buf, UInt16 len, Boolean inCurrentConfig);
+int 				GetCurrentConfiguration(IOUSBDeviceRef deviceIntf);
+
+BusProbeClass * 	GetDeviceClassAndSubClass(UInt8 * pcls);
+BusProbeClass * 	GetInterfaceClassAndSubClass(UInt8 * pcls);
+char * 				GetStringFromNumber(UInt32 value, int sizeInBytes, int style);
+char * 				GetStringFromIndex(UInt8 strIndex, IOUSBDeviceRef deviceIntf);
+NSString * 			VendorNameFromVendorID(NSString * intValueAsString);
+NSString * 			GetUSBProductNameFromRegistry(io_registry_entry_t entry);
+
+void 				FreeString(char * cstr);
+UInt16 				Swap16(void *p);
+uint32_t			Swap32(void *p);
+uint64_t			Swap64(void *p);
+uint32_t			Swap24(void *p);
+
+const char *		USBErrorToString(IOReturn status);
+
+IOUSBDescriptorHeader *		NextDescriptor(const void *desc);
+IOUSBDescriptorHeader* 		FindNextDescriptor(IOUSBConfigurationDescriptor	*curConfDesc, const void *cur, UInt8 descType);
+IOReturn					FindNextInterfaceDescriptor(const IOUSBConfigurationDescriptor *configDescIn, const IOUSBInterfaceDescriptor *intfDesc,IOUSBInterfaceDescriptor **descOut);
+
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeAudioInterfaceDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeAudioInterfaceDescriptor.h
@@ -0,0 +1,477 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import "DescriptorDecoder.h"
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+#define kUSBAudioInterfaceDesc (0x24)
+#define kUSBAudioEndPointDesc  (0x25)
+
+// <rdar://10009579>
+#define kUSBAudioDescriptorBytesPerLine     16
+// String buffer size to log desciptor:
+//     Each byte in descriptor requires 3 chars: 2 for nibbles + a space char
+//     One byte for null terminator
+#define kUSBAudioMaxDescriptorStringSize    ( ( kUSBAudioDescriptorBytesPerLine * 3 ) + 1 ) * sizeof ( char )  
+
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descContents[32];
+} GenericAudioDescriptor, *GenericAudioDescriptorPtr;
+#pragma options align=reset
+
+enum  AudioClassSpecific {
+    ACS_HEADER 			= 0x01,
+    ACS_INPUT_TERMINAL 		= 0x02,
+    ACS_OUTPUT_TERMINAL	 	= 0x03,
+    ACS_MIXER_UNIT 		= 0x04,
+    ACS_SELECTOR_UNIT 		= 0x05,
+    ACS_FEATURE_UNIT 		= 0x06,
+    ACS_PROCESSING_UNIT		= 0x07,
+    ACS_EXTENSION_UNIT 		= 0x08,
+    ACS_UNDEFINED		= 0x20,
+    ACS_DEVICE			= 0x21,
+    ACS_CONFIGURATION		= 0x22,
+    ACS_STRING			= 0x23,
+    ACS_INTERFACE		= 0x24,
+    ACS_ENDPOINT		= 0x25,
+    ACS_FORMAT_TYPE		= 0x02,
+    ACS_FORMAT_SPECIFIC		= 0x03,
+    ACS_FORMAT_TYPE_UNDEF	= 0x00,
+    ACS_FORMAT_TYPE_I		= 0x01,
+    ACS_FORMAT_TYPE_II		= 0x02,
+    ACS_FORMAT_TYPE_III		= 0x03,
+    ACS_ASTREAM_UNDEF		= 0x00,
+    ACS_ASTREAM_GENERAL		= 0x01,
+    ACS_ASTREAM_TYPE		= 0x02,
+    ACS_ASTREAM_SPECIFIC	= 0x03,
+    AC_CONTROL_SUBCLASS		= 0x01,
+    AC_STREAM_SUBCLASS		= 0x02,
+    AC_MIDI_SUBCLASS		= 0x03
+};
+
+// Standard Audio Stream Isoc Audio Data Endpoint Descriptor
+//    Refer to USB Audio Class Devices pp. 61-62.
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	asAddress;
+    UInt8	asAttributes;
+    UInt16	asMaxPacketSize;
+    UInt8	asInterval;
+    UInt8	asRefresh;
+    UInt8	asSynchAddress;
+} AS_IsocEndPtDesc, *AS_IsocEndPtDescPtr;
+#pragma options align=reset
+
+// Class Specific Audio Stream Isoc Audio Data Endpoint Descriptor
+//    Refer to USB Audio Class Devices pp. 62-63.
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubtype;
+    UInt8	asAttributes;
+    UInt8	bLockDelayUnits;
+    UInt16	wLockDelay;
+} CSAS_IsocEndPtDesc, *CSAS_IsocEndPtDescPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt16	descVersNum;
+    UInt16	descTotalLength;
+    UInt8	descAICNum; /* Number of elements in the Audio Interface Collection. */
+    UInt8	descInterfaceNum[1];
+} AudioCtrlHdrDescriptor, *AudioCtrlHdrDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descTermID;
+    UInt16	descTermType;
+    UInt8	descOutTermID;
+    UInt8	descNumChannels;
+    UInt16	descChannelConfig;
+    UInt8	descChannelNames;
+    UInt8	descTermName;
+} AudioCtrlInTermDescriptor, *AudioCtrlInTermDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descTermID;
+    UInt16	descTermType;
+    UInt8	descInTermID;
+    UInt8	descSourceID;
+    UInt8	descTermName;
+} AudioCtrlOutTermDescriptor, *AudioCtrlOutTermDescriptorPtr;
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descUnitID;
+    UInt8	descNumPins;
+    UInt8	descSourcePID[1];
+} AudioCtrlMixerDescriptor, *AudioCtrlMixerDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descUnitID;
+    UInt8	descNumPins;
+    UInt8	descSourcePID[1];
+} AudioCtrlSelectorDescriptor, *AudioCtrlSelectorDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descUnitID;
+    UInt8	descSourceID;
+    UInt8	descCtrlSize;
+    UInt8	descControls[1];
+} AudioCtrlFeatureDescriptor, *AudioCtrlFeatureDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descUnitID;
+    UInt16	descExtensionCode;
+    UInt8	descNumPins;
+    UInt8	descSourcePID[1];
+} AudioCtrlExtDescriptor, *AudioCtrlExtDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	terminalID;
+    UInt8	delay;
+    UInt16	formatTag;
+} CSAS_InterfaceDescriptor, *CSAS_InterfaceDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct acProcessingDescriptor{						//	<09><><EFBFBD><EFBFBD> WARNING <20><><EFBFBD> ADDING ELEMENTS WILL KILL CODE!!!
+    UInt8			descLen;				//	size of this descriptor in bytes
+    UInt8			bDescriptorType;		//	const CS_INTERFACE
+    UInt8			bDescriptorSubtype;		//	const FEATURE_UNIT
+    UInt8			bUnitID;
+    UInt16			wProcessType;
+    UInt8			bNrPins;
+    UInt8			bSourceID;
+}acProcessingDescriptor;
+#pragma options align=reset
+typedef acProcessingDescriptor *acProcessingDescriptorPtr;
+
+#pragma pack(1)
+typedef struct acProcessingDescriptorCont{
+				UInt8			bNrChannels;
+				UInt16			wChannelConfig;
+                                UInt8			iChannelNames;
+                                UInt8			bControlSize;
+                                UInt16			bmControls;
+                                UInt8			iProcessing;
+}acProcessingDescriptorCont;
+#pragma options align=reset
+typedef acProcessingDescriptorCont *acProcessingDescriptorContPtr;
+
+/* Refer to USB PDF files for Frmts10.pdf pp. 10 for Type I Format Descriptor. */
+#pragma pack(1)
+typedef struct {
+    UInt8	byte1;
+    UInt8	byte2;
+    UInt8	byte3;
+} CSAS_Freq3, *CSAS_Freq3Ptr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    CSAS_Freq3	lowerSamFreq;
+    CSAS_Freq3	upperSamFreq;
+} CSAS_ContTbl, *CSAS_ContTblPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    CSAS_Freq3	samFreq[1];
+} CSAS_DiscreteTbl, *CSAS_DiscreteTblPtr;
+#pragma options align=reset
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	formatType;
+    UInt8	numberOfChannels;
+    UInt8	subFrameSize;
+    UInt8	bitResolution;
+    UInt8	sampleFreqType;
+    union {
+        CSAS_ContTbl		cont;
+        CSAS_DiscreteTbl	discrete;
+    } sampleFreqTables;
+} CSAS_FormatTypeIDesc, *CSAS_FormatTypeIDescPtr;
+#pragma options align=reset
+
+enum  Audio20ClassSpecific {
+    AC20S_HEADER 			= 0x01,
+    AC20S_INPUT_TERMINAL	= 0x02,
+    AC20S_OUTPUT_TERMINAL	= 0x03,
+    AC20S_MIXER_UNIT 		= 0x04,
+    AC20S_SELECTOR_UNIT		= 0x05,
+    AC20S_FEATURE_UNIT 		= 0x06,
+	AC20S_EFFECT_UNIT		= 0x07,
+    AC20S_PROCESSING_UNIT	= 0x08,
+    AC20S_EXTENSION_UNIT	= 0x09,
+	AC20S_CLOCK_SOURCE		= 0x0A,
+	AC20S_CLOCK_SELECTOR	= 0x0B,
+	AC20S_CLOCK_MULTIPLIER	= 0x0C,
+	AC20S_SAMPLE_RATE_CONVERTER = 0x0D,
+
+    AC20S_FORMAT_TYPE_IV	= 0x04,
+    AC20S_EXTENDED_FORMAT_TYPE_I	= 0x81,
+    AC20S_EXTENDED_FORMAT_TYPE_II	= 0x82,
+    AC20S_EXTENDED_FORMAT_TYPE_III	= 0x83
+	
+};
+
+// Standard Audio Stream Isoc Audio Data Endpoint Descriptor
+//    Refer to USB Audio Class Devices pp. 61-62.
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	asAddress;
+    UInt8	asAttributes;
+    UInt16	asMaxPacketSize;
+    UInt8	asInterval;
+} AS20_IsocEndPtDesc, *AS20_IsocEndPtDescPtr;
+#pragma options align=reset
+
+// Class Specific Audio Stream Isoc Audio Data Endpoint Descriptor
+//    Refer to USB Audio Class Devices pp. 62-63.
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubtype;
+    UInt8	asAttributes;
+	UInt8	bmControls;
+    UInt8	bLockDelayUnits;
+    UInt16	wLockDelay;
+} CSA20S_IsocEndPtDesc, *CSAS20_IsocEndPtDescPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt16	descVersNum;
+	UInt8	descCategory;
+    UInt16	descTotalLength;
+    UInt8	descbmControls;
+} Audio20CtrlHdrDescriptor, *Audio20CtrlHdrDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descTermID;
+    UInt16	descTermType;
+    UInt8	descOutTermID;
+	UInt8	descClockSourceID;
+    UInt8	descNumChannels;
+    UInt32	descChannelConfig;
+    UInt8	descChannelNames;
+	UInt16	descbmControls;
+    UInt8	descTermName;
+} Audio20CtrlInTermDescriptor, *Audio20CtrlInTermDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descClockID;
+    UInt8	descAttributes;
+    UInt8	descbmControls;
+	UInt8	descAssocTermID;
+    UInt8	desciClockSourceName;
+} Audio20ClockSourceDescriptor, *Audio20ClockSourceDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descClockID;
+    UInt8	descNumPins;
+    UInt8	descClockPID[1];
+} Audio20ClockSelectorDescriptor, *Audio20ClockSelectorDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descClockID;
+    UInt8	descClockSourceID;
+    UInt8	descbmControls;
+    UInt8	desciClockMultiplierName;
+} Audio20ClockMultiplierDescriptor, *Audio20ClockMultiplierDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descTermID;
+    UInt16	descTermType;
+    UInt8	descInTermID;
+    UInt8	descSourceID;
+    UInt8	descClockSourceID;
+	UInt16	bmControls;
+    UInt8	descTermName;
+} Audio20CtrlOutTermDescriptor, *Audio20CtrlOutTermDescriptorPtr;
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descUnitID;
+    UInt8	descSourceID;
+    UInt8	descControls[1];
+} Audio20CtrlFeatureDescriptor, *Audio20CtrlFeatureDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	descUnitID;
+    UInt16	descExtensionCode;
+    UInt8	descNumPins;
+    UInt8	descSourcePID[1];
+} Audio20CtrlExtDescriptor, *Audio20CtrlExtDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	terminalID;
+	UInt8	bmControls;
+	UInt8	formatType;
+	UInt32	bmFormats;
+	UInt8	numChannels;
+	UInt32	channelConfig;
+    UInt8	channelNames;
+} CS20AS_InterfaceDescriptor, *CS20AS_InterfaceDescriptorPtr;
+#pragma options align=reset
+
+#pragma pack(1)
+typedef struct ac20ProcessingDescriptor{						//	<09><><EFBFBD><EFBFBD> WARNING <20><><EFBFBD> ADDING ELEMENTS WILL KILL CODE!!!
+    UInt8			descLen;				//	size of this descriptor in bytes
+    UInt8			bDescriptorType;		//	const CS_INTERFACE
+    UInt8			bDescriptorSubtype;		//	const FEATURE_UNIT
+    UInt8			bUnitID;
+    UInt16			wProcessType;
+    UInt8			bNrPins;
+    UInt8			bSourceID[1];
+}ac20ProcessingDescriptor, *ac20ProcessingDescriptorPtr;
+#pragma options align=reset
+typedef ac20ProcessingDescriptor *a20cProcessingDescriptorPtr;
+
+#pragma pack(1)
+typedef struct ac20ProcessingDescriptorCont{
+				UInt8			bNrChannels;
+				UInt32			wChannelConfig;
+                                UInt8			iChannelNames;
+                                UInt16			bmControls;
+                                UInt8			iProcessing;
+}ac20ProcessingDescriptorCont;
+#pragma options align=reset
+typedef ac20ProcessingDescriptorCont *ac20ProcessingDescriptorContPtr;
+
+/* Refer to USB PDF files for Frmts10.pdf pp. 10 for Type I Format Descriptor. */
+#pragma pack(1)
+typedef struct {
+    UInt8	descLen;
+    UInt8	descType;
+    UInt8	descSubType;
+    UInt8	formatType;
+	UInt8	slotSize;
+    UInt8	bitResolution;
+} CS20AS_FormatTypeIDesc, *CS20AS_FormatTypeIDescPtr;
+#pragma options align=reset
+
+@interface DecodeAudioInterfaceDescriptor : NSObject {
+
+}
+
+(void)decodeBytes:(UInt8 *)descriptor forDevice:(BusProbeDevice *)thisDevice;
+void decodeBytes10( UInt8 *descriptor, BusProbeDevice * thisDevice );
+void decodeBytes20( UInt8 *descriptor, BusProbeDevice * thisDevice );
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeBOSDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeBOSDescriptor.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright © 2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+#import <Foundation/Foundation.h>
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+
+@interface DecodeBOSDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(IOUSBBOSDescriptor *)bosDescriptor forDevice:(BusProbeDevice *)thisDevice deviceInterface:(IOUSBDeviceRef)deviceIntf;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeCommClassDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeCommClassDescriptor.h
@@ -0,0 +1,44 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+#import <Foundation/Foundation.h>
+#import "DescriptorDecoder.h"
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+
+@interface DecodeCommClassDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice;
+
+@end
+
+@interface DecodeMassStorageDescriptor : NSObject {
+    
+}
+
+ (void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeConfigurationDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeConfigurationDescriptor.h
@@ -0,0 +1,37 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import "DescriptorDecoder.h"
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+
+@interface DecodeConfigurationDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(IOUSBConfigurationDescHeader *)cfg forDevice:(BusProbeDevice *)thisDevice deviceInterface:(IOUSBDeviceRef)deviceIntf configNumber:(int)iconfig currentConfig:(int)cconfig isOtherSpeedDesc:(BOOL)isOtherSpeedDesc;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeDeviceDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeDeviceDescriptor.h
@@ -0,0 +1,36 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+
+@interface DecodeDeviceDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(IOUSBDeviceDescriptor *)dev forDevice:(BusProbeDevice *)thisDevice deviceInterface:(IOUSBDeviceRef)deviceIntf wasSuspended:(BOOL)wasSuspended;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeDeviceQualifierDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeDeviceQualifierDescriptor.h
@@ -0,0 +1,37 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import "DescriptorDecoder.h"
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+
+@interface DecodeDeviceQualifierDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeEndpointDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeEndpointDescriptor.h
@@ -0,0 +1,40 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+#import <Foundation/Foundation.h>
+#import "DescriptorDecoder.h"
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+enum {
+    kEndpointAddressBit = 7,
+    kEndpointAddressMask = ( 1 << kEndpointAddressBit )
+};
+
+@interface DecodeEndpointDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice isOtherSpeedDesc:(BOOL)isOtherSpeedDesc;
+ (void)decodeBytesCompanion:(Byte *)p forDevice:(BusProbeDevice *)thisDevice endpoint:(UInt8)epType;
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeHIDDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeHIDDescriptor.h
@@ -0,0 +1,226 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import <IOKit/hid/IOHIDUsageTables.h>
+#import "DescriptorDecoder.h"
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+#define	UnpackReportSize(packedByte)	((packedByte) & 0x03)
+#define	UnpackReportType(packedByte)	(((packedByte) & 0x0C) >> 2)
+#define	UnpackReportTag(packedByte)	(((packedByte) & 0xF0) >> 4)
+
+enum
+{
+    kReport_TypeMain			= 0,
+    kReport_TypeGlobal			= 1,
+    kReport_TypeLocal			= 2,
+    kReport_TypeReserved		= 3,
+    
+    kReport_TagLongItem			= 0x0F,
+    
+    // main items
+    kReport_TagInput			= 0x08,
+    kReport_TagOutput			= 0x09,
+    kReport_TagFeature			= 0x0B,
+    kReport_TagCollection		= 0x0A,
+    kReport_TagEndCollection	= 0x0C,
+    
+    // global items
+    kReport_TagUsagePage		= 0x00,
+    kReport_TagLogicalMin		= 0x01,
+    kReport_TagLogicalMax		= 0x02,
+    kReport_TagPhysicalMin		= 0x03,
+    kReport_TagPhysicalMax		= 0x04,
+    kReport_TagUnitExponent		= 0x05,
+    kReport_TagUnit				= 0x06,
+    kReport_TagReportSize		= 0x07,
+    kReport_TagReportID			= 0x08,
+    kReport_TagReportCount		= 0x09,
+    kReport_TagPush				= 0x0A,
+    kReport_TagPop				= 0x0B,
+    
+    // local items
+    kReport_TagUsage			= 0x00,
+    kReport_TagUsageMin			= 0x01,
+    kReport_TagUsageMax			= 0x02,
+    kReport_TagDesignatorIndex	= 0x03,
+    kReport_TagDesignatorMin	= 0x04,
+    kReport_TagDesignatorMax	= 0x05,
+    kReport_TagStringIndex		= 0x07,
+    kReport_TagStringMin		= 0x08,
+    kReport_TagStringMax		= 0x09,
+    kReport_TagSetDelimiter		= 0x0A
+};
+
+// Collection constants
+enum
+{
+    kCollection_Physical		= 0x00,
+    kCollection_Application		= 0x01,
+    kCollection_Logical			= 0x02
+};
+
+// I/O constants (used for Input/Output/Feature tags)
+enum
+{
+    kIO_Data_or_Constant				= 0x0001,
+    kIO_Array_or_Variable				= 0x0002,
+    kIO_Absolute_or_Relative			= 0x0004,
+    kIO_NoWrap_or_Wrap					= 0x0008,
+    kIO_Linear_or_NonLinear				= 0x0010,
+    kIO_PreferredState_or_NoPreferred	= 0x0020,
+    kIO_NoNullPosition_or_NullState		= 0x0040,
+    kIO_NonVolatile_or_Volatile			= 0x0080,		// reserved for Input
+    kIO_BitField_or_BufferedBytes		= 0x0100
+};
+
+// Usage pages from HID Usage Tables spec 1.0
+enum
+{
+    kUsage_PageGenericDesktop			= 0x01,
+    kUsage_PageSimulationControls		= 0x02,
+    kUsage_PageVRControls				= 0x03,
+    kUsage_PageSportControls			= 0x04,
+    kUsage_PageGameControls				= 0x05,
+    kUsage_PageKeyboard					= 0x07,
+    kUsage_PageLED						= 0x08,
+    kUsage_PageButton					= 0x09,
+    kUsage_PageOrdinal					= 0x0A,
+    kUsage_PageTelephonyDevice			= 0x0B,
+    kUsage_PageConsumer					= 0x0C,
+    kUsage_PageDigitizers				= 0x0D,
+    kUsage_PagePID				= 0x0F,
+    kUsage_PageUnicode					= 0x10,
+    kUsage_PageAlphanumericDisplay		= 0x14,
+    kUsage_PageMonitor					= 0x80,
+    kUsage_PageMonitorEnumeratedValues	= 0x81,
+    kUsage_PageMonitorVirtualControl 	= 0x82,
+    kUsage_PageMonitorReserved			= 0x83,
+    kUsage_PagePowerDevice				= 0x84,
+    kUsage_PageBatterySystem			= 0x85,
+    kUsage_PowerClassReserved			= 0x86,
+    kUsage_PowerClassReserved2			= 0x87,
+	kUsage_VendorDefinedStart			= 0xff00
+};
+
+// Usage constants for Generic Desktop page (01) from HID Usage Tables spec 1.0
+enum
+{
+    kUsage_01_Pointer		= 0x01,
+    kUsage_01_Mouse			= 0x02,
+    kUsage_01_Joystick		= 0x04,
+    kUsage_01_GamePad		= 0x05,
+    kUsage_01_Keyboard		= 0x06,
+    kUsage_01_Keypad		= 0x07,
+    
+    kUsage_01_X				= 0x30,
+    kUsage_01_Y				= 0x31,
+    kUsage_01_Z				= 0x32,
+    kUsage_01_Rx			= 0x33,
+    kUsage_01_Ry			= 0x34,
+    kUsage_01_Rz			= 0x35,
+    kUsage_01_Slider		= 0x36,
+    kUsage_01_Dial			= 0x37,
+    kUsage_01_Wheel			= 0x38,
+    kUsage_01_HatSwitch		= 0x39,
+    kUsage_01_CountedBuffer	= 0x3A,
+    kUsage_01_ByteCount		= 0x3B,
+    kUsage_01_MotionWakeup	= 0x3C,
+    
+    kUsage_01_Vx			= 0x40,
+    kUsage_01_Vy			= 0x41,
+    kUsage_01_Vz			= 0x42,
+    kUsage_01_Vbrx			= 0x43,
+    kUsage_01_Vbry			= 0x44,
+    kUsage_01_Vbrz			= 0x45,
+    kUsage_01_Vno			= 0x46,
+    
+    kUsage_01_SystemControl		= 0x80,
+    kUsage_01_SystemPowerDown 	= 0x81,
+    kUsage_01_SystemSleep 		= 0x82,
+    kUsage_01_SystemWakeup		= 0x83,
+    kUsage_01_SystemContextMenu = 0x84,
+    kUsage_01_SystemMainMenu	= 0x85,
+    kUsage_01_SystemAppMenu		= 0x86,
+    kUsage_01_SystemMenuHelp	= 0x87,
+    kUsage_01_SystemMenuExit	= 0x88,
+    kUsage_01_SystemMenuSelect	= 0x89,
+    kUsage_01_SystemMenuRight	= 0x8A,
+    kUsage_01_SystemMenuLeft	= 0x8B,
+    kUsage_01_SystemMenuUp		= 0x8C,
+    kUsage_01_SystemMenuDown	= 0x8D
+};
+
+/*!
+ @typedef IOUSBCCIDDescriptor
+ @discussion USB Device CHIP CARD ID Descriptor.  See the USB CCID Specification at <a href="http://www.usb.org"TARGET="_blank">http://www.usb.org</a>.
+ */
+
+#pragma pack(1)
+struct IOUSBCCIDDescriptor 
+{
+	UInt8 			bLength;
+	UInt8 			bDescriptorType;
+	UInt16			bcdCCID;
+	UInt8			bMaxSlotIndex;
+	UInt8			bVoltageSupport;
+	UInt32			dwProtocols;
+	UInt32			dwDefaultClock;
+	UInt32			dwMaximumClock;
+	UInt8			bNumClockSupported;
+	UInt32			dwDataRate;
+	UInt32			dwMaxDataRate;
+	UInt8			bNumDataRatesSupported;
+	UInt32			dwMaxIFSD;
+	UInt32			dwSyncProtocols;
+	UInt32			dwMechanical;
+	UInt32			dwFeatures;
+	UInt32			dwMaxCCIDMessageLength;
+	UInt8			bClassGetResponse;
+	UInt8			bClassEnvelope;
+	UInt16			wLcdLayout;
+	UInt8			bPINSupport;
+	UInt8			bMaxCCIDBusySlots;
+};
+typedef struct 	IOUSBCCIDDescriptor 		IOUSBCCIDDescriptor;
+typedef 		IOUSBCCIDDescriptor *	IOUSBCCIDDescriptorPtr;
+
+#pragma options align=reset
+
+
+
+
+/*	end HID Constants Spec 1.0 	*/
+
+@interface DecodeHIDDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice withDeviceInterface:(IOUSBDeviceRef)deviceIntf  isinCurrentConfig:(Boolean)inCurrentConfig;
+
+(void)decodeHIDReport:(UInt8 *)reportDesc forDevice:(BusProbeDevice *)thisDevice atDepth:(UInt16)depth reportLen:(UInt16)length;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeHubDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeHubDescriptor.h
@@ -0,0 +1,68 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+struct IOUSBHubDescriptor {
+    UInt8 	length;
+    UInt8 	hubType;
+    UInt8 	numPorts;
+    UInt16 	characteristics __attribute__((packed));
+    UInt8   powerOnToGood;								// Port settling time, in 2ms
+    UInt8 	hubCurrent;
+    // These are received packed, will have to be unpacked
+    UInt8 	removablePortFlags[9];
+    UInt8 	pwrCtlPortFlags[9];
+};
+
+typedef struct IOUSBHubDescriptor IOUSBHubDescriptor;
+
+// To cope with the extra fields in a USB3 hub descriptor
+
+struct IOUSB3HubDescriptor {
+    UInt8   length;
+    UInt8   hubType;
+    UInt8   numPorts;
+    UInt16  characteristics __attribute__((packed));
+    UInt8   powerOnToGood;								// Port settling time, in 2ms
+    UInt8   hubCurrent;
+	UInt8   hubHdrDecLat;								// Header decode latency, new 3.0 field
+    UInt16  hubDelay __attribute__((packed));			// new in 3.0
+	
+    // These are received packed, will have to be unpacked
+    UInt8   removablePortFlags[9];
+    UInt8   pwrCtlPortFlags[9];				// This field does not exist in the 3.0 descriptor
+};
+
+typedef struct IOUSB3HubDescriptor IOUSB3HubDescriptor;
+
+@interface DecodeHubDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeInterfaceDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeInterfaceDescriptor.h
@@ -0,0 +1,45 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import "DescriptorDecoder.h"
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+
+@interface DecodeInterfaceDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice withDeviceInterface:(IOUSBDeviceRef)deviceIntf;
+
+@end
+
+@interface DecodeInterfaceAssociationDescriptor : NSObject {
+
+}
+
+ (void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice withDeviceInterface:(IOUSBDeviceRef)deviceIntf;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeVideoInterfaceDescriptor.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DecodeVideoInterfaceDescriptor.h
@@ -0,0 +1,765 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+#import "DescriptorDecoder.h"
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+
+enum  VideoClassSpecific
+{
+    // Video Interface Class Code
+    CC_VIDEO                    = 0x0E,
+
+    // Video Interface Subclass Codes
+    //
+    SC_UNDEFINED		= 0x00,
+    SC_VIDEOCONTROL		= 0x01,
+    SC_VIDEOSTREAMING		= 0x02,
+    SC_VIDEO_INTERFACE_COLLECTION               = 0x03,
+
+    // Video Interface Protocol Codes
+    //
+    PC_PROTOCOL_UNDEFINED	= 0x00,
+
+    // Video Class Specific Descriptor Types
+    //
+    CS_UNDEFINED		= 0x20,
+    CS_DEVICE			= 0x21,
+    CS_CONFIGURATION		= 0x22,
+    CS_STRING			= 0x23,
+    // CS_INTERFACE		= 0x24,
+    // CS_ENDPOINT              = 0x25,
+
+    // Video Class Specific Control Interface Descriptor Types
+    //
+    VC_DESCRIPTOR_UNDEFINED	= 0x00,
+    VC_HEADER			= 0x01,
+    VC_INPUT_TERMINAL		= 0x02,
+    VC_OUTPUT_TERMINAL		= 0x03,
+    VC_SELECTOR_UNIT		= 0x04,
+    VC_PROCESSING_UNIT		= 0x05,
+    VC_EXTENSION_UNIT		= 0x06,
+
+    // Video Class Specific Streaming Interface Descriptor Types
+    //
+    VS_UNDEFINED			= 0x00,
+    VS_INPUT_HEADER			= 0x01,
+    VS_OUTPUT_HEADER		= 0x02,
+    VS_STILL_IMAGE_FRAME	= 0x03,
+    VS_FORMAT_UNCOMPRESSED	= 0x04,
+    VS_FRAME_UNCOMPRESSED	= 0x05,
+    VS_FORMAT_MJPEG			= 0x06,
+    VS_FRAME_MJPEG			= 0x07,
+    VS_FORMAT_MPEG1			= 0x08, // Reserved in 1.1
+    VS_FORMAT_MPEG2PS		= 0x09, // Reserved in 1.1
+    VS_FORMAT_MPEG2TS		= 0x0a,
+    VS_FORMAT_DV			= 0x0c,	
+    VS_COLORFORMAT          = 0x0d, 
+    VS_FORMAT_VENDOR		= 0x0e,	// Reserved in 1.1
+    VS_FRAME_VENDOR			= 0x0f,	// Reserved in 1.1
+	VS_FORMAT_FRAME_BASED	= 0x10,
+	VS_FRAME_FRAME_BASED	= 0x11,
+	VS_FORMAT_STREAM_BASED	= 0x12,
+    VS_FORMAT_MPEG4SL		= 0xFF, // Undefined in 1.1
+
+    // Video Class Specific Endpoint Descriptor Subtypes
+    //
+    EP_UNDEFINED		= 0x00,
+    EP_GENERAL			= 0x01,
+    EP_ENDPOINT			= 0x02,
+    EP_INTERRUPT		= 0x03,
+
+    // Video Class Specific Request Codes
+    //
+    RC_UNDEFINED		= 0x00,
+    SET_CUR			= 0x01,
+    GET_CUR			= 0x81,
+    GET_MIN			= 0x82,
+    GET_MAX			= 0x83,
+    GET_RES			= 0x84,
+    GET_LEN			= 0x85,
+    GET_INFO			= 0x86,
+    GET_DEF			= 0x87,
+
+    // Video Control Interface Control Selectors
+    //
+    VC_CONTROL_UNDEFINED                        = 0x00,
+    VC_VIDEO_POWER_MODE_CONTROL                 = 0x01,
+    VC_REQUEST_ERROR_CODE_CONTROL		= 0x02,
+    VC_REQUEST_INDICATE_HOST_CLOCK_CONTROL	= 0x03,
+
+    // Terminal Control Selectors
+    //
+    TE_CONTROL_UNDEFINED	= 0x00,
+
+    // Selector Unit Control Selectors
+    //
+    SU_CONTROL_UNDEFINED	= 0x00,
+    SU_INPUT_SELECT_CONTROL	= 0x01,
+
+    // Camera Terminal Control Selectors
+    //
+    CT_CONTROL_UNDEFINED		= 0x00,
+    CT_SCANNING_MODE_CONTROL		= 0x01,
+    CT_AE_MODE_CONTROL			= 0x02,
+    CT_AE_PRIORITY_CONTROL		= 0x03,
+    CT_EXPOSURE_TIME_ABSOLUTE_CONTROL	= 0x04,
+    CT_EXPOSURE_TIME_RELATIVE_CONTROL	= 0x05,
+    CT_FOCUS_ABSOLUTE_CONTROL		= 0x06,
+    CT_FOCUS_RELATIVE_CONTROL		= 0x07,
+    CT_FOCUS_AUTO_CONTROL		= 0x08,
+    CT_IRIS_ABSOLUTE_CONTROL		= 0x09,
+    CT_IRIS_RELATIVE_CONTROL		= 0x0A,
+    CT_ZOOM_ABSOLUTE_CONTROL 		= 0x0B,
+    CT_ZOOM_RELATIVE_CONTROL		= 0x0C,
+    CT_PANTILT_ABSOLUTE_CONTROL		= 0x0D,
+    CT_PANTILT_RELATIVE_CONTROL		= 0x0E,
+    CT_ROLL_ABSOLUTE_CONTROL		= 0x0F,
+    CT_ROLL_RELATIVE_CONTROL		= 0x10,
+    CT_PRIVACY_CONTROL                  = 0x11,
+
+    // Processing Unit Control Selectors
+    //
+    PU_CONTROL_UNDEFINED		= 0x00,
+    PU_BACKLIGHT_COMPENSATION_CONTROL	= 0x01,
+    PU_BRIGHTNESS_CONTROL		= 0x02,
+    PU_CONTRAST_CONTROL			= 0x03,
+    PU_GAIN_CONTROL			= 0x04,
+    PU_POWER_LINE_FREQUENCY_CONTROL	= 0x05,
+    PU_HUE_CONTROL			= 0x06,
+    PU_SATURATION_CONTROL		= 0x07,
+    PU_SHARPNESS_CONTROL		= 0x08,
+    PU_GAMMA_CONTROL			= 0x09,
+    PU_WHITE_BALANCE_TEMPERATURE_CONTROL	= 0x0A,
+    PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL	= 0x0B,
+    PU_WHITE_BALANCE_COMPONENT_CONTROL		= 0x0C,
+    PU_WHITE_BALANCE_COMPONENT_AUTO_CONTROL	= 0x0D,
+    PU_DIGITAL_MULTIPLIER_CONTROL		= 0x0E,
+    PU_DIGITAL_MULTIPLIER_LIMIT_CONTROL		= 0x0F,
+    PU_HUE_AUTO_CONTROL				= 0x10,
+
+    // Extension Unit Control Selectors
+    //
+    XU_CONTROL_UNDEFINED		= 0x00,
+
+    // Video Streaming Interface Control Selectors
+    //
+    VS_CONTROL_UNDEFINED		= 0x00,
+    VS_PROBE_CONTROL			= 0x01,
+    VS_COMMIT_CONTROL			= 0x02,
+    VS_STILL_PROBE_CONTROL		= 0x03,
+    VS_STILL_COMMIT_CONTROL		= 0x04,
+    VS_STILL_IMAGE_TRIGGER_CONTROL	= 0x05,
+    VS_STREAM_ERROR_CODE_CONTROL	= 0x06,
+    VS_GENERATE_KEY_FRAME_CONTROL	= 0x07,
+    VS_UPDATE_FRAME_SEGMENT_CONTROL	= 0x08,
+    VS_SYNCH_DELAY_CONTROL		= 0x09,
+
+    // USB Terminal Types
+    //
+    TT_VENDOR_SPECIFIC			= 0x0100,
+    TT_STREAMING			= 0x0101,
+
+    // Input Terminal Types
+    //
+    ITT_VENDOR_SPECIFIC			= 0x0200,
+    ITT_CAMERA				= 0x0201,
+    ITT_MEDIA_TRANSPORT_UNIT		= 0x0202,
+
+    // Output Terminal Types
+    //
+    OTT_VENDOR_SPECIFIC			= 0x0300,
+    OTT_DISPLAY				= 0x0301,
+    OTT_MEDIA_TRANSPORT_OUTPUT		= 0x0302,
+
+    // External Terminal Types
+    //
+    EXTERNAL_VENDOR_SPECIFIC		= 0x0400,
+    COMPOSITE_CONNECTOR			= 0x0401,
+    SVIDEO_CONNECTOR			= 0x0402,
+    COMPONENT_CONNECTOR			= 0x0403,
+    
+    // Media Transport Terminal Control Selectors
+    //
+    MTT_CONTROL_UNDEFINED               = 0x00,
+    TRANSPORT_CONTROL                   = 0X01,
+    ATN_INFORMATION_CONTROL             = 0X02,
+    MEDIA_INFORMATION_CONTROL           = 0X03,
+    TIME_CODE_INFORMATION_CONTROL       = 0X04,
+    
+
+};
+
+enum UncompressedFormatGUID
+{
+    UNCOMPRESSED_YUV2_HI		= 0x3259555900000010ULL,
+    UNCOMPRESSED_YUV2_LO		= 0x800000aa00389b71ULL,
+    UNCOMPRESSED_NV12_HI		= 0x3231564E00000010ULL,
+    UNCOMPRESSED_NV12_LO		= 0x800000aa00389b71ULL,
+};
+
+// Standard Video Class Control Interface Descriptor
+//
+#pragma pack(1)
+struct IOUSBVCInterfaceDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint16_t	bcdVDC;
+    uint16_t	wTotalLength;
+    uint32_t	dwClockFrequency;
+    uint8_t		bInCollection;		// Number of Video Streaming Interfaces in the collection
+    uint8_t		baInterfaceNr[1];
+};
+typedef struct IOUSBVCInterfaceDescriptor IOUSBVCInterfaceDescriptor;
+#pragma options align=reset
+
+// Video Control Standard Input Terminal Descriptor
+//
+#pragma pack(1)
+struct IOUSBVCInputTerminalDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bTerminalID;
+    uint16_t	wTerminalType;
+    uint8_t		bAssocTerminal;
+    uint8_t		iTerminal;
+};
+typedef struct IOUSBVCInputTerminalDescriptor IOUSBVCInputTerminalDescriptor;
+#pragma options align=reset
+
+// Video Class Standard Output Terminal Descriptor
+//
+#pragma pack(1)
+struct IOUSBVCOutputTerminalDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bTerminalID;
+    uint16_t	wTerminalType;
+    uint8_t		bAssocTerminal;
+    uint8_t		bSourceID;
+    uint8_t		iTerminal;
+};
+typedef struct IOUSBVCOutputTerminalDescriptor IOUSBVCOutputTerminalDescriptor;
+#pragma options align=reset
+
+// Video Class Camera Terminal Descriptor
+//
+#pragma pack(1)
+struct IOUSBVCCameraTerminalDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bTerminalID;
+    uint16_t	wTerminalType;
+    uint8_t		bAssocTerminal;
+    uint8_t		iTerminal;
+    uint16_t	wObjectiveFocalLengthMin;
+    uint16_t	wObjectiveFocalLengthMax;
+    uint16_t	wOcularFocalLength;
+    uint8_t		bControlSize;			// Size of the bmControls field
+    uint8_t		bmControls[1];
+};
+typedef struct IOUSBVCCameraTerminalDescriptor IOUSBVCCameraTerminalDescriptor;
+#pragma options align=reset
+
+// Video Class Selector Unit Descriptor
+//
+#pragma pack(1)
+struct IOUSBVCSelectorUnitDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bUnitID;
+    uint8_t		bNrInPins;
+    uint8_t		baSourceID[1];
+};
+typedef struct IOUSBVCSelectorUnitDescriptor IOUSBVCSelectorUnitDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVCSelectorUnit2Descriptor
+{
+    uint8_t	iSelector;
+};
+typedef struct IOUSBVCSelectorUnit2Descriptor IOUSBVCSelectorUnit2Descriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVCProcessingUnitDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bUnitID;
+    uint8_t		bSourceID;
+    uint16_t	wMaxMultiplier;
+    uint8_t		bControlSize;
+    uint8_t		bmControls[1];
+};
+typedef struct IOUSBVCProcessingUnitDescriptor IOUSBVCProcessingUnitDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVCProcessingUnit2Descriptor
+{
+    uint8_t		iProcessing;
+};
+typedef struct IOUSBVCProcessingUnit2Descriptor IOUSBVCProcessingUnit2Descriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVCExtensionUnitDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bUnitID;
+	uint8_t		guidFormat[16];
+    uint8_t		bNumControls;
+    uint8_t		bNrInPins;
+    uint8_t		baSourceID[1];
+};
+typedef struct IOUSBVCExtensionUnitDescriptor IOUSBVCExtensionUnitDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVCExtensionUnit2Descriptor
+{
+    uint8_t		bControlSize;
+    uint8_t		bmControls[1];
+};
+typedef struct IOUSBVCExtensionUnit2Descriptor IOUSBVCExtensionUnit2Descriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVCExtensionUnit3Descriptor
+{
+    uint8_t		iExtension;
+};
+typedef struct IOUSBVCExtensionUnit3Descriptor IOUSBVCExtensionUnit3Descriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVCInterruptEndpointDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint16_t	wMaxTransferSize;
+};
+typedef struct IOUSBVCInterruptEndpointDescriptor IOUSBVCInterruptEndpointDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVSInputHeaderDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bNumFormats;
+    uint16_t	wTotalLength;
+    uint8_t		bEndpointAddress;
+    uint8_t		bmInfo;
+    uint8_t		bTerminalLink;
+    uint8_t		bStillCaptureMethod;
+    uint8_t		bTriggerSupport;
+    uint8_t		bTriggerUsage;
+    uint8_t		bControlSize;
+    uint8_t		bmControls[1];
+};
+typedef struct IOUSBVSInputHeaderDescriptor IOUSBVSInputHeaderDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVSOutputHeaderDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bNumFormats;
+    uint16_t	wTotalLength;
+    uint8_t		bEndpointAddress;
+    uint8_t		bTerminalLink;
+};
+typedef struct IOUSBVSOutputHeaderDescriptor IOUSBVSOutputHeaderDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_MJPEGFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFormatIndex;
+    uint8_t		bNumFrameDescriptors;
+    uint8_t		bmFlags;
+    uint8_t		bDefaultFrameIndex;
+    uint8_t		bAspectRatioX;
+    uint8_t		bAspectRatioY;
+    uint8_t		bmInterlaceFlags;
+    uint8_t		bCopyProtect;
+};
+typedef struct IOUSBVDC_MJPEGFormatDescriptor IOUSBVDC_MJPEGFormatDescriptor;
+#pragma options align=reset
+
+struct IOSUBVDC_StillImageSize
+{
+	uint16_t	wWidth;
+	uint16_t	wHeight;
+};
+typedef struct IOSUBVDC_StillImageSize IOSUBVDC_StillImageSize;
+
+struct IOSUBVDC_StillImageCompressionPattern
+{
+	uint8_t		bNumCompressionPattern;
+	uint8_t		bCompression[1];
+};
+typedef struct IOSUBVDC_StillImageCompressionPattern IOSUBVDC_StillImageCompressionPattern;
+
+#pragma pack(1)
+struct IOUSBVDC_StillImageFrameDescriptor
+{
+    uint8_t					bLength;
+    uint8_t					bDescriptorType;
+    uint8_t					bDescriptorSubType;
+    uint8_t					bEndpointAddress;
+    uint8_t					bNumImageSizePatterns;
+	IOSUBVDC_StillImageSize	dwSize[1];
+};
+typedef struct IOUSBVDC_StillImageFrameDescriptor IOUSBVDC_StillImageFrameDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_MJPEGFrameDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFrameIndex;
+    uint8_t		bmCapabilities;
+    uint16_t	wWidth;
+    uint16_t	wHeight;
+    uint32_t	dwMinBitRate;
+    uint32_t	dwMaxBitRate;
+    uint32_t	dwMaxVideoFrameBufferSize;
+    uint32_t	dwDefaultFrameInterval;
+    uint8_t		bFrameIntervalType;
+    uint32_t	dwMinFrameInterval;
+    uint32_t	dwMaxFrameInterval;
+    uint32_t	dwFrameIntervalStep;
+};
+typedef struct IOUSBVDC_MJPEGFrameDescriptor IOUSBVDC_MJPEGFrameDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_MJPEGDiscreteFrameDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFrameIndex;
+    uint8_t		bmCapabilities;
+    uint16_t	wWidth;
+    uint16_t	wHeight;
+    uint32_t	dwMinBitRate;
+    uint32_t	dwMaxBitRate;
+    uint32_t	dwMaxVideoFrameBufferSize;
+    uint32_t	dwDefaultFrameInterval;
+    uint8_t		bFrameIntervalType;
+    uint32_t	dwFrameInterval[1];
+};
+typedef struct IOUSBVDC_MJPEGDiscreteFrameDescriptor IOUSBVDC_MJPEGDiscreteFrameDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_UncompressedFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFormatIndex;
+    uint8_t		bNumFrameDescriptors;
+    uint8_t		guidFormat[16];
+    uint8_t		bBitsPerPixel;
+    uint8_t		bDefaultFrameIndex;
+    uint8_t		bAspectRatioX;
+    uint8_t		bAspectRatioY;
+    uint8_t		bmInterlaceFlags;
+    uint8_t		bCopyProtect;
+};
+typedef struct IOUSBVDC_UncompressedFormatDescriptor IOUSBVDC_UncompressedFormatDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_UncompressedFrameDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFrameIndex;
+    uint8_t		bmCapabilities;
+    uint16_t	wWidth;
+    uint16_t	wHeight;
+    uint32_t	dwMinBitRate;
+    uint32_t	dwMaxBitRate;
+    uint32_t	dwMaxVideoFrameBufferSize;
+    uint32_t	dwDefaultFrameInterval;
+    uint8_t		bFrameIntervalType;
+    uint32_t	dwMinFrameInterval;
+    uint32_t	dwMaxFrameInterval;
+    uint32_t	dwFrameIntervalStep;
+};
+typedef struct IOUSBVDC_UncompressedFrameDescriptor IOUSBVDC_UncompressedFrameDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_UncompressedDiscreteFrameDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFrameIndex;
+    uint8_t		bmCapabilities;
+    uint16_t	wWidth;
+    uint16_t	wHeight;
+    uint32_t	dwMinBitRate;
+    uint32_t	dwMaxBitRate;
+    uint32_t	dwMaxVideoFrameBufferSize;
+    uint32_t	dwDefaultFrameInterval;
+    uint8_t		bFrameIntervalType;
+    uint32_t	dwFrameInterval[1];
+};
+typedef struct IOUSBVDC_UncompressedDiscreteFrameDescriptor IOUSBVDC_UncompressedDiscreteFrameDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_VendorFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFormatIndex;
+    uint8_t		bNumFrameDescriptors;
+    uint8_t		guidMajorFormat[16];
+    uint8_t		guidSubFormat[16];
+    uint8_t		guidSpecifierFormat[16];
+    uint8_t		bPayloadClass;
+    uint8_t		bDefaultFrameIndex;
+    uint8_t		bCopyProtect;
+};
+typedef struct IOUSBVDC_VendorFormatDescriptor IOUSBVDC_VendorFormatDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_VendorFrameDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFrameIndex;
+    uint8_t		bmCapabilities;
+    uint16_t	wWidth;
+    uint16_t	wHeight;
+    uint32_t	dwMinBitRate;
+    uint32_t	dwMaxBitRate;
+    uint32_t	dwMaxVideoFrameBufferSize;
+    uint32_t	dwDefaultFrameInterval;
+    uint8_t		bFrameIntervalType;
+    uint32_t	dwMinFrameInterval;
+    uint32_t	dwMaxFrameInterval;
+    uint32_t	dwFrameIntervalStep;
+};
+typedef struct IOUSBVDC_VendorFrameDescriptor IOUSBVDC_VendorFrameDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_VendorDiscreteFrameDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFrameIndex;
+    uint8_t		bmCapabilities;
+    uint16_t	wWidth;
+    uint16_t	wHeight;
+    uint32_t	dwMinBitRate;
+    uint32_t	dwMaxBitRate;
+    uint32_t	dwMaxVideoFrameBufferSize;
+    uint32_t	dwDefaultFrameInterval;
+    uint8_t		bFrameIntervalType;
+    uint32_t	dwFrameInterval[1];
+};
+typedef struct IOUSBVDC_VendorDiscreteFrameDescriptor IOUSBVDC_VendorDiscreteFrameDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_DVFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFormatIndex;
+    uint32_t	dwMaxVideoFrameBufferSize;
+    uint8_t		bFormatType;
+};
+typedef struct IOUSBVDC_DVFormatDescriptor IOUSBVDC_DVFormatDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_MPEG1SSFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFormatIndex;
+    uint16_t	wPacketLength;
+    uint16_t	wPackLength;
+    uint8_t		bPackDataType;
+};
+typedef struct IOUSBVDC_MPEG1SSFormatDescriptor IOUSBVDC_MPEG1SSFormatDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_MPEG2PSFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFormatIndex;
+    uint16_t	wPacketLength;
+    uint16_t	wPackLength;
+    uint8_t		bPackDataType;
+};
+typedef struct IOUSBVDC_MPEG2PSFormatDescriptor IOUSBVDC_MPEG2PSFormatDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_MPEG2PTSFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFormatIndex;
+    uint8_t		bDataOffset;
+    uint8_t		bPacketLength;
+    uint8_t		bStrideLength;
+};
+typedef struct IOUSBVDC_MPEG2PTSFormatDescriptor IOUSBVDC_MPEG2PTSFormatDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_ColorFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bColorPrimaries;
+    uint8_t       bTransferCharacteristics;
+    uint8_t		bMatrixCoefficients;
+};
+typedef struct IOUSBVDC_ColorFormatDescriptor IOUSBVDC_ColorFormatDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_FrameBasedFormatDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFormatIndex;
+    uint8_t		bNumFrameDescriptors;
+    uint8_t		guidFormat[16];
+	uint8_t		bBitsPerPixel;
+	uint8_t		bDefaultFrameIndex;
+	uint8_t		bAspectRatioX;
+	uint8_t		bAspectRatioY;
+	uint8_t		bmInterlaceFlags;
+	uint8_t		bCopyProtect;
+	uint8_t		bVariableSize;
+};
+typedef struct IOUSBVDC_FrameBasedFormatDescriptor IOUSBVDC_FrameBasedFormatDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_FrameBasedFrameDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFrameIndex;
+    uint8_t		bmCapabilities;
+    uint16_t	wWidth;
+    uint16_t	wHeight;
+    uint32_t	dwMinBitRate;
+    uint32_t	dwMaxBitRate;
+    uint32_t	dwDefaultFrameInterval;
+    uint8_t		bFrameIntervalType;
+	uint32_t	dwBytesPerLine;
+    uint32_t	dwMinFrameInterval;
+    uint32_t	dwMaxFrameInterval;
+    uint32_t	dwFrameIntervalStep;
+};
+typedef struct IOUSBVDC_FrameBasedFrameDescriptor IOUSBVDC_FrameBasedFrameDescriptor;
+#pragma options align=reset
+
+#pragma pack(1)
+struct IOUSBVDC_DiscreteFrameBasedFrameDescriptor
+{
+    uint8_t		bLength;
+    uint8_t		bDescriptorType;
+    uint8_t		bDescriptorSubType;
+    uint8_t		bFrameIndex;
+    uint8_t		bmCapabilities;
+    uint16_t	wWidth;
+    uint16_t	wHeight;
+    uint32_t	dwMinBitRate;
+    uint32_t	dwMaxBitRate;
+    uint32_t	dwDefaultFrameInterval;
+    uint8_t		bFrameIntervalType;
+	uint32_t	dwBytesPerLine;
+    uint32_t	dwMinFrameInterval;
+    uint32_t	dwMaxFrameInterval;
+    uint32_t	dwFrameInterval[1];
+};
+typedef struct IOUSBVDC_DiscreteFrameBasedFrameDescriptor IOUSBVDC_DiscreteFrameBasedFrameDescriptor;
+#pragma options align=reset
+
+@interface DecodeVideoInterfaceDescriptor : NSObject {
+
+}
+
+(void)decodeBytes:(uint8_t *)descriptor forDevice:(BusProbeDevice *)thisDevice  withDeviceInterface:(IOUSBDeviceRef)deviceIntf;
+    char MapNumberToVersion( int i );
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DescriptorDecoder.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/DescriptorDecoder.h
@@ -0,0 +1,58 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+#import <Foundation/Foundation.h>
+#import "BusProberSharedFunctions.h"
+#import "BusProbeDevice.h"
+
+#import "DecodeDeviceDescriptor.h"
+#import "DecodeConfigurationDescriptor.h"
+#import "DecodeInterfaceDescriptor.h"
+#import "DecodeEndpointDescriptor.h"
+#import "DecodeHIDDescriptor.h"
+#import "DecodeHubDescriptor.h"
+#import "DecodeDeviceQualifierDescriptor.h"
+#import "DecodeAudioInterfaceDescriptor.h"
+#import "DecodeVideoInterfaceDescriptor.h"
+#import "DecodeCommClassDescriptor.h"
+#import "DecodeBOSDescriptor.h"
+
+#define HID_DESCRIPTOR                  0x21
+#define DFU_FUNCTIONAL_DESCRIPTOR       0x21
+#define CCID_DESCRIPTOR					0x21
+
+enum ClassSpecific {
+    CS_INTERFACE		= 0x24,
+    CS_ENDPOINT			= 0x25
+};
+
+@interface DescriptorDecoder : NSObject {
+
+}
+
+(void)decodeBytes:(Byte *)p forDevice:(BusProbeDevice *)thisDevice deviceInterface:(IOUSBDeviceRef)deviceIntf userInfo:(void *)userInfo isOtherSpeedDesc:(BOOL)isOtherSpeedDesc  isinCurrentConfig:(Boolean)inCurrentConfig;
+(void)dumpRawDescriptor:(Byte *)p forDevice:(BusProbeDevice *)thisDevice atDepth:(int)depth;
+(void)dumpRawConfigDescriptor:(IOUSBConfigurationDescriptor*)cfg forDevice:(BusProbeDevice *)thisDevice atDepth:(int)depth;
+(void)dump:(int)n byte:(Byte *)p forDevice:(BusProbeDevice *)thisDevice atDepth:(int)depth;
+(void)dumpRawBOSDescriptor:(IOUSBBOSDescriptor*)bos forDevice:(BusProbeDevice *)thisDevice atDepth:(int)depth;
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/ExtensionSelector.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/ExtensionSelector.h
@@ -0,0 +1,38 @@
+/*
+ * Copyright © 2011-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+#import <Cocoa/Cocoa.h>
+
+@interface ExtensionSelector : NSView
+{
+    NSPopUpButton *extensionSelectionButton;
+    NSSavePanel *theSavePanel;
+    NSDictionary *itemDictionary;
+}
+@property (nonatomic, retain) NSPopUpButton *extensionSelectionButton;
+@property (nonatomic, retain) NSSavePanel *theSavePanel;
+@property (nonatomic, retain) NSDictionary *itemDictionary;
+
+-(void)populatePopuButtonWithArray:(NSDictionary *)addItems;
+-(void)setCurrentSelection:(NSString *)currentSelection;
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/OutlineViewAdditions.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/OutlineViewAdditions.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Cocoa/Cocoa.h>
+#import "BusProbeDevice.h"
+
+
+@interface NSOutlineView(OutlineViewAdditions)
+
+- (void)itemDoubleClicked;
+
+@end
+
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/OutlineViewNode.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/OutlineViewNode.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Foundation/Foundation.h>
+
+
+@interface OutlineViewNode : NSObject {
+    NSString *          _name;
+    NSString *          _value;
+    NSMutableArray *    _children;
+    NSString *          _tempName;
+    NSString *          _tempValue;
+}
+
+- init;
+- initWithName:(NSString *)name value:(NSString *)value;
+- (void)dealloc;
+
+
+    // Accessor methods for the strings
+- (NSString *)name;
+- (NSString *)value;
+- (void)setName:(NSString *)aString;
+- (void)setValue:(NSString *)aString;
+
+    // Accessors for the children
+- (void)addChild:(OutlineViewNode *)aNode;
+- (int)childrenCount;
+- (NSArray *)children;
+- (OutlineViewNode *)childAtIndex:(int)i;
+- (void)removeAllChildren;
+
+- (void)addNode:(OutlineViewNode *)aNode atDepth:(int)depth;
+- (void)addNodeWithName:(char *)name value:(char *)value atDepth:(int)depth;
+
+    // Other properties
+- (BOOL)isExpandable;
+
+- (OutlineViewNode *)deepestChild;
+
+- (NSString*)stringRepresentation:(NSString*)name startingLevel:(int)startingLevel;
+- (NSString *)stringRepresentation:(int)startingLevel;
+- (NSString *)stringRepresentationOfValues:(int)startingLevel;
+- (NSMutableDictionary *)dictionaryVersionOfMe;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/TableViewWithCopying.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/TableViewWithCopying.h
@@ -0,0 +1,36 @@
+/*
+ * Copyright <20> 1998-2012 Apple Inc.  All rights reserved.
+ *
+ * @APPLE_LICENSE_HEADER_START@
+ *
+ * This file contains Original Code and/or Modifications of Original Code
+ * as defined in and that are subject to the Apple Public Source License
+ * Version 2.0 (the 'License'). You may not use this file except in
+ * compliance with the License. Please obtain a copy of the License at
+ * http://www.opensource.apple.com/apsl/ and read it before using this
+ * file.
+ *
+ * The Original Code and all software distributed under the License are
+ * distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+ * EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+ * Please see the License for the specific language governing rights and
+ * limitations under the License.
+ *
+ * @APPLE_LICENSE_HEADER_END@
+ */
+
+
+#import <Cocoa/Cocoa.h>
+
+
+@interface TableViewWithCopying : NSTableView {
+
+}
+
+- (IBAction)copy:(id)sender;
+- (NSString *)stringRepresentation;
+- (BOOL)validateMenuItem:(NSMenuItem *)menuItem;
+
+@end
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/USBBusProber.h
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Headers/USBBusProber.h
@@ -0,0 +1,6 @@
+
+#import "BusProberSharedFunctions.h"
+//#import "BusProbeController.h"
+#import "BusProber.h"
+//#import "BusProbeDevice.h"
+//#import "BusProbeClass.h"
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Resources/APPLE_LICENSE
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Resources/APPLE_LICENSE
@@ -0,0 +1,372 @@
+/*!
+\page AppleLicense
+
+APPLE PUBLIC SOURCE LICENSE
+Version 2.0 - August 6, 2003
+
+Please read this License carefully before downloading this software.
+By downloading or using this software, you are agreeing to be bound by
+the terms of this License. If you do not or cannot agree to the terms
+of this License, please do not download or use the software.
+
+1. General; Definitions. This License applies to any program or other
+work which Apple Computer, Inc. ("Apple") makes publicly available and
+which contains a notice placed by Apple identifying such program or
+work as "Original Code" and stating that it is subject to the terms of
+this Apple Public Source License version 2.0 ("License"). As used in
+this License:
+
+1.1 "Applicable Patent Rights" mean: (a) in the case where Apple is
+the grantor of rights, (i) claims of patents that are now or hereafter
+acquired, owned by or assigned to Apple and (ii) that cover subject
+matter contained in the Original Code, but only to the extent
+necessary to use, reproduce and/or distribute the Original Code
+without infringement; and (b) in the case where You are the grantor of
+rights, (i) claims of patents that are now or hereafter acquired,
+owned by or assigned to You and (ii) that cover subject matter in Your
+Modifications, taken alone or in combination with Original Code.
+
+1.2 "Contributor" means any person or entity that creates or
+contributes to the creation of Modifications.
+
+1.3 "Covered Code" means the Original Code, Modifications, the
+combination of Original Code and any Modifications, and/or any
+respective portions thereof.
+
+1.4 "Externally Deploy" means: (a) to sublicense, distribute or
+otherwise make Covered Code available, directly or indirectly, to
+anyone other than You; and/or (b) to use Covered Code, alone or as
+part of a Larger Work, in any way to provide a service, including but
+not limited to delivery of content, through electronic communication
+with a client other than You.
+
+1.5 "Larger Work" means a work which combines Covered Code or portions
+thereof with code not governed by the terms of this License.
+
+1.6 "Modifications" mean any addition to, deletion from, and/or change
+to, the substance and/or structure of the Original Code, any previous
+Modifications, the combination of Original Code and any previous
+Modifications, and/or any respective portions thereof. When code is
+released as a series of files, a Modification is: (a) any addition to
+or deletion from the contents of a file containing Covered Code;
+and/or (b) any new file or other representation of computer program
+statements that contains any part of Covered Code.
+
+1.7 "Original Code" means (a) the Source Code of a program or other
+work as originally made available by Apple under this License,
+including the Source Code of any updates or upgrades to such programs
+or works made available by Apple under this License, and that has been
+expressly identified by Apple as such in the header file(s) of such
+work; and (b) the object code compiled from such Source Code and
+originally made available by Apple under this License.
+
+1.8 "Source Code" means the human readable form of a program or other
+work that is suitable for making modifications to it, including all
+modules it contains, plus any associated interface definition files,
+scripts used to control compilation and installation of an executable
+(object code).
+
+1.9 "You" or "Your" means an individual or a legal entity exercising
+rights under this License. For legal entities, "You" or "Your"
+includes any entity which controls, is controlled by, or is under
+common control with, You, where "control" means (a) the power, direct
+or indirect, to cause the direction or management of such entity,
+whether by contract or otherwise, or (b) ownership of fifty percent
+(50%) or more of the outstanding shares or beneficial ownership of
+such entity.
+
+2. Permitted Uses; Conditions & Restrictions. Subject to the terms
+and conditions of this License, Apple hereby grants You, effective on
+the date You accept this License and download the Original Code, a
+world-wide, royalty-free, non-exclusive license, to the extent of
+Apple's Applicable Patent Rights and copyrights covering the Original
+Code, to do the following:
+
+2.1 Unmodified Code. You may use, reproduce, display, perform,
+internally distribute within Your organization, and Externally Deploy
+verbatim, unmodified copies of the Original Code, for commercial or
+non-commercial purposes, provided that in each instance:
+
+(a) You must retain and reproduce in all copies of Original Code the
+copyright and other proprietary notices and disclaimers of Apple as
+they appear in the Original Code, and keep intact all notices in the
+Original Code that refer to this License; and
+
+(b) You must include a copy of this License with every copy of Source
+Code of Covered Code and documentation You distribute or Externally
+Deploy, and You may not offer or impose any terms on such Source Code
+that alter or restrict this License or the recipients' rights
+hereunder, except as permitted under Section 6.
+
+2.2 Modified Code. You may modify Covered Code and use, reproduce,
+display, perform, internally distribute within Your organization, and
+Externally Deploy Your Modifications and Covered Code, for commercial
+or non-commercial purposes, provided that in each instance You also
+meet all of these conditions:
+
+(a) You must satisfy all the conditions of Section 2.1 with respect to
+the Source Code of the Covered Code;
+
+(b) You must duplicate, to the extent it does not already exist, the
+notice in Exhibit A in each file of the Source Code of all Your
+Modifications, and cause the modified files to carry prominent notices
+stating that You changed the files and the date of any change; and
+
+(c) If You Externally Deploy Your Modifications, You must make
+Source Code of all Your Externally Deployed Modifications either
+available to those to whom You have Externally Deployed Your
+Modifications, or publicly available. Source Code of Your Externally
+Deployed Modifications must be released under the terms set forth in
+this License, including the license grants set forth in Section 3
+below, for as long as you Externally Deploy the Covered Code or twelve
+(12) months from the date of initial External Deployment, whichever is
+longer. You should preferably distribute the Source Code of Your
+Externally Deployed Modifications electronically (e.g. download from a
+web site).
+
+2.3 Distribution of Executable Versions. In addition, if You
+Externally Deploy Covered Code (Original Code and/or Modifications) in
+object code, executable form only, You must include a prominent
+notice, in the code itself as well as in related documentation,
+stating that Source Code of the Covered Code is available under the
+terms of this License with information on how and where to obtain such
+Source Code.
+
+2.4 Third Party Rights. You expressly acknowledge and agree that
+although Apple and each Contributor grants the licenses to their
+respective portions of the Covered Code set forth herein, no
+assurances are provided by Apple or any Contributor that the Covered
+Code does not infringe the patent or other intellectual property
+rights of any other entity. Apple and each Contributor disclaim any
+liability to You for claims brought by any other entity based on
+infringement of intellectual property rights or otherwise. As a
+condition to exercising the rights and licenses granted hereunder, You
+hereby assume sole responsibility to secure any other intellectual
+property rights needed, if any. For example, if a third party patent
+license is required to allow You to distribute the Covered Code, it is
+Your responsibility to acquire that license before distributing the
+Covered Code.
+
+3. Your Grants. In consideration of, and as a condition to, the
+licenses granted to You under this License, You hereby grant to any
+person or entity receiving or distributing Covered Code under this
+License a non-exclusive, royalty-free, perpetual, irrevocable license,
+under Your Applicable Patent Rights and other intellectual property
+rights (other than patent) owned or controlled by You, to use,
+reproduce, display, perform, modify, sublicense, distribute and
+Externally Deploy Your Modifications of the same scope and extent as
+Apple's licenses under Sections 2.1 and 2.2 above.
+
+4. Larger Works. You may create a Larger Work by combining Covered
+Code with other code not governed by the terms of this License and
+distribute the Larger Work as a single product. In each such instance,
+You must make sure the requirements of this License are fulfilled for
+the Covered Code or any portion thereof.
+
+5. Limitations on Patent License. Except as expressly stated in
+Section 2, no other patent rights, express or implied, are granted by
+Apple herein. Modifications and/or Larger Works may require additional
+patent licenses from Apple which Apple may grant in its sole
+discretion.
+
+6. Additional Terms. You may choose to offer, and to charge a fee for,
+warranty, support, indemnity or liability obligations and/or other
+rights consistent with the scope of the license granted herein
+("Additional Terms") to one or more recipients of Covered Code.
+However, You may do so only on Your own behalf and as Your sole
+responsibility, and not on behalf of Apple or any Contributor. You
+must obtain the recipient's agreement that any such Additional Terms
+are offered by You alone, and You hereby agree to indemnify, defend
+and hold Apple and every Contributor harmless for any liability
+incurred by or claims asserted against Apple or such Contributor by
+reason of any such Additional Terms.
+
+7. Versions of the License. Apple may publish revised and/or new
+versions of this License from time to time. Each version will be given
+a distinguishing version number. Once Original Code has been published
+under a particular version of this License, You may continue to use it
+under the terms of that version. You may also choose to use such
+Original Code under the terms of any subsequent version of this
+License published by Apple. No one other than Apple has the right to
+modify the terms applicable to Covered Code created under this
+License.
+
+8. NO WARRANTY OR SUPPORT. The Covered Code may contain in whole or in
+part pre-release, untested, or not fully tested works. The Covered
+Code may contain errors that could cause failures or loss of data, and
+may be incomplete or contain inaccuracies. You expressly acknowledge
+and agree that use of the Covered Code, or any portion thereof, is at
+Your sole and entire risk. THE COVERED CODE IS PROVIDED "AS IS" AND
+WITHOUT WARRANTY, UPGRADES OR SUPPORT OF ANY KIND AND APPLE AND
+APPLE'S LICENSOR(S) (COLLECTIVELY REFERRED TO AS "APPLE" FOR THE
+PURPOSES OF SECTIONS 8 AND 9) AND ALL CONTRIBUTORS EXPRESSLY DISCLAIM
+ALL WARRANTIES AND/OR CONDITIONS, EXPRESS OR IMPLIED, INCLUDING, BUT
+NOT LIMITED TO, THE IMPLIED WARRANTIES AND/OR CONDITIONS OF
+MERCHANTABILITY, OF SATISFACTORY QUALITY, OF FITNESS FOR A PARTICULAR
+PURPOSE, OF ACCURACY, OF QUIET ENJOYMENT, AND NONINFRINGEMENT OF THIRD
+PARTY RIGHTS. APPLE AND EACH CONTRIBUTOR DOES NOT WARRANT AGAINST
+INTERFERENCE WITH YOUR ENJOYMENT OF THE COVERED CODE, THAT THE
+FUNCTIONS CONTAINED IN THE COVERED CODE WILL MEET YOUR REQUIREMENTS,
+THAT THE OPERATION OF THE COVERED CODE WILL BE UNINTERRUPTED OR
+ERROR-FREE, OR THAT DEFECTS IN THE COVERED CODE WILL BE CORRECTED. NO
+ORAL OR WRITTEN INFORMATION OR ADVICE GIVEN BY APPLE, AN APPLE
+AUTHORIZED REPRESENTATIVE OR ANY CONTRIBUTOR SHALL CREATE A WARRANTY.
+You acknowledge that the Covered Code is not intended for use in the
+operation of nuclear facilities, aircraft navigation, communication
+systems, or air traffic control machines in which case the failure of
+the Covered Code could lead to death, personal injury, or severe
+physical or environmental damage.
+
+9. LIMITATION OF LIABILITY. TO THE EXTENT NOT PROHIBITED BY LAW, IN NO
+EVENT SHALL APPLE OR ANY CONTRIBUTOR BE LIABLE FOR ANY INCIDENTAL,
+SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATING
+TO THIS LICENSE OR YOUR USE OR INABILITY TO USE THE COVERED CODE, OR
+ANY PORTION THEREOF, WHETHER UNDER A THEORY OF CONTRACT, WARRANTY,
+TORT (INCLUDING NEGLIGENCE), PRODUCTS LIABILITY OR OTHERWISE, EVEN IF
+APPLE OR SUCH CONTRIBUTOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGES AND NOTWITHSTANDING THE FAILURE OF ESSENTIAL PURPOSE OF ANY
+REMEDY. SOME JURISDICTIONS DO NOT ALLOW THE LIMITATION OF LIABILITY OF
+INCIDENTAL OR CONSEQUENTIAL DAMAGES, SO THIS LIMITATION MAY NOT APPLY
+TO YOU. In no event shall Apple's total liability to You for all
+damages (other than as may be required by applicable law) under this
+License exceed the amount of fifty dollars ($50.00).
+
+10. Trademarks. This License does not grant any rights to use the
+trademarks or trade names "Apple", "Apple Computer", "Mac", "Mac OS",
+"QuickTime", "QuickTime Streaming Server" or any other trademarks,
+service marks, logos or trade names belonging to Apple (collectively
+"Apple Marks") or to any trademark, service mark, logo or trade name
+belonging to any Contributor. You agree not to use any Apple Marks in
+or as part of the name of products derived from the Original Code or
+to endorse or promote products derived from the Original Code other
+than as expressly permitted by and in strict compliance at all times
+with Apple's third party trademark usage guidelines which are posted
+at http://www.apple.com/legal/guidelinesfor3rdparties.html.
+
+11. Ownership. Subject to the licenses granted under this License,
+each Contributor retains all rights, title and interest in and to any
+Modifications made by such Contributor. Apple retains all rights,
+title and interest in and to the Original Code and any Modifications
+made by or on behalf of Apple ("Apple Modifications"), and such Apple
+Modifications will not be automatically subject to this License. Apple
+may, at its sole discretion, choose to license such Apple
+Modifications under this License, or on different terms from those
+contained in this License or may choose not to license them at all.
+
+12. Termination.
+
+12.1 Termination. This License and the rights granted hereunder will
+terminate:
+
+(a) automatically without notice from Apple if You fail to comply with
+any term(s) of this License and fail to cure such breach within 30
+days of becoming aware of such breach;
+
+(b) immediately in the event of the circumstances described in Section
+13.5(b); or
+
+(c) automatically without notice from Apple if You, at any time during
+the term of this License, commence an action for patent infringement
+against Apple; provided that Apple did not first commence
+an action for patent infringement against You in that instance.
+
+12.2 Effect of Termination. Upon termination, You agree to immediately
+stop any further use, reproduction, modification, sublicensing and
+distribution of the Covered Code. All sublicenses to the Covered Code
+which have been properly granted prior to termination shall survive
+any termination of this License. Provisions which, by their nature,
+should remain in effect beyond the termination of this License shall
+survive, including but not limited to Sections 3, 5, 8, 9, 10, 11,
+12.2 and 13. No party will be liable to any other for compensation,
+indemnity or damages of any sort solely as a result of terminating
+this License in accordance with its terms, and termination of this
+License will be without prejudice to any other right or remedy of
+any party.
+
+13. Miscellaneous.
+
+13.1 Government End Users. The Covered Code is a "commercial item" as
+defined in FAR 2.101. Government software and technical data rights in
+the Covered Code include only those rights customarily provided to the
+public as defined in this License. This customary commercial license
+in technical data and software is provided in accordance with FAR
+12.211 (Technical Data) and 12.212 (Computer Software) and, for
+Department of Defense purchases, DFAR 252.227-7015 (Technical Data --
+Commercial Items) and 227.7202-3 (Rights in Commercial Computer
+Software or Computer Software Documentation). Accordingly, all U.S.
+Government End Users acquire Covered Code with only those rights set
+forth herein.
+
+13.2 Relationship of Parties. This License will not be construed as
+creating an agency, partnership, joint venture or any other form of
+legal association between or among You, Apple or any Contributor, and
+You will not represent to the contrary, whether expressly, by
+implication, appearance or otherwise.
+
+13.3 Independent Development. Nothing in this License will impair
+Apple's right to acquire, license, develop, have others develop for
+it, market and/or distribute technology or products that perform the
+same or similar functions as, or otherwise compete with,
+Modifications, Larger Works, technology or products that You may
+develop, produce, market or distribute.
+
+13.4 Waiver; Construction. Failure by Apple or any Contributor to
+enforce any provision of this License will not be deemed a waiver of
+future enforcement of that or any other provision. Any law or
+regulation which provides that the language of a contract shall be
+construed against the drafter will not apply to this License.
+
+13.5 Severability. (a) If for any reason a court of competent
+jurisdiction finds any provision of this License, or portion thereof,
+to be unenforceable, that provision of the License will be enforced to
+the maximum extent permissible so as to effect the economic benefits
+and intent of the parties, and the remainder of this License will
+continue in full force and effect. (b) Notwithstanding the foregoing,
+if applicable law prohibits or restricts You from fully and/or
+specifically complying with Sections 2 and/or 3 or prevents the
+enforceability of either of those Sections, this License will
+immediately terminate and You must immediately discontinue any use of
+the Covered Code and destroy all copies of it that are in your
+possession or control.
+
+13.6 Dispute Resolution. Any litigation or other dispute resolution
+between You and Apple relating to this License shall take place in the
+Northern District of California, and You and Apple hereby consent to
+the personal jurisdiction of, and venue in, the state and federal
+courts within that District with respect to this License. The
+application of the United Nations Convention on Contracts for the
+International Sale of Goods is expressly excluded.
+
+13.7 Entire Agreement; Governing Law. This License constitutes the
+entire agreement between the parties with respect to the subject
+matter hereof. This License shall be governed by the laws of the
+United States and the State of California, except that body of
+California law concerning conflicts of law.
+
+Where You are located in the province of Quebec, Canada, the following
+clause applies: The parties hereby confirm that they have requested
+that this License and all related documents be drafted in English. Les
+parties ont exige que le present contrat et tous les documents
+connexes soient rediges en anglais.
+
+EXHIBIT A.
+
+"Portions Copyright (c) 1999-2003 Apple Computer, Inc. All Rights
+Reserved.
+
+This file contains Original Code and/or Modifications of Original Code
+as defined in and that are subject to the Apple Public Source License
+Version 2.0 (the 'License'). You may not use this file except in
+compliance with the License. Please obtain a copy of the License at
+http://www.opensource.apple.com/apsl/ and read it before using this
+file.
+
+The Original Code and all software distributed under the License are
+distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
+EXPRESS OR IMPLIED, AND APPLE HEREBY DISCLAIMS ALL SUCH WARRANTIES,
+INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT.
+Please see the License for the specific language governing rights and
+limitations under the License."
+
+*/
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Resources/Info.plist
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Resources/Info.plist
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>BuildMachineOSBuild</key>
+	<string>17F77</string>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>English</string>
+	<key>CFBundleExecutable</key>
+	<string>USBBusProber</string>
+	<key>CFBundleIdentifier</key>
+	<string>com.Vidvox.USBBusProber</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>USBBusProber</string>
+	<key>CFBundlePackageType</key>
+	<string>FMWK</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleSignature</key>
+	<string>????</string>
+	<key>CFBundleSupportedPlatforms</key>
+	<array>
+		<string>MacOSX</string>
+	</array>
+	<key>CFBundleVersion</key>
+	<string>1</string>
+	<key>DTCompiler</key>
+	<string>com.apple.compilers.llvm.clang.1_0</string>
+	<key>DTPlatformBuild</key>
+	<string>9C40b</string>
+	<key>DTPlatformVersion</key>
+	<string>GM</string>
+	<key>DTSDKBuild</key>
+	<string>17C76</string>
+	<key>DTSDKName</key>
+	<string>macosx10.13</string>
+	<key>DTXcode</key>
+	<string>0920</string>
+	<key>DTXcodeBuild</key>
+	<string>9C40b</string>
+	<key>NSHumanReadableCopyright</key>
+	<string>Copyright © 2014 Vidvox. All rights reserved.</string>
+</dict>
+</plist>
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Resources/USBVendors.txt
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Resources/USBVendors.txt
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Resources/en.lproj/InfoPlist.strings
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/Resources/en.lproj/InfoPlist.strings
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/USBBusProber
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/A/USBBusProber
--- a/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/Current
+++ b/src/mynteye/uvc/macosx/USBBusProber.framework/Versions/Current
@@ -0,0 +1 @@
+A
--- a/src/mynteye/uvc/macosx/USBBusProber/BusProbeDevice.m
+++ b/src/mynteye/uvc/macosx/USBBusProber/BusProbeDevice.m
@@ -1,5 +1,5 @@
 /*
- * Copyright <EFBFBD> 1998-2012 Apple Inc.  All rights reserved.
+ * Copyright <EFBFBD> 1998-2012 Apple Inc.  All rights reserved.
 *
 * @APPLE_LICENSE_HEADER_START@
 *
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Headers
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Headers
@@ -0,0 +1 @@
+Versions/Current/Headers
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Resources
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Resources
@@ -0,0 +1 @@
+Versions/Current/Resources
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/VVUVCKit
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/VVUVCKit
@@ -0,0 +1 @@
+Versions/Current/VVUVCKit
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCController.h
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCController.h
@@ -0,0 +1,405 @@
+#import <Foundation/Foundation.h>
+#include <CoreFoundation/CoreFoundation.h>
+#include <IOKit/IOKitLib.h>
+#include <IOKit/IOMessage.h>
+#include <IOKit/IOCFPlugIn.h>
+#include <IOKit/usb/IOUSBLib.h>
+#import <USBBusProber/USBBusProber.h>
+//#import <QTKit/QTKit.h>
+#import "VVUVCKitStringAdditions.h"
+
+/**
+\defgroup VVUVCController
+*/
+
+
+/*
+@protocol VVUVCControllerDelegate
+	- (void) VVUVCControllerParamsUpdated:(id)c;
+@end
+*/
+
+
+/**
+\ingroup VVUVCController
+Auto-exposure modes described by the USB spec, put in a typedef/enum for convenience
+*/
+typedef enum	{
+	UVC_AEMode_Undefined = 0x00,	///	undefined auto exposure mode
+	UVC_AEMode_Manual = 0x01,	///	manual exposure, manual iris
+	UVC_AEMode_Auto = 0x02,	///	auto exposure, auto iris
+	UVC_AEMode_ShutterPriority = 0x04,	///	manual exposure, auto iris
+	UVC_AEMode_AperturePriority = 0x08	///	auto exposure, manual iris
+} UVC_AEMode;
+
+
+/*		this struct contains all the info necessary to get/set vals from a video control parameter (either terminal/hardware or 
+		processing/software)- but it does not contain info about the value at all!  think of this struct as a sort of function 
+		description for the hardware which will be sent out directly via USB.  instances of this struct are populated by values 
+		from the USB specification!			*/
+typedef struct {
+	int		unit;	//	describes whether terminal/hardware or processing/software
+	int		selector;	//	the address of the "parameter" being changed- 
+	int		intendedSize;
+	BOOL	hasMin;	//	whether or not the video control parameter described by this struct has a min val
+	BOOL	hasMax;	//	whether or not the video control parameter described by this struct has a max
+	BOOL	hasDef;	//	whether or not the video control parameter described by this struct has a default
+	BOOL	isSigned;	//	whether or not the video control parameter described by this struct is a signed val
+	BOOL	isRelative;	//	whether or not the video control parameter described by this struct is a relative val
+} uvc_control_info_t;
+
+
+/*	these variables contain enough info to send data to/get data from the implied attribute.  the 
+	variables are global to the class (the contents won't change from instance to instance), and 
+	conceptually act like function descriptions (instances of this class can pass references to these 
+	variables, which can be used to get/set values).  these are populated when the class is 
+	initialized by values described in the USB specification.  if uvc_control_info_t is a function 
+	description, these variables are essentially pointers to a bunch of different functions.		*/
+extern uvc_control_info_t	_scanCtrl;
+extern uvc_control_info_t	_autoExposureModeCtrl;
+extern uvc_control_info_t	_autoExposurePriorityCtrl;
+extern uvc_control_info_t	_exposureTimeCtrl;
+extern uvc_control_info_t	_irisCtrl;
+extern uvc_control_info_t	_autoFocusCtrl;
+extern uvc_control_info_t	_focusCtrl;
+extern uvc_control_info_t	_zoomCtrl;
+extern uvc_control_info_t	_panTiltCtrl;
+extern uvc_control_info_t	_panTiltRelCtrl;
+extern uvc_control_info_t	_rollCtrl;
+extern uvc_control_info_t	_rollRelCtrl;
+
+extern uvc_control_info_t	_backlightCtrl;
+extern uvc_control_info_t	_brightCtrl;
+extern uvc_control_info_t	_contrastCtrl;
+extern uvc_control_info_t	_gainCtrl;
+extern uvc_control_info_t	_powerLineCtrl;
+extern uvc_control_info_t	_autoHueCtrl;
+extern uvc_control_info_t	_hueCtrl;
+extern uvc_control_info_t	_saturationCtrl;
+extern uvc_control_info_t	_sharpnessCtrl;
+extern uvc_control_info_t	_gammaCtrl;
+extern uvc_control_info_t	_whiteBalanceAutoTempCtrl;
+extern uvc_control_info_t	_whiteBalanceTempCtrl;
+
+
+/*		this struct describes a parameter- it contains a pointer to the control info that describes 
+which parameter, as well as the min/max/default/current value. an instance of this struct will 
+contain the value of the parameter and the uvc_control_info_t struct necessary to communicate with 
+this parameter in a camera.		*/
+typedef struct	{
+	BOOL	supported;	//	if YES, this parameter is supported. if NO, either the camera doesn't support this parameter, or the "inputTerminalID" or "processingUnitID" of the camera is wrong!
+	long	min;	//	the paramter's actual min val
+	long	max;	//	the parameter's actual max val
+	long	val;	//	the parameter's actual val
+	long	def;	//	the parameter's default val
+	int		actualSize;
+	uvc_control_info_t	*ctrlInfo;
+} uvc_param;
+
+
+
+
+
+///	An instance of VVUVCController will control the UVC params for a single USB video device.  This is probably the only class you'll have to create or work with in this framework.
+/**
+\ingroup VVUVCController
+This is probably the only class you'll have to work with in this framework.  The basic idea is that you create a VVUVCController for an enabled USB video device, and then either tell the controller to open its settings window or interact with it programmatically.  If you're looking for a more "embedded" feel, you can remove the VVUVCController's "settingsView" from its superview and add it into your application's NSView hierarchy.
+*/
+@interface VVUVCController : NSObject {
+	IOUSBInterfaceInterface190		**interface;
+	UInt32							deviceLocationID;
+	UInt8							interfaceNumber;	//	pulled from interface on generalInit!
+	int					inputTerminalID;	//	the "address" of the terminal unit, which handles hardware controls like aperture/focus.  if this val is wrong, the hardware controls won't be available.
+	int					processingUnitID;	//	the "address" of the processing unit, which handles software controls like contrast/hue.  if this val is wrong, the software controls won't be available.
+	
+	//id					<VVUVCControllerDelegate>delegate;
+	uvc_param			scanningMode;
+	uvc_param			autoExposureMode;	//	mode functionality described by the type UVC_AEMode
+	uvc_param			autoExposurePriority;	//	if 1, framerate may be varied.  if 0, framerate must remain constant.
+	uvc_param			exposureTime;
+	uvc_param			iris;
+	uvc_param			autoFocus;
+	uvc_param			focus;
+	uvc_param			zoom;
+	uvc_param			panTilt;
+	uvc_param			panTiltRel;
+	uvc_param			roll;
+	uvc_param			rollRel;
+	
+	uvc_param			backlight;
+	uvc_param			bright;
+	uvc_param			contrast;
+	uvc_param			gain;
+	uvc_param			powerLine;
+	uvc_param			autoHue;
+	uvc_param			hue;
+	uvc_param			saturation;
+	uvc_param			sharpness;
+	uvc_param			gamma;
+	uvc_param			autoWhiteBalance;
+	uvc_param			whiteBalance;
+	
+	//	this class has its own .nib which contains a UI for interacting with the class that may be opened directly in a window, or accessed as an NSView instance for use in other UIs/software
+	NSNib				*theNib;
+	NSArray				*nibTopLevelObjects;
+	
+	IBOutlet id			uiCtrlr;	//	created & owned by the nib!
+	IBOutlet NSWindow	*settingsWindow;	//	by default, the UI is in a window (it's easiest to just open and close it)
+	IBOutlet NSView		*settingsView;	//	you can also access the view which contains the UI so you can embed it in other apps
+}
+
+///	Use this method to init an instance of VVUVCController from an NSString returned by the AVFoundation or QTCapture APIs as the device's unique ID.
+/**
+@param n The "deviceIDString" is a string returned by QuickTime and AVFoundation as the unique ID for the USB video device.  Technically, this is a hex value with sixteen digits (16 hex digits = an unsigned 64-bit integer).  The first 8 hex digits is the USB device's "locationID", the next 4 hex digits is the device's vendor ID, and the last 4 digits are the device's product ID.  Only the locationID is needed to create the necessary USB interfaces...
+*/
+- (id) initWithDeviceIDString:(NSString *)n;
+///	Use this method to init an instance of VVUVCController from the USB location ID.
+/**
+@param locationID The location ID of the USB device you want this instance of VVUVCController to control.
+*/
+- (id) initWithLocationID:(UInt32)locationID;
+- (IOUSBInterfaceInterface190 **) _getControlInferaceWithDeviceInterface:(IOUSBDeviceInterface **)deviceInterface;
+- (void) generalInit;
+
+///	Returns a mutable dict representing the current state of the video input parameters
+- (NSMutableDictionary *) createSnapshot;
+///	Loads a saved state dict created with the "createSnapshot" method
+- (void) loadSnapshot:(NSDictionary *)s;
+
+- (BOOL) _sendControlRequest:(IOUSBDevRequest *)controlRequest;
+- (int) _requestValType:(int)requestType forControl:(const uvc_control_info_t *)ctrl returnVal:(void **)ret;
+- (BOOL) _setBytes:(void *)bytes sized:(int)size toControl:(const uvc_control_info_t *)ctrl;
+- (void) _populateAllParams;	//	populates all the uvc_param variables in this instance, loading their min/max/default vals and determining if they're supported or not
+- (void) _populateParam:(uvc_param *)param;
+- (BOOL) _pushParamToDevice:(uvc_param *)param;
+- (void) _resetParamToDefault:(uvc_param *)param;
+
+///	Resets the parameters to their default values.  The default values are supplied by/stored in the device.
+- (void) resetParamsToDefaults;
+///	Opens a window with a GUI for interacting with the camera parameters
+- (void) openSettingsWindow;
+///	Closes the GUI window (if it's open).
+- (void) closeSettingsWindow;
+
+- (void) setInterlaced:(BOOL)n;
+- (BOOL) interlaced;
+- (BOOL) interlacedSupported;
+- (void) resetInterlaced;
+///	Sets the auto exposure mode using one of the basic auto exposure modes defined in the header (vals pulled from the USB spec)
+- (void) setAutoExposureMode:(UVC_AEMode)n;
+///	Gets the auto exposure mode
+- (UVC_AEMode) autoExposureMode;
+///	Whether or not this camera supports the use of alternate auto exposure modes
+- (BOOL) autoExposureModeSupported;
+///	Resets the auto exposure mode to the hardware-defined default
+- (void) resetAutoExposureMode;
+///	Sets whether or not auto exposure will be given priority
+- (void) setAutoExposurePriority:(BOOL)n;
+///	Gets whether or not the camera is giving auto exposure priority
+- (BOOL) autoExposurePriority;
+///	Whether or not this camera supports the use of auto exposure priority
+- (BOOL) autoExposurePrioritySupported;
+///	Resets the auto exposure priority to the hardware-defined default
+- (void) resetAutoExposurePriority;
+
+///	Sets the exposure time to the passed value
+- (void) setExposureTime:(long)n;
+///	Gets the current exposure time value being used by the camera
+- (long) exposureTime;
+///	Whether or not this camera supports the exposure time parameter
+- (BOOL) exposureTimeSupported;
+///	Resets the exposure time value to the hardware-defined default
+- (void) resetExposureTime;
+///	The min exposure time value
+- (long) minExposureTime;
+///	The max exposure time value
+- (long) maxExposureTime;
+///	Sets the iris to the passed value
+- (void) setIris:(long)n;
+///	Gets the current iris value being used by the camera
+- (long) iris;
+///	Whether or not this camera supports the iris parameter
+- (BOOL) irisSupported;
+///	Resets the iris value to the hardware-defined default
+- (void) resetIris;
+///	The min iris value
+- (long) minIris;
+///	The max iris value
+- (long) maxIris;
+///	Sets the auto focus to the passed value
+- (void) setAutoFocus:(BOOL)n;
+///	Gets the auto focus value being used by the camera
+- (BOOL) autoFocus;
+///	Whether or not this camera supports the auto focus parameter
+- (BOOL) autoFocusSupported;
+///	Resets the auto focus value to the hardware-defined default.
+- (void) resetAutoFocus;
+///	Sets the focus value
+- (void) setFocus:(long)n;
+///	Gets the focus value currently being used by the camera
+- (long) focus;
+///	Whether or not this camera supports the focus parameter
+- (BOOL) focusSupported;
+///	Resets the focus value to the hardware-defined default
+- (void) resetFocus;
+///	The min focus value
+- (long) minFocus;
+///	The max focus value
+- (long) maxFocus;
+///	Sets the zoom value
+- (void) setZoom:(long)n;
+///	Gets the current zoom value being used by the camera
+- (long) zoom;
+///	Whether or not this camera supports the zoom parameter
+- (BOOL) zoomSupported;
+///	Resets the zoom value to the hardware-defined default
+- (void) resetZoom;
+///	The min zoom value
+- (long) minZoom;
+///	The max zoom value
+- (long) maxZoom;
+
+//	pan/tilt/roll aren't enabled
+- (BOOL) panSupported;
+- (BOOL) tiltSupported;
+- (BOOL) rollSupported;
+
+///	Sets the backlight to the passed value
+- (void) setBacklight:(long)n;
+///	Gets the backlight value currently being used by the camera
+- (long) backlight;
+///	Whether or not this camera supports the backlight parameter
+- (BOOL) backlightSupported;
+///	Resets the backlight value to the hardware-defined default
+- (void) resetBacklight;
+///	The min backlight value
+- (long) minBacklight;
+///	The max backlight value
+- (long) maxBacklight;
+///	Sets the bright value to the passed value
+- (void) setBright:(long)n;
+///	Gets the bright value currently being used by the camera
+- (long) bright;
+///	Whether or not this camera supports the bright parameter
+- (BOOL) brightSupported;
+///	Resets the bright parameter to the hardware-defined default
+- (void) resetBright;
+///	The min bright value
+- (long) minBright;
+///	The max bright value
+- (long) maxBright;
+///	Sets the contrast to the passed value
+- (void) setContrast:(long)n;
+///	Gets the contrast value currently being used by the camera
+- (long) contrast;
+///	Whether or not this camera supports the contrast parameter
+- (BOOL) contrastSupported;
+///	Resets the contrast to the hardware-defined default
+- (void) resetContrast;
+///	The min contrast value
+- (long) minContrast;
+///	The max contrast value
+- (long) maxContrast;
+///	Sets the gain to the passed value
+- (void) setGain:(long)n;
+///	Gets the gain value currently being used by the camera
+- (long) gain;
+///	Whether or not this camera supports the gain parameter
+- (BOOL) gainSupported;
+///	Resets the gain value to the hardware-defined default
+- (void) resetGain;
+///	The min gain value
+- (long) minGain;
+///	The max gain value
+- (long) maxGain;
+///	Sets the powerline to the passed value
+- (void) setPowerLine:(long)n;
+///	Gets the powerline value currently being used by the camera
+- (long) powerLine;
+///	Whether or not this camera supports the powerline parameter
+- (BOOL) powerLineSupported;
+///	Resets the powerline value to the hardware-defined default
+- (void) resetPowerLine;
+///	The min powerline value
+- (long) minPowerLine;
+///	The max powerline value
+- (long) maxPowerLine;
+///	Sets the auto hue to the passed value
+- (void) setAutoHue:(BOOL)n;
+///	The auto hue value currently being used by the camera
+- (BOOL) autoHue;
+///	Whether or not this camera supports the auto hue parameter
+- (BOOL) autoHueSupported;
+///	Resets the auto hue parameter to the hardware-defined default
+- (void) resetAutoHue;
+///	Sets the hue to the passed value
+- (void) setHue:(long)n;
+///	Gets the hue value currently being used by the camera
+- (long) hue;
+///	Whether or not this camera supports the hue parameter
+- (BOOL) hueSupported;
+///	Resets the hue parameter to the hardware-defined default
+- (void) resetHue;
+///	The min hue value
+- (long) minHue;
+///	The max hue value
+- (long) maxHue;
+///	Sets the saturation to the passed value
+- (void) setSaturation:(long)n;
+///	Gets the saturation value currently being used by the camera
+- (long) saturation;
+///	Whether or not this camera supports the saturation parameter
+- (BOOL) saturationSupported;
+///	Resets the saturation to the hardware-defined default
+- (void) resetSaturation;
+///	The min saturation value
+- (long) minSaturation;
+///	The max saturation value
+- (long) maxSaturation;
+///	Sets the sharpness to the passed value
+- (void) setSharpness:(long)n;
+///	Gets the sharpness value currently being used by the camera
+- (long) sharpness;
+///	Whether or not this camera supports the sharpness parameter
+- (BOOL) sharpnessSupported;
+///	Resets the sharpness to the hardware-defined default
+- (void) resetSharpness;
+///	The min sharpness value
+- (long) minSharpness;
+///	The max sharpness value
+- (long) maxSharpness;
+///	Sets the gamma to the passed value
+- (void) setGamma:(long)n;
+///	Gets the gamma value currently being used by the camera
+- (long) gamma;
+///	Whether or not this camera supports the gamma parameter
+- (BOOL) gammaSupported;
+///	Resets the gamma value to the hardware-defined default
+- (void) resetGamma;
+///	The min gamma value
+- (long) minGamma;
+///	The max gamma value
+- (long) maxGamma;
+///	Sets the auto white balance to the passed value
+- (void) setAutoWhiteBalance:(BOOL)n;
+///	Gets the auto white balance value currently being used by the camera
+- (BOOL) autoWhiteBalance;
+///	Whether or not this camera supports the auto white balance parameter
+- (BOOL) autoWhiteBalanceSupported;
+///	Resets the auto white balance to the hardware-defined default
+- (void) resetAutoWhiteBalance;
+///	Sets the white balance to the passed value
+- (void) setWhiteBalance:(long)n;
+///	Gets the white balance value currently being used by the camera
+- (long) whiteBalance;
+///	Whether or not this camera supports the white balance parameter
+- (BOOL) whiteBalanceSupported;
+///	Resets the white balance value to the hardware-defined default
+- (void) resetWhiteBalance;
+///	The min white balance value
+- (long) minWhiteBalance;
+///	The max white balance value
+- (long) maxWhiteBalance;
+
+
+@end
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCKit.h
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCKit.h
@@ -0,0 +1,4 @@
+
+
+//	this is the only class you should need to explicitly instantiate!
+#import "VVUVCController.h"
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCKitStringAdditions.h
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCKitStringAdditions.h
@@ -0,0 +1,7 @@
+#import <Cocoa/Cocoa.h>
+
+@interface NSString (VVUVCKitStringAdditions)
+
+- (BOOL) containsString:(NSString *)n;
+
+@end
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCUIController.h
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCUIController.h
@@ -0,0 +1,44 @@
+#import <Cocoa/Cocoa.h>
+#import "VVUVCUIElement.h"
+
+
+
+
+@interface VVUVCUIController : NSObject <VVUVCUIElementDelegate> {
+	IBOutlet id				device;
+	
+	IBOutlet NSPopUpButton	*autoExpButton;
+	IBOutlet NSButton		*expPriorityButton;
+	IBOutlet NSButton		*autoFocusButton;
+	//IBOutlet NSSlider		*panSlider;
+	//IBOutlet NSSlider		*tiltSlider;
+	//IBOutlet NSSlider		*rollSlider;
+	
+	IBOutlet NSButton		*autoHueButton;
+	IBOutlet NSButton		*autoWBButton;
+	
+	IBOutlet VVUVCUIElement		*expElement;
+	IBOutlet VVUVCUIElement		*irisElement;
+	IBOutlet VVUVCUIElement		*focusElement;
+	IBOutlet VVUVCUIElement		*zoomElement;
+
+	IBOutlet VVUVCUIElement		*backlightElement;
+	IBOutlet VVUVCUIElement		*brightElement;
+	IBOutlet VVUVCUIElement		*contrastElement;
+	IBOutlet VVUVCUIElement		*powerElement;
+	IBOutlet VVUVCUIElement		*gammaElement;
+	IBOutlet VVUVCUIElement		*hueElement;
+	IBOutlet VVUVCUIElement		*satElement;
+	IBOutlet VVUVCUIElement		*sharpElement;
+	IBOutlet VVUVCUIElement		*gainElement;
+	IBOutlet VVUVCUIElement		*wbElement;
+}
+
+- (IBAction) buttonUsed:(id)sender;
+- (IBAction) popUpButtonUsed:(id)sender;
+
+- (IBAction) resetToDefaults:(id)sender;
+
+- (void) _pushCameraControlStateToUI;
+
+@end
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCUIElement.h
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Headers/VVUVCUIElement.h
@@ -0,0 +1,36 @@
+#import <Cocoa/Cocoa.h>
+
+
+
+
+@protocol VVUVCUIElementDelegate
+- (void) controlElementChanged:(id)sender;
+@end
+
+
+
+
+@interface VVUVCUIElement : NSBox {
+	IBOutlet id		delegate;
+
+	BOOL			enabled;
+	NSSlider		*valSlider;
+	NSTextField		*valField;
+	
+	int				val;
+	int				min;
+	int				max;
+}
+
+- (void) setEnabled:(BOOL)n;
+
+- (void) _resizeContents;
+
+- (void) uiItemUsed:(id)sender;
+
+@property (assign,readwrite) id delegate;
+@property (assign,readwrite) int val;
+@property (assign,readwrite) int min;
+@property (assign,readwrite) int max;
+
+@end
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Resources/Info.plist
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Resources/Info.plist
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>BuildMachineOSBuild</key>
+	<string>17F77</string>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>English</string>
+	<key>CFBundleExecutable</key>
+	<string>VVUVCKit</string>
+	<key>CFBundleIdentifier</key>
+	<string>com.Vidvox.VVUVCKit</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>VVUVCKit</string>
+	<key>CFBundlePackageType</key>
+	<string>FMWK</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleSignature</key>
+	<string>????</string>
+	<key>CFBundleSupportedPlatforms</key>
+	<array>
+		<string>MacOSX</string>
+	</array>
+	<key>CFBundleVersion</key>
+	<string>1</string>
+	<key>DTCompiler</key>
+	<string>com.apple.compilers.llvm.clang.1_0</string>
+	<key>DTPlatformBuild</key>
+	<string>9C40b</string>
+	<key>DTPlatformVersion</key>
+	<string>GM</string>
+	<key>DTSDKBuild</key>
+	<string>17C76</string>
+	<key>DTSDKName</key>
+	<string>macosx10.13</string>
+	<key>DTXcode</key>
+	<string>0920</string>
+	<key>DTXcodeBuild</key>
+	<string>9C40b</string>
+	<key>NSHumanReadableCopyright</key>
+	<string>Copyright © 2014 Vidvox. All rights reserved.</string>
+</dict>
+</plist>
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Resources/VVUVCController.nib
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Resources/VVUVCController.nib
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Resources/en.lproj/InfoPlist.strings
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/Resources/en.lproj/InfoPlist.strings
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/VVUVCKit
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/A/VVUVCKit
--- a/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/Current
+++ b/src/mynteye/uvc/macosx/VVUVCKit.framework/Versions/Current
@@ -0,0 +1 @@
+A
--- a/src/mynteye/uvc/macosx/uvc-vvuvckit.cc
+++ b/src/mynteye/uvc/macosx/uvc-vvuvckit.cc
@@ -0,0 +1,90 @@
+// 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 <thread>
+#include <vector>
+#include <atomic>
+#include <mutex>
+#include "mynteye/logger.h"
+#include "mynteye/uvc/uvc.h"
+#include "libuvc/libuvc.h"
+#include "AVfoundationCamera.h"
+
+// #define ENABLE_DEBUG_SPAM
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace uvc {
+
+// Enumerate devices
+MYNTEYE_API std::shared_ptr<context> create_context() {
+  //too
+}
+MYNTEYE_API std::vector<std::shared_ptr<device>> query_devices(
+    std::shared_ptr<context> context) {
+  //todo
+}
+
+// Static device properties
+MYNTEYE_API std::string get_name(const device &device) {
+  //todo
+}
+MYNTEYE_API int get_vendor_id(const device &device) {
+  //todo
+}
+MYNTEYE_API int get_product_id(const device &device) {
+  //todo
+}
+
+MYNTEYE_API std::string get_video_name(const device &device) {
+  //todo
+}
+
+MYNTEYE_API bool pu_control_range(
+    const device &device, Option option, int32_t *min, int32_t *max,
+    int32_t *def) {
+  // todo
+}
+MYNTEYE_API bool pu_control_query(
+    const device &device, Option option, pu_query query, int32_t *value) {
+  // todo
+}
+
+// Access XU (Extension Unit) controls
+MYNTEYE_API bool xu_control_range(
+    const device &device, const xu &xu, uint8_t selector, uint8_t id,
+    int32_t *min, int32_t *max, int32_t *def) {
+  //todo
+}
+MYNTEYE_API bool xu_control_query(  // XU_QUERY_SET, XU_QUERY_GET
+    const device &device, const xu &xu, uint8_t selector, xu_query query,
+    uint16_t size, uint8_t *data) {
+  //todo
+}
+
+MYNTEYE_API void set_device_mode(
+    device &device, int width, int height, int fourcc, int fps,  // NOLINT
+    video_channel_callback callback) {
+  //todo
+}
+MYNTEYE_API void start_streaming(device &device, int num_transfer_bufs) {
+  //todo
+}
+MYNTEYE_API void stop_streaming(device &device) {
+  //todo
+}
+
+}  // namespace uvc
+
+MYNTEYE_END_NAMESPACE
--- a/src/mynteye/uvc/win/uvc-wmf.cc
+++ b/src/mynteye/uvc/win/uvc-wmf.cc
@@ -64,7 +64,8 @@ namespace uvc {

 const std::map<uint32_t, uint32_t> fourcc_map = {
  { 0x56595559, 0x32595559 },  // 'VYUY' => '2YUY'
-  { 0x59555956, 0x59555932 }   // 'YUYV' => 'YUY2'
+  { 0x59555956, 0x59555932 },  // 'YUYV' => 'YUY2'
+  { 0x33524742, 0x14 }
 };

 struct throw_error {
@@ -756,6 +757,7 @@ void set_device_mode(device &device, int width, int height, int fourcc, int fps,
    check("IMFMediaType::GetGUID", media_type->GetGUID(MF_MT_SUBTYPE, &subtype));
    if (subtype.Data1 != fourcc) continue;

+    check("MFSetAttributeRatio", MFSetAttributeRatio(media_type, MF_MT_FRAME_RATE, fps, 1));
    check("MFGetAttributeRatio", MFGetAttributeRatio(media_type, MF_MT_FRAME_RATE, &uvc_fps_num, &uvc_fps_denom));
    if (uvc_fps_denom == 0) continue;
    //int uvc_fps = uvc_fps_num / uvc_fps_denom;
--- a/src/public/miniglog.cc
+++ b/src/public/miniglog.cc
@@ -0,0 +1,41 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "mynteye/miniglog.h"
+
+namespace google {
+
+// This is the set of log sinks. This must be in a separate library to ensure
+// that there is only one instance of this across the entire program.
+std::set<google::LogSink *> log_sinks_global;
+
+int log_severity_global(INFO);
+
+}  // namespace google
--- a/src/public/miniglog.readme
+++ b/src/public/miniglog.readme
@@ -0,0 +1,3 @@
+miniglog:
+  * https://github.com/arpg/miniglog
+  * https://github.com/tzutalin/miniglog
--- a/src/uvc/uvc-libuvc.cc
+++ b/src/uvc/uvc-libuvc.cc
@@ -0,0 +1,199 @@
+// 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 "uvc/uvc.h"  // NOLINT
+
+#include <libuvc/libuvc.h>
+
+#include "mynteye/logger.h"
+// #define ENABLE_DEBUG_SPAM
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace uvc {
+
+static void check(const char *call, uvc_error_t status) {
+  LOG_IF(FATAL, status < 0)
+      << call << "(...) returned " << uvc_strerror(status);
+}
+#define CALL_UVC(name, ...) check(#name, name(__VA_ARGS__))
+
+struct context {
+  uvc_context_t *ctx;
+
+  context() : ctx(nullptr) {
+    VLOG(2) << __func__;
+    CALL_UVC(uvc_init, &ctx, nullptr);
+  }
+
+  ~context() {
+    VLOG(2) << __func__;
+    if (ctx)
+      uvc_exit(ctx);
+  }
+};
+
+struct device {
+  const std::shared_ptr<context> parent;
+
+  uvc_device_t *uvcdevice = nullptr;
+  uvc_device_handle_t *handle = nullptr;
+
+  int vid, pid;
+
+  device(std::shared_ptr<context> parent, uvc_device_t *uvcdevice)
+      : parent(parent), uvcdevice(uvcdevice) {
+    VLOG(2) << __func__;
+    open();
+
+    uvc_device_descriptor_t *desc;
+    CALL_UVC(uvc_get_device_descriptor, uvcdevice, &desc);
+    vid = desc->idVendor;
+    pid = desc->idProduct;
+    uvc_free_device_descriptor(desc);
+  }
+
+  ~device() {
+    VLOG(2) << __func__;
+    if (handle)
+      uvc_close(handle);
+    if (uvcdevice)
+      uvc_unref_device(uvcdevice);
+  }
+
+  void open() {
+    if (!handle)
+      CALL_UVC(uvc_open, uvcdevice, &handle);
+  }
+};
+
+std::shared_ptr<context> create_context() {
+  return std::make_shared<context>();
+}
+
+std::vector<std::shared_ptr<device>> query_devices(
+    std::shared_ptr<context> context) {
+  std::vector<std::shared_ptr<device>> devices;
+
+  uvc_device_t **list;
+  CALL_UVC(uvc_get_device_list, context->ctx, &list);
+  for (auto it = list; *it; ++it) {
+    try {
+      auto dev = std::make_shared<device>(context, *it);
+      devices.push_back(dev);
+    } catch (std::runtime_error &e) {
+      LOG(WARNING) << "usb:" << static_cast<int>(uvc_get_bus_number(*it)) << ':'
+                   << static_cast<int>(uvc_get_device_address(*it)) << ": "
+                   << e.what();
+    }
+  }
+  uvc_free_device_list(list, 1);
+
+  return devices;
+}
+
+int get_vendor_id(const device &device) {
+  return device.vid;
+}
+
+int get_product_id(const device &device) {
+  return device.pid;
+}
+
+std::string get_name(const device &device) {
+  // TODO(JohnZhao)
+  UNUSED(device)
+  return "";
+}
+
+std::string get_video_name(const device &device) {
+  // TODO(JohnZhao)
+  UNUSED(device)
+  return "";
+}
+
+bool pu_control_range(
+    const device &device, Option option, int32_t *min, int32_t *max,
+    int32_t *def) {
+  // TODO(JohnZhao)
+  UNUSED(device)
+  UNUSED(option)
+  UNUSED(min)
+  UNUSED(max)
+  UNUSED(def)
+  return false;
+}
+
+bool pu_control_query(
+    const device &device, Option option, pu_query query, int32_t *value) {
+  // TODO(JohnZhao)
+  UNUSED(device)
+  UNUSED(option)
+  UNUSED(query)
+  UNUSED(value)
+  return false;
+}
+
+bool xu_control_range(
+    const device &device, const xu &xu, uint8_t selector, uint8_t id, int32_t *min,
+    int32_t *max, int32_t *def) {
+  // TODO(JohnZhao)
+  UNUSED(device)
+  UNUSED(xu)
+  UNUSED(selector)
+  UNUSED(id)
+  UNUSED(min)
+  UNUSED(max)
+  UNUSED(def)
+  return false;
+}
+
+bool xu_control_query(
+    const device &device, const xu &xu, uint8_t selector, xu_query query,
+    uint16_t size, uint8_t *data) {
+  // TODO(JohnZhao)
+  UNUSED(device)
+  UNUSED(xu)
+  UNUSED(selector)
+  UNUSED(query)
+  UNUSED(size)
+  UNUSED(data)
+  return false;
+}
+
+void set_device_mode(
+    device &device, int width, int height, int fourcc, int fps,  // NOLINT
+    video_channel_callback callback) {
+  // TODO(JohnZhao)
+  UNUSED(device)
+  UNUSED(width)
+  UNUSED(height)
+  UNUSED(fourcc)
+  UNUSED(fps)
+  UNUSED(callback)
+}
+
+void start_streaming(device &device, int num_transfer_bufs) {  // NOLINT
+  // TODO(JohnZhao)
+  UNUSED(device)
+  UNUSED(num_transfer_bufs)
+}
+
+void stop_streaming(device &device) {  // NOLINT
+  // TODO(JohnZhao)
+  UNUSED(device)
+}
+
+}  // namespace uvc
+
+MYNTEYE_END_NAMESPACE
--- a/tools/analytics/stamp_analytics.py
+++ b/tools/analytics/stamp_analytics.py
@@ -97,10 +97,10 @@ class BinDataset(object):
        if What.imu in result:
          imu = result[What.imu]
          np.array([(
-              imu.timestamp,
+              imu.timestamp, imu.flag,
              imu.accel_x, imu.accel_y, imu.accel_z,
              imu.gyro_x, imu.gyro_y, imu.gyro_z
-          )], dtype="f8, f8, f8, f8, f8, f8, f8").tofile(f_imu)
+          )], dtype="f8, i4, f8, f8, f8, f8, f8, f8").tofile(f_imu)
          imu_count = imu_count + 1
          has_imu = True
        sys.stdout.write('\r  img: {}, imu: {}'.format(img_count, imu_count))
@@ -130,7 +130,7 @@ class BinDataset(object):

    if self.has_imu:
      imus = np.memmap(self._binimu, dtype=[
-          ('t', 'f8'),
+          ('t', 'f8'), ('flag', 'i4'),
          ('accel_x', 'f8'), ('accel_y', 'f8'), ('accel_z', 'f8'),
          ('gyro_x', 'f8'), ('gyro_y', 'f8'), ('gyro_z', 'f8'),
      ], mode='r')
@@ -145,92 +145,111 @@ class BinDataset(object):
    print('  img: {}, imu: {}'.format(period_img, period_imu))

    imgs_t_diff = np.diff(imgs['t'])
-    imus_t_diff = np.diff(imus['t'])
+    # imus_t_diff = np.diff(imus['t'])

+    accel = imus[imus['flag'] == 1]
+    accel_t_diff = np.diff(accel['t'])
+    gyro = imus[imus['flag'] == 2]
+    gyro_t_diff = np.diff(gyro['t'])
+
+    print('\ncount')
+    print('  imgs: {}, imus: {}, accel: {}, gyro: {}'.format(
+        imgs.size, imus.size, accel.size, gyro.size))
    print('\ndiff count')
-    print('  imgs: {}, imus: {}'.format(imgs['t'].size, imus['t'].size))
-    print('  imgs_t_diff: {}, imus_t_diff: {}'
-          .format(imgs_t_diff.size, imus_t_diff.size))
+    print('  imgs_t_diff: {}, accel_t_diff: {}, gyro_t_diff: {}'.format(
+        imgs_t_diff.size, accel_t_diff.size, gyro_t_diff.size))

    print('\ndiff where (factor={})'.format(args.factor))
-
-    where = np.argwhere(imgs_t_diff > period_img * (1 + args.factor))
-    print('  imgs where diff > {}*{} ({})'.format(period_img,
-                                                  1 + args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imgs_t_diff[x][0]))
-
-    where = np.argwhere(imgs_t_diff < period_img * (1 - args.factor))
-    print('  imgs where diff < {}*{} ({})'.format(period_img,
-                                                  1 - args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imgs_t_diff[x][0]))
-
-    where = np.argwhere(imus_t_diff > period_imu * (1 + args.factor))
-    print('  imus where diff > {}*{} ({})'.format(period_imu,
-                                                  1 + args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imus_t_diff[x][0]))
-
-    where = np.argwhere(imus_t_diff < period_imu * (1 - args.factor))
-    print('  imus where diff < {}*{} ({})'.format(period_imu,
-                                                  1 - args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imus_t_diff[x][0]))
+    self._print_t_diff_where('imgs', imgs_t_diff, period_img, args.factor)
+    # self._print_t_diff_where('imus', imus_t_diff, period_imu, args.factor)
+    self._print_t_diff_where('accel', accel_t_diff, period_imu, args.factor)
+    self._print_t_diff_where('gyro', gyro_t_diff, period_imu, args.factor)

    import pandas as pd
    bins = imgs['t']
    bins_n = imgs['t'].size
    bins = pd.Series(data=bins).drop_duplicates(keep='first')
-    cats = pd.cut(imus['t'], bins)

    print('\nimage timestamp duplicates: {}'.format(bins_n - bins.size))

-    self._plot(outdir, imgs_t_diff, imus_t_diff, cats.value_counts())
+    def _cut_by_imgs_t(imus_t):
+      cats = pd.cut(imus_t, bins)
+      return cats.value_counts()

-  def _plot(self, outdir, imgs_t_diff, imus_t_diff, imgs_t_imus):
+    self._plot(
+        outdir,
+        imgs_t_diff,
+        accel_t_diff,
+        _cut_by_imgs_t(
+            accel['t']),
+        gyro_t_diff,
+        _cut_by_imgs_t(
+            gyro['t']))
+
+  def _print_t_diff_where(self, name, t_diff, period, factor):
+    import numpy as np
+
+    where = np.argwhere(t_diff > period * (1 + factor))
+    print('  {} where diff > {}*{} ({})'.format(
+        name, period, 1 + factor, where.size))
+    for x in where:
+      print('  {:8d}: {:.16f}'.format(x[0], t_diff[x][0]))
+
+    where = np.argwhere(t_diff < period * (1 - factor))
+    print('  {} where diff < {}*{} ({})'.format(
+        name, period, 1 - factor, where.size))
+    for x in where:
+      print('  {:8d}: {:.16f}'.format(x[0], t_diff[x][0]))
+
+  def _plot(self, outdir, imgs_t_diff,
+            accel_t_diff, accel_counts, gyro_t_diff, gyro_counts):
    import matplotlib.pyplot as plt
    import numpy as np

-    fig_1 = plt.figure(1, [16, 6])
+    fig_1 = plt.figure(1, [16, 12])
    fig_1.suptitle('Stamp Analytics')
    fig_1.subplots_adjust(
        left=0.1,
        right=0.95,
        top=0.85,
        bottom=0.15,
-        wspace=0.4)
+        wspace=0.4,
+        hspace=0.4)

-    ax_imgs_t_diff = fig_1.add_subplot(131)
+    ax_imgs_t_diff = fig_1.add_subplot(231)
    ax_imgs_t_diff.set_title('Image Timestamp Diff')
    ax_imgs_t_diff.set_xlabel('diff index')
    ax_imgs_t_diff.set_ylabel('diff (s)')
    ax_imgs_t_diff.axis('auto')

-    ax_imus_t_diff = fig_1.add_subplot(132)
-    ax_imus_t_diff.set_title('Imu Timestamp Diff')
-    ax_imus_t_diff.set_xlabel('diff index')
-    ax_imus_t_diff.set_ylabel('diff (s)')
-    ax_imus_t_diff.axis('auto')
-
-    ax_imgs_t_imus = fig_1.add_subplot(133)
-    ax_imgs_t_imus.set_title('Imu Count Per Image Intervel')
-    ax_imgs_t_imus.set_xlabel('intervel index')
-    ax_imgs_t_imus.set_ylabel('imu count')
-    ax_imgs_t_imus.axis('auto')
-
    ax_imgs_t_diff.set_xlim([0, imgs_t_diff.size])
    ax_imgs_t_diff.plot(imgs_t_diff)

-    ax_imus_t_diff.set_xlim([0, imus_t_diff.size])
-    ax_imus_t_diff.plot(imus_t_diff)
+    def _plot_imus(name, t_diff, counts, pos_offset=0):
+      ax_imus_t_diff = fig_1.add_subplot(232 + pos_offset)
+      ax_imus_t_diff.set_title('{} Timestamp Diff'.format(name))
+      ax_imus_t_diff.set_xlabel('diff index')
+      ax_imus_t_diff.set_ylabel('diff (s)')
+      ax_imus_t_diff.axis('auto')

-    # print(imgs_t_imus.values)
-    # imgs_t_imus.plot(kind='line', ax=ax_imgs_t_imus)
-    data = imgs_t_imus.values
-    ax_imgs_t_imus.set_xlim([0, data.size])
-    ax_imgs_t_imus.set_ylim([np.min(data) - 1, np.max(data) + 1])
-    ax_imgs_t_imus.plot(data)
+      ax_imus_t_diff.set_xlim([0, t_diff.size - 1])
+      ax_imus_t_diff.plot(t_diff)
+
+      ax_imus_counts = fig_1.add_subplot(233 + pos_offset)
+      ax_imus_counts.set_title('{} Count Per Image Intervel'.format(name))
+      ax_imus_counts.set_xlabel('intervel index')
+      ax_imus_counts.set_ylabel('imu count')
+      ax_imus_counts.axis('auto')
+
+      # print(counts.values)
+      # counts.plot(kind='line', ax=ax_imus_counts)
+      data = counts.values
+      ax_imus_counts.set_xlim([0, data.size])
+      ax_imus_counts.set_ylim([np.min(data) - 1, np.max(data) + 1])
+      ax_imus_counts.plot(data)
+
+    _plot_imus('Accel', accel_t_diff, accel_counts)
+    _plot_imus('Gyro', gyro_t_diff, gyro_counts, 3)

    if outdir:
      figpath = os.path.join(outdir, RESULT_FIGURE)
@@ -288,14 +307,14 @@ def _parse_args():
      '--rate-img',
      dest='rate_img',
      metavar='RATE',
-      default=25,
+      default=60,
      type=int,
      help='the img rate (default: %(default)s)')
  parser.add_argument(
      '--rate-imu',
      dest='rate_imu',
      metavar='RATE',
-      default=500,
+      default=200,
      type=int,
      help='the imu rate (default: %(default)s)')
  return parser.parse_args()
--- a/tools/dataset/CMakeLists.txt
+++ b/tools/dataset/CMakeLists.txt
@@ -20,13 +20,17 @@ set_outdir(
  "${OUT_DIR}/bin/${DIR_NAME}"
 )

+include_directories(
+  ${PRO_DIR}/src
+)
+
 ## record

-make_executable(record
-  SRCS record.cc dataset.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)
+# make_executable(record
+#  SRCS record.cc dataset.cc
+#  LINK_LIBS mynteye ${OpenCV_LIBS}
+#  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+#)

 make_executable(record2
  SRCS record2.cc dataset.cc
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -13,11 +13,8 @@
 // limitations under the License.
 #include "dataset/dataset.h"

-#ifdef WITH_OPENCV2
 #include <opencv2/highgui/highgui.hpp>
-#else
-#include <opencv2/imgcodecs/imgcodecs.hpp>
-#endif
+#include <opencv2/imgproc/imgproc.hpp>

 #include <iomanip>
 #include <limits>
@@ -68,23 +65,53 @@ void Dataset::SaveStreamData(
    std::stringstream ss;
    ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
       << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
-    cv::Mat img(
-        data.frame->height(), data.frame->width(), CV_8UC1, data.frame->data());
-    cv::imwrite(ss.str(), img);
+    if (data.frame->format() == Format::GREY) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC1,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    } else if (data.frame->format() == Format::YUYV) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC2,
+          data.frame->data());
+      cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+      cv::imwrite(ss.str(), img);
+    } else if (data.frame->format() == Format::BGR888) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC3,
+          data.frame->data());
+      // cv::cvtColor(img, img, CV_BGR2RGB);
+      cv::imwrite(ss.str(), img);
+    } else {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC1,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    }
  }
  ++stream_counts_[stream];
 }

 void Dataset::SaveMotionData(const device::MotionData &data) {
  auto &&writer = GetMotionWriter();
+  // auto seq = data.imu->serial_number;
  auto seq = motion_count_;
-  writer->ofs << seq << ", " << data.imu->frame_id << ", "
-              << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
-              << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
-              << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
-              << data.imu->gyro[2] << ", " << data.imu->temperature
-              << std::endl;
-  ++motion_count_;
+  if (data.imu->flag == 1 || data.imu->flag == 2) {
+    writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
+                << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
+                << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
+                << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
+                << data.imu->gyro[2] << ", " << data.imu->temperature
+                << std::endl;
+    ++motion_count_;
+  }
+  /*
+  if(motion_count_ != seq) {
+    LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
+  << " seq: " << seq;
+    motion_count_ = seq;
+  }
+  */
 }

 void Dataset::SaveStreamData(
@@ -105,14 +132,24 @@ void Dataset::SaveStreamData(

 void Dataset::SaveMotionData(const api::MotionData &data) {
  auto &&writer = GetMotionWriter();
+  // auto seq = data.imu->serial_number;
  auto seq = motion_count_;
-  writer->ofs << seq << ", " << data.imu->frame_id << ", "
-              << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
-              << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
-              << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
-              << data.imu->gyro[2] << ", " << data.imu->temperature
-              << std::endl;
-  ++motion_count_;
+  if (data.imu->flag == 1 || data.imu->flag == 2) {
+    writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
+                << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
+                << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
+                << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
+                << data.imu->gyro[2] << ", " << data.imu->temperature
+                << std::endl;
+    ++motion_count_;
+  }
+  /*
+  if(motion_count_ != seq) {
+    LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
+  << " seq: " << seq;
+    motion_count_ = seq;
+  }
+  */
 }

 Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
@@ -151,13 +188,15 @@ Dataset::writer_t Dataset::GetMotionWriter() {

    files::mkdir(writer->outdir);
    writer->ofs.open(writer->outfile, std::ofstream::out);
-    writer->ofs << "seq, frame_id, timestamp, accel_x, accel_y, accel_z, "
+    writer->ofs << "seq, flag, timestamp, accel_x, accel_y, accel_z, "
                   "gyro_x, gyro_y, gyro_z, temperature"
                << std::endl;
    writer->ofs << FULL_PRECISION;

    motion_writer_ = writer;
    motion_count_ = 0;
+    accel_count_ = 0;
+    gyro_count_ = 0;
  }
  return motion_writer_;
 }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
kalman	9810bba236	Update mynteye_image_pipeline	2018-12-18 20:09:34 +08:00
kalman	9c540db149	Merge branch 'devel-s210a' into devel-s210a-image-pipeline	2018-12-18 10:56:52 +08:00
kalman	e32138c70a	Merge remote-tracking branch 'origin/devel-s210a-merge' into devel-s210a	2018-12-18 10:46:35 +08:00
kalman	61b0d85292	Update for tutoyials	2018-12-18 10:44:26 +08:00
John Zhao	1c17308a02	Merge branch 'develop' into devel-s210a-merge	2018-12-17 18:00:37 +08:00
John Zhao	f6abc57475	chore(samples): comment build uvc	2018-12-17 11:48:04 +08:00
John Zhao	e7dc4b7def	chore(root): update readme	2018-12-16 22:53:08 +08:00
John Zhao	54a9159850	Update inlcudes	2018-12-16 19:53:27 +08:00
John Zhao	9b7c36c724	Merge remote-tracking branch 'origin/hotfix/pointcloud' into develop	2018-12-16 18:30:34 +08:00
kalman	f59c918e81	Support windows	2018-12-14 16:10:22 +08:00
kalman	324e68bca5	Update version	2018-12-13 17:00:31 +08:00
kalman	486e9d459d	Fix timestamp bug and record bug in ros	2018-12-12 20:22:39 +08:00
kalman	515bcb5f8a	Fix disparty bug	2018-12-11 20:12:26 +08:00
Tiny	a57c096e91	Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop	2018-12-11 17:12:43 +08:00
Tiny	132cbc19e2	Merge branch 'develop' of https://github.com/slightech/MYNT-EYE-SDK-2 into develop	2018-12-11 17:08:38 +08:00
Tiny	66eb9883ff	add mac uvc impl file.	2018-12-11 17:08:31 +08:00
kalman	206683b76f	Fix disparity_processor.cc bug	2018-12-08 21:10:31 +08:00
kalman	b9db889fa3	Delete uesless space	2018-12-08 20:55:14 +08:00
kalman	28ca9b60b0	Rollback to sgbm	2018-12-08 20:53:11 +08:00
kalman	0ecb395044	Replace tab with space	2018-12-07 16:22:32 +08:00
kalman	97701188b8	Do samll change in wrapper_nodelet.cc	2018-12-07 16:00:29 +08:00
kalman	4ebdcf9bee	Merge remote-tracking branch 'origin/tmp-pointcloud' into develop	2018-12-07 15:43:04 +08:00
kalman	0b2fabe550	Merge branch 'tmp-pointcloud' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into tmp-pointcloud	2018-12-07 15:40:00 +08:00
kalman	3458aa19cf	Merge branch 'develop' into tmp-pointcloud	2018-12-07 15:34:27 +08:00
kalman	f96e89b941	Add mynteye_image_pipeline	2018-12-06 11:19:32 +08:00
kalman	04f32f21ba	Update mynteye.launch	2018-12-05 20:43:50 +08:00
Osenberg	1afe33f924	Merge branch 'master' into tmp-pointcloud	2018-12-05 20:14:16 +08:00
kalman	e832fa66b9	Merge remote-tracking branch 'origin/develop' into devel-avarta-80-quick	2018-12-05 14:33:45 +08:00
John Zhao	4c49a6af26	Update makefile	2018-12-04 15:46:54 +08:00
kalman	2a1232647a	Fix mono topic bug	2018-11-29 11:02:31 +08:00
Kalman	35e069a858	Fix record rgb888 bug	2018-11-28 10:55:27 +08:00
Kalman	b625dca3df	Do samll change	2018-11-27 18:00:22 +08:00
Kalman	02f39dbf9e	Merge remote-tracking branch 'origin/develop' into devel-avarta-80-quick	2018-11-27 16:13:43 +08:00
kalman	4c291588ab	Fix record bug	2018-11-27 16:00:52 +08:00
kalman	ce76b16c07	Fix imu_range bug	2018-11-27 15:04:16 +08:00
kalman	c7f1cb718e	Fix ros bug	2018-11-27 15:01:58 +08:00
kalman	7a9f9139fd	Successful first compilation after merge	2018-11-27 14:50:12 +08:00
kalman	b346f7fec9	Fix the conflict again	2018-11-24 16:56:52 +08:00
kalman	1811f20a14	Fix the conflict	2018-11-24 16:43:38 +08:00
Osenberg	bd273eed4f	merge develop	2018-11-21 18:03:10 +08:00
Osenberg	772ba8ebfa	Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop	2018-11-21 17:37:00 +08:00
Kalman	210ddba1ba	Do samll change in uvc-v4l2.cc	2018-11-20 19:49:42 +08:00
Kalman	e991d59b45	Updaye Makefile	2018-11-20 19:40:45 +08:00
Kalman	7789bc8474	Do small change	2018-11-20 19:33:02 +08:00
Kalman	7e5b3ee419	Modify option_names	2018-11-20 19:31:54 +08:00
Kalman	2b1288bcd4	Fix imu range bug	2018-11-20 19:13:41 +08:00
Kalman	0610d43fe5	Fix miniglog.h bug	2018-11-16 18:42:54 +08:00
Kalman	4021c565d2	Remove submodule glog	2018-11-16 17:52:58 +08:00
Kalman	2096f93a92	Add miniglog	2018-11-16 16:30:13 +08:00
Osenberg	d9393cfe76	Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop	2018-11-14 16:11:33 +08:00
Kalman	8331b8415d	Fix push motion datas in callback	2018-11-08 15:31:15 +08:00
Kalman	a57edded4b	Add pulse detection	2018-11-05 16:23:32 +08:00
Kalman	9a465b9f04	Rename gray topic	2018-10-29 15:42:04 +08:00
Kalman	14988ffd24	Fix point publish bug in wrapper	2018-10-25 20:28:27 +08:00
Kalman	48a9cd0461	Publish gray topic	2018-10-25 20:25:14 +08:00
Kalman	5c46c72883	Fix imu stamp bug in ros	2018-10-24 17:13:25 +08:00
Kalman	a9353c965a	Increase the effectiveness of checking all values	2018-10-24 11:16:19 +08:00
Kalman	c58dd28f63	Add imu publish by sync	2018-10-23 16:08:59 +08:00
Kalman	77e4411a4c	Fix time stamp bug	2018-10-11 10:54:23 +08:00
Kalman	2a56616195	Update doc	2018-09-30 14:51:24 +08:00
Kalman	30363e18c6	Add constraints to imu's parameter settings	2018-09-30 13:57:21 +08:00
Kalman	33e38bba2f	Update option_supports_map	2018-09-29 16:36:14 +08:00
Kalman	59370e3e8d	Fix record bug	2018-09-27 14:28:20 +08:00
Kalman	672b9da6f9	Modified a spelling mistake	2018-09-26 10:48:57 +08:00
Kalman	6a39aae98f	delete a useless log again	2018-09-21 19:39:49 +08:00
Kalman	aa7e89a502	Delete a useless log	2018-09-21 19:36:54 +08:00
Kalman	41222abfec	make_shared device by model.generation	2018-09-21 19:35:35 +08:00
Kalman	fbdbb5b6f6	Add initReslution	2018-09-21 19:25:27 +08:00
Kalman	30332a80de	add spc version in img.params	2018-09-20 16:52:08 +08:00
Kalman	13e9a89b59	fix save img params bug	2018-09-20 15:53:55 +08:00
Kalman	6feeb49d62	Select the img params by resolution	2018-09-14 20:00:28 +08:00
Osenberg-Y	dfc0de34d4	Merge branch 'develop' of https://code.slightech.com:666/mynteye/mynt-eye-sdk-2 into develop	2018-09-06 19:47:23 +08:00
Kalman	3c670cedb3	Comment the code of get imu range	2018-08-18 22:59:19 +08:00
Kalman	8d945fe042	Merge branch 'devel-avarta-80-quick' of https://code.slightech.com:666/mynteye/mynt-eye-sdk-2 into devel-avarta-80-quick	2018-08-16 19:36:12 +08:00
Kalman	0d1b063942	Add options	2018-08-16 19:34:01 +08:00
Osenberg-Y	c3fc4ba3ba	Fixed no pointcloud on ros	2018-08-14 14:47:26 +08:00
John Zhao	0efb51ac11	Split accel & gyro stamp analytics	2018-08-14 10:17:33 +08:00
Osenberg-Y	94fd56a65d	code style	2018-08-13 18:49:59 +08:00
Osenberg-Y	23e28e20a6	Made some modification of code style and perfect function	2018-08-13 18:42:53 +08:00
Kalman	e40a4aaa3f	Update img.params	2018-08-13 15:22:04 +08:00
Osenberg-Y	5677aa56b2	Made some optimization about pointscloud	2018-08-10 15:55:22 +08:00
Kalman	ef890dee0c	delete the unsupported option in option_supports_map	2018-08-10 15:21:09 +08:00
Kalman	4614a64dc9	Change w and h in device_writer.cc	2018-08-10 14:42:30 +08:00
Osenberg-Y	f92ecd4371	optimized pointscloud	2018-08-09 12:14:54 +08:00
Kalman	7f6effebbb	Delete 't' in record.cc	2018-08-09 05:46:27 +08:00
Kalman	576558e5a1	add imu flag in dataset.cc	2018-08-08 15:31:48 +08:00
Kalman	a0c3fcea89	delete ',' in samples/device/camera.cc	2018-08-08 11:39:03 +08:00
Kalman	b9def3128e	Replace CV_BGRA2RGBA with CV_BGR2RGB in samples/uvc/camera.cc	2018-08-07 17:06:14 +08:00
Kalman	67a0356a84	Replace CV_BGRA2RGBA with CV_BGR2RGB	2018-08-07 16:58:19 +08:00
Kalman	6d961203be	add bgr888	2018-08-07 02:29:07 +08:00
Kalman	26d95ec0ac	support RGB	2018-08-06 02:23:27 +08:00
Kalman	00aa72166d	add header file in synthetic.cc	2018-08-05 23:30:06 +08:00
Kalman	33d3f15b86	Add some resolution,format and frame rate.	2018-08-05 23:18:51 +08:00
Kalman	b139fd21c3	miss serial_number in ImuData	2018-08-03 19:31:36 +08:00
Kalman	614227a85c	fix img timestamp	2018-08-01 22:00:38 +08:00
Kalman	d2b4cc3022	fix two warning	2018-08-01 20:20:39 +08:00
Kalman	a7750e8217	Don't save imu's frame id in dataset	2018-08-01 14:54:20 +08:00
Kalman	94053b8e35	change UpdateControlInfos()	2018-07-30 14:45:48 +08:00
Kalman	27c8ccaac3	delete space	2018-07-28 01:17:56 +08:00
KalmanSLightech	5ef5e8d866	read info	2018-07-27 18:06:55 +08:00
KalmanSLightech	f1003b63b3	include opencv2 in dataset.cc	2018-07-25 17:04:39 +08:00
KalmanSLightech	900c44179d	fix the record's bug	2018-07-23 20:28:15 +08:00
KalmanSLightech	d4547c5525	fix imu count bug	2018-07-23 17:15:20 +08:00
KalmanSLightech	c5a4161b9c	change the range of accel	2018-07-23 11:23:44 +08:00
KalmanSLightech	08fb1a425f	update img/imu spc	2018-07-21 17:40:56 +08:00
KalmanSLightech	01c3c71516	fix tool bug	2018-07-21 17:09:47 +08:00
KalmanSLightech	259dc968aa	Enable imu data	2018-07-21 15:43:02 +08:00
KalmanSLightech	b33fc86a45	change the data protocol of imu	2018-07-21 15:34:07 +08:00
KalmanSLightech	25220a27ed	creat device based on custom code	2018-07-13 14:58:18 +08:00
KalmanSLightech	659f03ac18	change the way of split images	2018-07-08 18:49:09 +08:00
KalmanSLightech	6c25f06005	change the resolution	2018-07-07 23:20:57 +08:00