Update mynteye_image_pipeline

Merge branch 'devel-s210a' into devel-s210a-image-pipeline
Add mynteye_image_pipeline
2018-12-18 20:09:34 +08:00 · 2018-12-18 10:56:52 +08:00 · 2018-12-06 11:19:32 +08:00
1358 changed files with 336806 additions and 178189 deletions
--- a/.commitlintrc.js
+++ b/.commitlintrc.js
@@ -1,11 +0,0 @@
-module.exports = {
-  extends: ['@commitlint/config-conventional'],
-  rules: {
-  'type-enum': [2, 'always', [
-    "feat", "fix", "docs", "style", "refactor", "perf", "test", "build", "ci", "chore", "revert"
-  ]],
-  'scope-empty': [2, 'never'],
-  'subject-full-stop': [0, 'never'],
-  'subject-case': [0, 'never']
-  }
-};
--- a/.gitignore
+++ b/.gitignore
@@ -7,8 +7,6 @@ _build/
 _install/
 _output/

-/docs/_doxygen/
-
 /get-pip.py

 /*INFO*
@@ -18,15 +16,11 @@ _output/

 /plugins/

-/3rdparty/ceres/
 /3rdparty/opencv/
 /pkginfo.sh
 /*.nsi
 /*.exe

-/node_modules/
-/package-lock.json
-
 # ros

 /wrappers/ros/build
--- a/3rdparty/easyloggingpp/.gitignore
+++ b/3rdparty/easyloggingpp/.gitignore
@@ -1,7 +0,0 @@
-build-*
-*.pro.user
-.DS_Store
-release.info
-bin/*
-logs/*
-experiments/*
--- a/3rdparty/easyloggingpp/CMakeLists.txt
+++ b/3rdparty/easyloggingpp/CMakeLists.txt
--- a/3rdparty/easyloggingpp/LICENSE
+++ b/3rdparty/easyloggingpp/LICENSE
@@ -1,25 +0,0 @@
-The MIT License (MIT)
-
-Copyright (c) 2012-2018 Zuhd Web Services
-Copyright (c) 2012-2018 @abumusamq
-
-https://github.com/zuhd-org/
-https://zuhd.org
-https://muflihun.com
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of
-this software and associated documentation files (the "Software"), to deal in
-the Software without restriction, including without limitation the rights to
-use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
-the Software, and to permit persons to whom the Software is furnished to do so,
-subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
-FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
-COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
-IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
-CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
--- a/3rdparty/easyloggingpp/README.md
+++ b/3rdparty/easyloggingpp/README.md
--- a/3rdparty/easyloggingpp/src/easylogging++.cc
+++ b/3rdparty/easyloggingpp/src/easylogging++.cc
--- a/3rdparty/easyloggingpp/src/easylogging++.h
+++ b/3rdparty/easyloggingpp/src/easylogging++.h
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@

 cmake_minimum_required(VERSION 3.0)

-project(mynteye VERSION 2.3.8 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.2 LANGUAGES C CXX)

 include(cmake/Common.cmake)

@@ -55,7 +55,7 @@ macro(target_link_threads NAME)
    target_compile_options(PUBLIC ${NAME} "-pthread")
  endif()
  if(CMAKE_THREAD_LIBS_INIT)
-    target_link_libraries(${NAME} PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
+    target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}")
  endif()
 endmacro()

@@ -94,18 +94,6 @@ if(OS_WIN)
  )
 endif()

-# rpath
-
-set(CMAKE_MACOSX_RPATH 1)
-set(MYNTEYE_CMAKE_RPATH "")
-if(WITH_OPENCV)
-  list(APPEND MYNTEYE_CMAKE_RPATH ${OpenCV_LIB_PATH})
-endif()
-if(MYNTEYE_CMAKE_RPATH)
-  message(STATUS "RPATH: ${MYNTEYE_CMAKE_RPATH}")
-  set(CMAKE_INSTALL_RPATH "${MYNTEYE_CMAKE_RPATH}")
-endif()
-
 # targets

 add_definitions(-DMYNTEYE_EXPORTS)
@@ -118,7 +106,6 @@ set_outdir(
 )

 ## main
-
 if(WITH_GLOG)
  add_executable(main src/main.cc)
  target_link_libraries(main glog::glog)
@@ -128,25 +115,6 @@ if(WITH_GLOG)
  )
 endif()

-## camodocal
-
-if(WITH_CAM_MODELS)
-  set(EIGEN_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty)
-  message(STATUS "EIGEN_INCLUDE_DIR: ${EIGEN_INCLUDE_DIR}")
-
-  include_directories(
-    ${EIGEN_INCLUDE_DIR}
-    src/mynteye/api/camodocal/include
-  )
-
-  add_library(camodocal STATIC
-    src/mynteye/api/camodocal/src/camera_models/Camera.cc
-    src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc
-    src/mynteye/api/camodocal/src/gpl/gpl.cc
-  )
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
-endif()
-
 ## libmynteye

 if(NOT WITH_GLOG AND NOT OS_WIN)
@@ -164,7 +132,15 @@ endif()
 if(OS_WIN)
  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
 elseif(OS_MAC)
-  add_compile_options(-x objective-c++ -Wno-unused-command-line-argument -Wno-missing-method-return-type -Wno-sign-compare)
+  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)
@@ -174,7 +150,12 @@ elseif(OS_MAC)
  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 ${__MACUVCLOG_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}") 
+
+  find_package(libuvc REQUIRED)
+  set(UVC_LIB ${libuvc_LIBRARIES})
+
+  include_directories(${libuvc_INCLUDE_DIRS})
 elseif(OS_LINUX)
  set(UVC_SRC src/mynteye/uvc/linux/uvc-v4l2.cc)
 else()
@@ -186,19 +167,12 @@ set(MYNTEYE_SRCS
  src/mynteye/types.cc
  src/mynteye/util/files.cc
  src/mynteye/util/strings.cc
-  src/mynteye/device/channel/bytes.cc
-  src/mynteye/device/channel/channels.cc
-  src/mynteye/device/channel/file_channel.cc
+  src/mynteye/device/channels.cc
  src/mynteye/device/config.cc
  src/mynteye/device/context.cc
  src/mynteye/device/device.cc
+  src/mynteye/device/device_s.cc
  src/mynteye/device/motions.cc
-  src/mynteye/device/standard/channels_adapter_s.cc
-  src/mynteye/device/standard/device_s.cc
-  src/mynteye/device/standard/streams_adapter_s.cc
-  src/mynteye/device/standard2/channels_adapter_s2.cc
-  src/mynteye/device/standard2/device_s2.cc
-  src/mynteye/device/standard2/streams_adapter_s2.cc
  src/mynteye/device/streams.cc
  src/mynteye/device/types.cc
  src/mynteye/device/utils.cc
@@ -209,26 +183,13 @@ if(WITH_API)
    src/mynteye/api/dl.cc
    src/mynteye/api/processor.cc
    src/mynteye/api/synthetic.cc
+    src/mynteye/api/processor/rectify_processor.cc
    src/mynteye/api/processor/disparity_processor.cc
    src/mynteye/api/processor/disparity_normalized_processor.cc
-    src/mynteye/api/processor/root_camera_processor.cc
-    src/mynteye/api/processor/points_processor_ocv.cc
-    src/mynteye/api/processor/depth_processor_ocv.cc
-    src/mynteye/api/processor/rectify_processor_ocv.cc
-    src/mynteye/api/config.cc
-    src/mynteye/api/correspondence.cc
-    src/mynteye/api/version_checker.cc
-    src/mynteye/api/data_tools.cc
+    src/mynteye/api/processor/depth_processor.cc
+    src/mynteye/api/processor/points_processor.cc
  )
-  if(WITH_CAM_MODELS)
-    list(APPEND MYNTEYE_SRCS
-      src/mynteye/api/processor/depth_processor.cc
-      src/mynteye/api/processor/points_processor.cc
-      src/mynteye/api/processor/rectify_processor.cc
-    )
-  endif()
 endif()
-
 if(NOT WITH_GLOG)
  list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
 endif()
@@ -243,16 +204,12 @@ endif()
 if(WITH_GLOG)
  list(APPEND MYNTEYE_LINKLIBS glog::glog)
 endif()
-
 #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")

 add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
-target_link_libraries(${MYNTEYE_NAME} PUBLIC ${MYNTEYE_LINKLIBS})
+target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
 if(OS_MAC)
-  target_link_libraries(${MYNTEYE_NAME} PUBLIC ${OSX_EXTRA_LIBS} )
-endif()
-if(WITH_CAM_MODELS)
-  target_link_libraries(${MYNTEYE_NAME} PRIVATE camodocal)
+  target_link_libraries( ${MYNTEYE_NAME} ${OSX_EXTRA_LIBS} )
 endif()
 target_link_threads(${MYNTEYE_NAME})

@@ -292,7 +249,6 @@ install(FILES
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/callbacks.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/context.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/device.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/types.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/utils.h
  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/device
 )
--- a/45
+++ b/45
@@ -22,20 +22,8 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 #   UNIX: /usr/local
 #   Windows: c:/Program Files/${PROJECT_NAME}

-# Options
-#
-#   SUDO: sudo command
-#   CAM_MODELS: cmake build with -DWITH_CAM_MODELS=ON
-#
-# e.g. make [TARGET] SUDO=
-# e.g. make [TARGET] CAM_MODELS=1
-
 SUDO ?= sudo

-CAM_MODELS ?=
-
-CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
-
 .DEFAULT_GOAL := all

 help:
@@ -62,21 +50,24 @@ all: init samples tools ros

 # doc

-doc: apidoc
-
-apidoc: cleandoc
+apidoc:
 	@$(call echo,Make $@)
-	@cd docs; make html
+	@# @[ -e ./_install/include ] || $(MAKE) install
+	@[ -e /usr/local/include/mynteye ] || $(MAKE) install
+	@$(SH) ./doc/build.sh

 opendoc: apidoc
 	@$(call echo,Make $@)
-	@$(SH) ./scripts/open.sh docs/_build/html/index.html
+	@$(shell $(SH) ./doc/langs.sh 1); \
+	for lang in "$${LANGS[@]}"; do \
+		html=./doc/_output/$$lang/html/index.html; \
+		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
+	done

 cleandoc:
-	@$(call rm,./docs/_build/)
-	@$(call rm,./docs/_doxygen/)
+	@$(call rm,./doc/_output/)

-.PHONY: doc apidoc opendoc cleandoc
+.PHONY: apidoc opendoc cleandoc

 # deps

@@ -98,9 +89,9 @@ init:
 build:
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
-	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS))
+	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
 else
-	@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
+	@$(call cmake_build,./_build,..)
 endif

 .PHONY: build
@@ -127,7 +118,7 @@ endif

 # install

-install: uninstall build
+install: build
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
 ifneq ($(HOST_NAME),MinGW)
@@ -168,13 +159,7 @@ samples: install

 tools: install
 	@$(call echo,Make $@)
-ifeq ($(HOST_OS),Mac)
-	$(error "Can't make tools on $(HOST_OS)")
-else
 	@$(call cmake_build,./tools/_build)
-endif
-
-

 .PHONY: tools

@@ -285,6 +270,7 @@ cleanlog:

 cleanall: clean cleandoc
 	@$(call rm,./test/gtest/_build/)
+	@$(call rm,./third_party/glog/_build/)
 	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
 	@$(call rm,./$(PBCVT_DIR)/)
 	@$(call rm,./$(NPCV_DIR)/)
@@ -310,7 +296,6 @@ host:
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
 	@echo PKGNAME: $(PKGNAME)
-	@echo CMAKE_BUILD_EXTRA_OPTIONS: $(CMAKE_BUILD_EXTRA_OPTIONS)

 .PHONY: host

--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK

-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.8-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

@@ -17,8 +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://readthedocs.org/projects/mynt-eye-s-sdk/downloads/pdf/latest/) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk.readthedocs.io/en/latest/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-lightgray.svg?style=flat)]() [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://readthedocs.org/projects/mynt-eye-s-sdk-docs-zh-cn/downloads/htmlzip/latest/) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://mynt-eye-s-sdk-docs-zh-cn.readthedocs.io/zh_CN/latest/)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683636/mynt-eye-s-sdk-apidoc-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683637/mynt-eye-s-sdk-apidoc-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683638/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683639/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/index.html)
+* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683625/mynt-eye-s-sdk-guide-2.2.2-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683626/mynt-eye-s-sdk-guide-2.2.2-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683627/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683628/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/index.html)

 > Supported languages: `en`, `zh-Hans`.

@@ -26,7 +29,7 @@ Please follow the guide doc to install the SDK on different platforms.

 [MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download

-Get firmwares from our online disks: [MYNTEYE_BOX][].
+Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.2`.

 ## Usage

--- a/cmake/DetectGLog.cmake
+++ b/cmake/DetectGLog.cmake
@@ -0,0 +1,26 @@
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+get_filename_component(__pro_dir ${CMAKE_CURRENT_LIST_DIR} DIRECTORY)
+LIST(APPEND CMAKE_PREFIX_PATH ${__pro_dir}/third_party/glog/_build)
+
+find_package(glog REQUIRED)
+if(glog_FOUND)
+  add_definitions(-DWITH_GLOG)
+endif()
+
+unset(__pro_dir)
--- a/cmake/DetectOpenCV.cmake
+++ b/cmake/DetectOpenCV.cmake
@@ -26,13 +26,14 @@ if(OpenCV_FOUND)
 #message(STATUS "Found OpenCV: ${OpenCV_VERSION}")

 set(WITH_OPENCV TRUE)
+add_definitions(-DWITH_OPENCV)

 if(OpenCV_VERSION VERSION_LESS 3.0)
-  set(WITH_OPENCV2 TRUE)
+  add_definitions(-DWITH_OPENCV2)
 elseif(OpenCV_VERSION VERSION_LESS 4.0)
-  set(WITH_OPENCV3 TRUE)
+  add_definitions(-DWITH_OPENCV3)
 else()
-  set(WITH_OPENCV4 TRUE)
+  add_definitions(-DWITH_OPENCV4)
 endif()

 list(FIND OpenCV_LIBS "opencv_world" __index)
@@ -40,35 +41,12 @@ if(${__index} GREATER -1)
  set(WITH_OPENCV_WORLD TRUE)
 endif()

-if(NOT OpenCV_LIB_PATH)
-  list(LENGTH OpenCV_INCLUDE_DIRS __length)
-  if(${__length} GREATER 0)
-    list(GET OpenCV_INCLUDE_DIRS 0 __include_dir)
-    string(REGEX REPLACE "include.*$" "lib" __lib_dir "${__include_dir}")
-    find_library(__opencv_lib
-      NAMES opencv_core3 opencv_core opencv_world
-      PATHS "${__lib_dir}" "${__lib_dir}/x86_64-linux-gnu"
-      NO_DEFAULT_PATH)
-    #message(STATUS "__opencv_lib: ${__opencv_lib}")
-    if(__opencv_lib)
-      get_filename_component(OpenCV_LIB_PATH "${__opencv_lib}" DIRECTORY)
-    else()
-      set(OpenCV_LIB_PATH "${__lib_dir}")
-    endif()
-    #message(STATUS "OpenCV_LIB_PATH: ${OpenCV_LIB_PATH}")
-  endif()
-endif()
-
 if(MSVC OR MSYS OR MINGW)
  get_filename_component(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}/../bin" ABSOLUTE)
 else()
  set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
 endif()

-include_directories(
-  ${OpenCV_INCLUDE_DIRS}
-)
-
 else()

 set(WITH_OPENCV FALSE)
--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@@ -23,8 +23,6 @@ include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
 option(WITH_API "Build with API layer, need OpenCV" ON)
 option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)

-option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" OFF)
-
 # 3rdparty components

 option(WITH_BOOST "Include Boost support" ON)
@@ -34,22 +32,23 @@ option(WITH_BOOST "Include Boost support" ON)
 option(WITH_GLOG "Include glog support" OFF)

 # packages
+
 if(WITH_API)
  include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
-  if(WITH_OPENCV4)
-    set(WITH_CAM_MODELS OFF)
-  endif()
-else()
-  # Disable WITH_CAM_MODELS if WITH_API is OFF
-  set(WITH_CAM_MODELS OFF)
+endif()
+
+if(WITH_DEVICE_INFO_REQUIRED)
+  add_definitions(-DWITH_DEVICE_INFO_REQUIRED)
 endif()

 if(WITH_BOOST)
-  find_package(Boost QUIET COMPONENTS filesystem)
+  find_package(Boost COMPONENTS filesystem)
  if(Boost_FOUND)
    set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
    set(WITH_FILESYSTEM TRUE)
    set(WITH_BOOST_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_BOOST_FILESYSTEM)
  endif()
 endif()

@@ -57,11 +56,13 @@ if(NOT WITH_FILESYSTEM)
  if(MSVC OR MSYS OR MINGW)  # win
    set(WITH_FILESYSTEM TRUE)
    set(WITH_NATIVE_FILESYSTEM TRUE)
+    add_definitions(-DWITH_FILESYSTEM)
+    add_definitions(-DWITH_NATIVE_FILESYSTEM)
  endif()
 endif()

 if(WITH_GLOG)
-  find_package(glog REQUIRED)
+  include(${CMAKE_CURRENT_LIST_DIR}/DetectGLog.cmake)
 endif()

 find_package(CUDA QUIET)
@@ -119,8 +120,6 @@ endif()

 status("  WITH_DEVICE_INFO_REQUIRED: ${WITH_DEVICE_INFO_REQUIRED}")

-status("  WITH_CAM_MODELS: ${WITH_CAM_MODELS}")
-
 status("  WITH_BOOST: ${WITH_BOOST}")
 if(WITH_BOOST)
  if(Boost_FOUND)
--- a/config/disparity_config.yaml
+++ b/config/disparity_config.yaml
@@ -1,75 +0,0 @@
-%YAML:1.0
---
-SGBM:
-# must define for opencv check
-    name: StereoMatcher.SGBM
-
-# Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct.
-# Normally, a value within the 5-15 range is good enough.
-    uniquenessRatio: 10
-
-# Maximum size of smooth disparity regions to consider their noise speckles and invalidate.
-# Set it to 0 to disable speckle filtering.
-# Otherwise, set it somewhere in the 50-200 range.
-    speckleWindowSize: 100
-
-# Maximum disparity variation within each connected component.
-# If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
-# Normally, 1 or 2 is good enough.
-    speckleRange: 32
-
-# Minimum possible disparity value.
-# Normally, it is zero but sometimes rectification algorithms
-# can shift images, so this parameter needs to be adjusted accordingly.
-    minDisparity: 0
-
-# Maximum allowed difference (in integer pixel units) in the left-right disparity check.
-# Set it to a non-positive value to disable the check.
-    disp12MaxDiff: 1
-
-# Truncation value for the prefiltered image pixels.
-# The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
-# The result values are passed to the Birchfield-Tomasi pixel cost function.
-    preFilterCap: 63
-
-# Maximum disparity minus minimum disparity.
-# The value is always greater than zero.
-# In the current implementation, this parameter must be divisible by 16.
-    numDisparities: 64
-
-# Matched block size. It must be an odd number >=1 .
-# Normally, it should be somewhere in the 3..11 range.
-    blockSize: 3
-
-# The first parameter controlling the disparity smoothness. See below.
-    P1: 72
-
-# The second parameter controlling the disparity smoothness.
-# The larger the values are, the smoother the disparity is.
-# P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels.
-# P2 is the penalty on the disparity change by more than 1 between neighbor pixels.
-# The algorithm requires P2 > P1 .
-    P2: 188
-
-BM:
-# must define for opencv check
-    name: StereoMatcher.BM
-    uniquenessRatio: 60
-    speckleWindowSize: 100
-    speckleRange: 4
-    minDisparity: 0
-    disp12MaxDiff: 1
-    preFilterCap: 31
-# the disparity search range.
-# For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities.
-# The search range can then be shifted by changing the minimum disparity.
-    numDisparities: 64
-
-# the linear size of the blocks compared by the algorithm.
-# The size should be odd (as the block is centered at the current pixel).
-# Larger block size implies smoother, though less accurate disparity map.
-# Smaller block size gives more detailed disparity map,
-# but there is higher chance for algorithm to find a wrong correspondence.
-    blockSize: 15
-    preFilterSize: 9
-    textureThreshold: 10
--- a/docs/arch.graphml
+++ b/docs/arch.graphml
--- a/docs/arch.jpg
+++ b/docs/arch.jpg
--- a/doc/build.sh
+++ b/doc/build.sh
@@ -0,0 +1,83 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# _VERBOSE_=1
+# _TEST_=1
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+ROOT_DIR=$(realpath "$BASE_DIR/..")
+SCRIPTS_DIR="$ROOT_DIR/scripts"
+
+source "$SCRIPTS_DIR/common/echo.sh"
+source "$SCRIPTS_DIR/common/mkdir.sh"
+source "$SCRIPTS_DIR/common/detect.sh"
+
+_detect "doxygen"
+_detect "pdflatex" 1
+
+source "$BASE_DIR/langs.sh"
+DOXYFILE="api.doxyfile"
+OUTPUT="$BASE_DIR/_output"
+
+# \usepackage{CJKutf8}
+# \begin{document}
+# \begin{CJK}{UTF8}{gbsn}
+# ...
+# \end{CJK}
+# \end{document}
+_texcjk() {
+  tex="$1"; shift;
+  _echo_in "add cjk to $tex"
+  sed -i "" -E $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
+  sed -i "" -E $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
+}
+
+for lang in "${LANGS[@]}"; do
+  _echo_s "Build doc $lang"
+  [ -d "$BASE_DIR/$lang" ] || continue
+  cd "$BASE_DIR/$lang"
+  if [ -f "$DOXYFILE" ]; then
+    _mkdir "$OUTPUT/$lang"
+    _echo_i "doxygen $DOXYFILE"
+    doxygen $DOXYFILE
+
+    version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
+      sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
+
+    # html
+    if [ -d "$OUTPUT/$lang/html" ]; then
+      dirname="mynt-eye-s-sdk-apidoc"; \
+        [ -n "$version" ] && dirname="$dirname-$version"; \
+        dirname="$dirname-$lang"
+      cd "$OUTPUT/$lang"
+      [ -d "$dirname" ] && rm -rf "$dirname"
+      mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
+    fi
+
+    # latex
+    if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
+      _echo_in "doxygen make latex"
+      filename="mynt-eye-s-sdk-apidoc"; \
+        [ -n "$version" ] && filename="$filename-$version"; \
+        filename="$filename-$lang.pdf"
+      cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
+      [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
+    fi
+
+    _echo_d "doxygen completed"
+  else
+    _echo_e "$DOXYFILE not found"
+  fi
+done
--- a/doc/en/api.doxyfile
+++ b/doc/en/api.doxyfile
--- a/doc/en/mainpage.md
+++ b/doc/en/mainpage.md
@@ -0,0 +1,11 @@
+# MYNT EYE S SDK {#mainpage}
+
+* <a class="el" href="annotated.html">API Classes</a>
+* <a class="el" href="modules.html">API Modules</a>
+  * \link enumerations Enumerations\endlink
+  * \link datatypes Datatypes\endlink
+  * \link utils Utiliities\endlink
+  * \link calibration Intrinsics & Extrinsics\endlink
+* <span style="font-weight:bold">Device Specifications</span>
+  * @subpage specs_data
+  * @subpage specs_ctrl
--- a/doc/en/spec_control_api.md
+++ b/doc/en/spec_control_api.md
@@ -0,0 +1,26 @@
+# Control Protocols {#spec_control_api}
+
+There are two control modes, one is through UVC standard protocol, the other is through UVC custom protocol with extension unit.
+
+## Standard Protocol
+
+| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Note |
+| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :--- |
+| Gain | gain | 2 | 24 | 0 | 48 | √ | 0x12 | valid if manual-exposure |
+| Brightness | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | valid if manual-exposure |
+| Contrast | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | valid if manual-exposure |
+
+## Custom Protocol
+
+| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note |
+| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- |
+| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
+| IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
+| Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
+| Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |
+| Max exposure time | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | valid if auto-exposure |
+| Desired brightness | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | valid if auto-exposure |
+| IR control | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
+| HDR mode | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0: 10-bit; 1: 12-bit |
+| Zero drift calibration | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| Erase chip | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
--- a/doc/en/spec_control_channel.md
+++ b/doc/en/spec_control_channel.md
@@ -0,0 +1,53 @@
+# Control Channels {#spec_control_channel}
+
+| Name | Field | Address | Bandwidth | Node |
+| :----- | :----- | :----- | :----- | :----- |
+| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
+| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
+| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
+| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
+| File channel | XU_FILE_CHANNEL | 5 | 2000 | |
+
+## Camera Control Channel
+
+The channel provides get, set and query (min, max, default).
+
+## Half-Duplex Channel
+
+The channel only provides set, such as zero drift correction.
+
+## IMU Channel
+
+The channel is used to request and response IMU data, see @ref spec_imu_data.
+
+## File Channel
+
+The channel is used to read and write device information, image params, and IMU params.
+
+| Name | Header | Size | File | Checksum |
+| :--- | :- | :--- | :--- | :-------- |
+| Bytes | 1 | 2 | - | 1 |
+| Type | uint8_t | uint16_t | - | uint8_t |
+| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes |
+
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | Device information |
+| 1 | Image params |
+| 2 | IMU params |
+| 3~6 | Undefined |
+| 7 | 0: Get; 1: Set |
+
+### File Content Packet
+
+| Name | ID | Size | Content |
+| :--- | :- | :--- | :------ |
+| Bytes | 1 | 2 | - |
+| Type | uint8_t | uint16_t | - |
+| Description | Content ID | Content size | Content data |
+
+| File | ID | Max Size |
+| :--- | :- | :------- |
+| Device information | 1 | 250 |
+| Image params | 2 | 250 |
+| IMU params | 4 | 500 |
--- a/doc/en/spec_hardware_info.md
+++ b/doc/en/spec_hardware_info.md
@@ -0,0 +1,14 @@
+# Device Information {#spec_hardware_info}
+
+| Name | Field | Fixed Value | USB Descriptor | UVC Extension Unit | Bytes | Note |
+| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
+| VID | vid | 0x04B4 | √ | × | 2 | |
+| PID | pid | 0x00F9 | √ | × | 2 | |
+| Device name | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
+| Serial number | serial_number | - | √ | √ Get | 16 | |
+| Firmware version | firmware_version | - | √ | √ Get | 2 | major,minor |
+| Hardware version | hardware_version | - | × | √ Get | 3 | major,minor,flag |
+| Spec version | spec_version | - | × | √ Get | 2 | major,minor |
+| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
+| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
+| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 |
--- a/doc/en/spec_image_data.md
+++ b/doc/en/spec_image_data.md
@@ -0,0 +1,20 @@
+# Image Data {#spec_image_data}
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] |
+| Timestamp | timestamp | 10 us | 4 | uint32_t |
+| Exposure Time | exposure_time | 10 us | 2 | uint16_t |
+
+## Image Packet
+
+| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
+| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
+| Bytes | 1 | 1 | 2 | 4 | 2 | 1 |
+| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
+| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes |
+
+* The image packet will be dropped, if checksum is incorrect.
+* The accuracy of the time unit: 0.01 ms / 10 us.
+  * The timestamp could indicate 11.9 hours, it will accumulate again after overflow.
+* The timestamp accumulation starts from the time of power-on, instead of opening.
--- a/doc/en/spec_image_params.md
+++ b/doc/en/spec_image_params.md
@@ -0,0 +1,23 @@
+# Image Params {#spec_image_params}
+
+## Image Intrinsics
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Image width | width | px | 2 | uint16_t; [0,65535] |
+| Image height | height | px | 2 | uint16_t; [0,65535] |
+| Focal length | fx | - | 8 | double |
+| ^ | fy | - | 8 | double |
+| Principal point | cx | - | 8 | double |
+| ^ | cy | - | 8 | double |
+| Distortion model | model | - | 1 | uint8_t; pinhole,... |
+| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
+
+## Image Extrinsics
+
+Transformation matrix from left image to right image.
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Rotation matrix | rotation[3][3] | - | 72 | double |
+| Translation vector | translation[3] | - | 24 | double |
--- a/doc/en/spec_imu_data.md
+++ b/doc/en/spec_imu_data.md
@@ -0,0 +1,42 @@
+# IMU Data {#spec_imu_data}
+
+## IMU Request Packet
+
+| Name | Header | Serial Number |
+| :--- | :----- | :------------ |
+| Bytes | 1 | 4 |
+| Type | uint8_t | uint32_t |
+| Description | 0x5A | First request should be 0, otherwise the last one |
+
+## IMU Response Packet
+
+The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.
+
+| Name | Header | State | Size | IMU Packets | Checksum |
+| :--- | :----- | :---- | :--- | :---------- | :------- |
+| Bytes | 1 | 1 | 2 | ... | 1 |
+| Type | uint8_t | uint8_t | uint16_t | - | uint8_t |
+| Description | 0x5B | 0 is success, others are failed | Content size | IMU packets | Checksum, XOR of all content bytes |
+
+### IMU Packet
+
+The IMU packet is an array of IMU datas.
+
+| Name | Serial Number | Timestamp | Count | IMU Datas |
+| :--- | :------------ | :-------- | :---- | :-------- |
+| Bytes | 4 | 4 | 1 | ... |
+| Type | uint32_t | uint32_t | uint8_t | - |
+| Description | Serial number | IMU basic timestamp | The number of IMU datas | IMU datas |
+
+### IMU Segment
+
+| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
+| :--- | :----- | :------- | :------------ | :---------- | :-------- |
+| Bytes | 2 | 2 | 6 | 2 | 6 |
+| Type | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
+| Description | The timestamp offset | Image frame ID | Accel x,y,z values | IMU temperature | Gyro x,y,z values |
+
+* Formula for converting the accel & gyro values to real ones: **real = data * range / 0x10000** .
+  * ``accel`` default ``range`` is **8 g**, ``gyro`` default ``range`` is **1000 deg/s**.
+* Formula for converting the temperature to real value: **real = data / ratio + offset** .
+  * default ``ratio`` is **326.8**, default ``offset`` is **25℃**.
--- a/doc/en/spec_imu_params.md
+++ b/doc/en/spec_imu_params.md
@@ -0,0 +1,23 @@
+# IMU Params {#spec_imu_params}
+
+## IMU Intrinsics
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Scale matrix | acc_scale[3][3] | - | 72 | double |
+| ^ | gyro_scale[3][3] | - | 72 | double |
+| Zero-drift | acc_drift[3] | - | 24 | double |
+| ^ | gyro_drift[3] | - | 24 | double |
+| Noise density | acc_noise[3] | - | 24 | double |
+| ^ | gyro_noise[3] | - | 24 | double |
+| Random walk | acc_bias[3] | - | 24 | double |
+| ^ | gyro_bias[3] | - | 24 | double |
+
+## IMU Extrinsics
+
+Transformation matrix from left image to IMU.
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Rotation matrix | rotation[3][3] | - | 72 | double |
+| Translation vector | translation[3] | - | 24 | double |
--- a/doc/en/specs_ctrl.md
+++ b/doc/en/specs_ctrl.md
@@ -0,0 +1,4 @@
+# Device Control Specification {#specs_ctrl}
+
+* @subpage spec_control_api
+* @subpage spec_control_channel
--- a/doc/en/specs_data.md
+++ b/doc/en/specs_data.md
@@ -0,0 +1,7 @@
+# Device Data Specification {#specs_data}
+
+* @subpage spec_hardware_info
+* @subpage spec_image_params
+* @subpage spec_imu_params
+* @subpage spec_image_data
+* @subpage spec_imu_data
--- a/doc/langs.sh
+++ b/doc/langs.sh
@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+LANGS=(
+  en
+  zh-Hans
+)
+[ $# -gt 0 ] && echo "LANGS=(${LANGS[@]})"
--- a/doc/static/custom.css
+++ b/doc/static/custom.css
@@ -0,0 +1,3 @@
+#projectlogo img {
+  margin: 1em 0.5em 1em 1em;
+}
--- a/doc/static/images/icon.png
+++ b/doc/static/images/icon.png
--- a/doc/static/images/imu_analytics.png
+++ b/doc/static/images/imu_analytics.png
--- a/doc/static/images/make_install.png
+++ b/doc/static/images/make_install.png
--- a/doc/static/images/stamp_analytics.png
+++ b/doc/static/images/stamp_analytics.png
--- a/doc/zh-Hans/api.doxyfile
+++ b/doc/zh-Hans/api.doxyfile
--- a/doc/zh-Hans/guide_build_linux.md
+++ b/doc/zh-Hans/guide_build_linux.md
@@ -0,0 +1,44 @@
+# 编译 on Linux {#guide_build_linux}
+
+> Ubuntu 16.04, Ubuntu 14.04
+
+## 获取代码
+
+```bash
+git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
+```
+
+## 准备依赖
+
+```bash
+cd mynt-eye-s-sdk/
+make init
+```
+
+### [OpenCV](https://opencv.org/)
+
+编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
+
+```bash
+# Linux, macOS
+export OpenCV_DIR=~/opencv
+
+# Windows
+set OpenCV_DIR=C:\opencv
+```
+
+## 编译代码
+
+```bash
+make install
+```
+
+结果：
+
+![make install](make_install.png)
+
+\latexonly
+\includegraphics[width=0.6\textwidth,keepaspectratio]{make_install.png}
+\endlatexonly
+
+> CMake 如何引入编译好的库，可参考 `samples/CMakeLists.txt` 里的配置。
--- a/doc/zh-Hans/guide_build_win.md
+++ b/doc/zh-Hans/guide_build_win.md
@@ -0,0 +1,113 @@
+# 编译 on Windows {#guide_build_win}
+
+> Windows 10
+
+## 前提条件
+
+* [Git](https://git-scm.com/downloads)，用于获取代码。
+* [CMake](https://cmake.org/download/)，用于构建编译。
+* [Doxygen](http://www.stack.nl/~dimitri/doxygen/download.html)，用于生成文档。
+
+最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
+
+```cmd
+>cmake --version
+cmake version 3.10.1
+
+>git --version
+git version 2.11.1.windows.1
+
+>doxygen --version
+1.8.13
+```
+
+* [Visual Studio](https://www.visualstudio.com/)
+  * [Visual Studio 2015](https://my.visualstudio.com/Downloads?q=Visual Studio 2015)
+  * [Visual Studio 2017](https://my.visualstudio.com/Downloads?q=Visual Studio 2017)
+* [Windows 10 SDK](https://developer.microsoft.com/en-US/windows/downloads/windows-10-sdk)
+
+以 Visual Studio 2015 举例，请在系统环境变量 `PATH` 里添加上如下路径：
+
+    C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\bin
+    C:\Program Files (x86)\MSBuild\14.0\Bin
+
+最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
+
+```cmd
+>cl
+Microsoft (R) C/C++ Optimizing Compiler Version 19.00.24215.1 for x86
+
+>link
+Microsoft (R) Incremental Linker Version 14.00.24215.1
+
+>lib
+Microsoft (R) Library Manager Version 14.00.24215.1
+
+>msbuild
+Microsoft (R) 生成引擎版本 14.0.25420.1
+```
+
+* [MSYS2](http://www.msys2.org/)
+  * [国内镜像](https://lug.ustc.edu.cn/wiki/mirrors/help/msys2)
+  * [pacman](https://wiki.archlinux.org/index.php/pacman)
+
+打开 MSYS2 MSYS ，然后执行：
+
+```msys
+$ pacman -Syu
+$ pacman -S make
+```
+
+并在系统环境变量 `PATH` 里添加上如下路径：
+
+    C:\msys64\usr\bin
+
+最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
+
+```cmd
+>make --version
+GNU Make 4.2.1
+```
+
+## 获取代码
+
+```cmd
+>git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
+```
+
+## 准备依赖
+
+```cmd
+>cd mynt-eye-s-sdk
+>make init
+Make init
+Init deps
+Install cmd: pacman -S
+Install deps: git clang-format
+pacman -S clang-format (not exists)
+error: target not found: clang-format
+pip install --upgrade autopep8 cpplint pylint requests
+...
+Init git hooks
+ERROR: clang-format-diff is not installed!
+Expect cmake version >= 3.0
+cmake version 3.10.1
+```
+
+### [OpenCV](https://opencv.org/)
+
+编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
+
+```bash
+# Linux, macOS
+export OpenCV_DIR=~/opencv
+
+# Windows
+set OpenCV_DIR=C:\opencv
+```
+
+## 编译代码
+
+```cmd
+>make install
+```
--- a/doc/zh-Hans/guide_log.md
+++ b/doc/zh-Hans/guide_log.md
@@ -0,0 +1,6 @@
+# 日志 {#guide_log}
+
+日志系统用的 `glog` ，通用配置在头文件 `logger.h` 里。
+
+* 日志文件会存储在当前工作目录， `make cleanlog` 可以清理。
+* 如果需要打开详细日志，请取消 `logger.h` 里注释的 `FLAGS_v = 2;` ，重新编译。
--- a/doc/zh-Hans/guide_opencv.md
+++ b/doc/zh-Hans/guide_opencv.md
@@ -0,0 +1,13 @@
+# OpenCV 依赖 {#guide_opencv}
+
+SDK 提供了三层接口，其 OpenCV 依赖情况如下：
+
+* `api`， 上层接口，依赖 OpenCV 。
+* `device`，中间层接口，不依赖 OpenCV 。
+* `uvc`，底层接口，不依赖 OpenCV 。
+
+如果不想使用 OpenCV ，你可编辑 `<sdk>/cmake/Option.cmake` 里的 `WITH_API` 选项，设为 `OFF` 就能关闭 `api` 层代码编译：
+
+```cmake
+option(WITH_API "Build with API layer, need OpenCV" ON)
+```
--- a/doc/zh-Hans/guide_ros.md
+++ b/doc/zh-Hans/guide_ros.md
@@ -0,0 +1,30 @@
+# ROS 封装 {#guide_ros}
+
+ROS 封装实现在 ``<sdk>/wrappers/ros`` 目录。
+
+## 依赖
+
+* [ROS](http://www.ros.org/) 环境。
+
+## 编译
+
+```bash
+cd <sdk>
+make ros
+```
+
+## 运行
+
+运行发布节点，
+
+```bash
+source wrappers/ros/devel/setup.bash
+roslaunch mynt_eye_ros_wrapper mynteye.launch
+```
+
+运行发布节点，同时打开 RViz 预览图像，
+
+```bash
+source wrappers/ros/devel/setup.bash
+roslaunch mynt_eye_ros_wrapper display.launch
+```
--- a/doc/zh-Hans/guide_samples.md
+++ b/doc/zh-Hans/guide_samples.md
@@ -0,0 +1,46 @@
+# 样例 {#guide_samples}
+
+样例在 `<sdk>/samples` 目录，其提供了不同接口层的使用范例。
+
+## 依赖
+
+* [OpenCV](https://opencv.org/)，用于显示图像。
+  * 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
+
+```bash
+# Linux, macOS
+export OpenCV_DIR=~/opencv
+
+# Windows
+set OpenCV_DIR=C:\opencv
+```
+
+## 编译
+
+```bash
+make samples
+```
+
+## 运行
+
+运行 `api` 层接口样例，显示图像并输出 IMU 。
+
+```bash
+./samples/_output/bin/api/camera_a
+
+# Windows
+.\samples\_output\bin\api\camera_a.bat
+```
+
+运行 `device` 层接口样例，显示图像并输出 IMU 。
+
+```bash
+./samples/_output/bin/device/camera_d
+
+# Windows
+.\samples\_output\bin\device\camera_d.bat
+```
+
+## 结语
+
+更多样例的说明，请见 `samples/README.md` 。
--- a/doc/zh-Hans/guide_tools.md
+++ b/doc/zh-Hans/guide_tools.md
@@ -0,0 +1,73 @@
+# 工具 {#guide_tools}
+
+工具在 `<sdk>/tools` 目录，其提供一些有用的脚本和程序。
+
+## 依赖
+
+* [OpenCV](https://opencv.org/)，部分工具需要。
+  * 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
+
+```bash
+# Linux, macOS
+export OpenCV_DIR=~/opencv
+
+# Windows
+set OpenCV_DIR=C:\opencv
+```
+
+* Python 第三方库，脚本需要。
+
+```bash
+cd tools/
+sudo pip install -r requirements.txt
+```
+
+## 编译
+
+```bash
+make tools
+```
+
+## 录制数据集
+
+```bash
+./tools/_output/bin/dataset/record
+
+# Windows
+.\tools\_output\bin\dataset\record.bat
+```
+
+默认录制进 `dataset` 目录，加参数可指定该目录。
+
+## 分析数据集
+
+分析 IMU 数据，
+
+```bash
+python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
+-al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
+```
+
+![imu analytics](imu_analytics.png)
+
+\latexonly
+\includegraphics[width=0.6\textwidth,keepaspectratio]{imu_analytics.png}
+\endlatexonly
+
+分析图像 & IMU 时间戳，
+
+```bash
+python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
+```
+
+![stamp analytics](stamp_analytics.png)
+
+\latexonly
+\includegraphics[width=0.6\textwidth,keepaspectratio]{stamp_analytics.png}
+\endlatexonly
+
+> 如果用 ROS ，分析脚本也支持 ROS Bag 格式。
+
+## 结语
+
+设备信息读写、校验码等更多工具的说明，请见 `tools/README.md` 。
--- a/doc/zh-Hans/guides.md
+++ b/doc/zh-Hans/guides.md
@@ -0,0 +1,9 @@
+# SDK 指导 {#guides}
+
+* @subpage guide_build_linux
+* @subpage guide_build_win
+* @subpage guide_samples
+* @subpage guide_tools
+* @subpage guide_log
+* @subpage guide_opencv
+* @subpage guide_ros
--- a/doc/zh-Hans/mainpage.md
+++ b/doc/zh-Hans/mainpage.md
@@ -0,0 +1,11 @@
+# MYNT EYE S SDK {#mainpage}
+
+* <a class="el" href="annotated.html">API 类</a>
+* <a class="el" href="modules.html">API 模块</a>
+  * \link enumerations 枚举类型\endlink
+  * \link datatypes 数据类型\endlink
+  * \link utils 工具函数\endlink
+  * \link calibration 内参与外参\endlink
+* <span style="font-weight:bold">设备说明</span>
+  * @subpage specs_data
+  * @subpage specs_ctrl
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@@ -0,0 +1,27 @@
+# 控制 API 说明 {#spec_control_api}
+
+控制有两种实现方式，一是通过 UVC 标准协议，二是通过 UVC 拓展通道自定义协议。
+
+## 标准协议
+
+| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 |
+| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
+| 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 | 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
@@ -0,0 +1,53 @@
+# 拓展通道说明 {#spec_control_channel}
+
+| 名称 | 字段 | 地址 | 带宽 | 说明 |
+| :----- | :----- | :----- | :----- | :----- |
+| 相机控制通道 | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
+| 半双工通道 | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
+| IMU 请求通道 | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
+| IMU 响应通道 | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
+| 文件通道 | XU_FILE_CHANNEL | 5 | 2000 | |
+
+## 相机控制通道
+
+相机控制通道是那些需要 Get & Set & Query 的控制通道，其中 Query 细分为 Min, Max, Default 。
+
+## 半双工通道
+
+半双工通道是那些仅需 Set 的控制通道，如请求零漂矫正。
+
+## IMU 通道
+
+用来请求和响应 IMU 数据的通道，可参见 @ref spec_imu_data 。
+
+## 文件通道
+
+用来读写硬件信息、图像参数、 IMU 参数的通道。
+
+| Name | Header | Size | File | Checksum |
+| :--- | :----- | :--- | :--- | :-------- |
+| 字节数 | 1 | 2 | - | 1 |
+| 类型 | uint8_t | uint16_t | - | uint8_t |
+| 描述 | 标识 | 文件内容大小 | 文件内容 | 校验码（文件内容所有字节异或） |
+
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | 硬件信息 |
+| 1 | 图像参数 |
+| 2 | IMU 参数 |
+| 3~6 | 未定义 |
+| 7 | 0: Get; 1: Set |
+
+### 文件内容包
+
+| Name | ID | Size | Content |
+| :--- | :- | :--- | :------ |
+| 字节数 | 1 | 2 | - |
+| 类型 | uint8_t | uint16_t | - |
+| 描述 | 内容 ID | 内容大小 | 内容 |
+
+| File | ID | Max Size |
+| :--- | :- | :------- |
+| 硬件信息 | 1 | 250 |
+| 图像参数 | 2 | 404 |
+| IMU 参数 | 4 | 500 |
--- a/doc/zh-Hans/spec_hardware_info.md
+++ b/doc/zh-Hans/spec_hardware_info.md
@@ -0,0 +1,17 @@
+# 硬件信息说明 {#spec_hardware_info}
+
+| 名称 | 字段 | 固定值 | 描述符获取 | 拓展通道获取 | 字节数 | 说明 |
+| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
+| VID | vid | 0x04B4 | √ | × | 2 | |
+| PID | pid | 0x00F9 | √ | × | 2 | |
+| 设备名称 | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
+| 序列号 | serial_number | - | √ | √ Get | 16 | |
+| 固件版本 | firmware_version | - | √ | √ Get | 2 | major,minor |
+| 硬件版本 | hardware_version | - | × | √ Get | 3 | major,minor,flag |
+| 协议版本 | spec_version | - | × | √ Get | 2 | major,minor |
+| 镜头类型 | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
+| IMU 类型 | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
+| 基线长度 | nominal_baseline | - | × | √ Get/Set | 2 | 单位 mm ，未 set 默认 0 |
+
+* 描述符获取：指通用 USB 设备信息，可用工具查看。
+* 拓展通道获取：指通过拓展通道（UVC Extension Unit）问硬件获取到的信息，需要读取。
--- a/doc/zh-Hans/spec_image_data.md
+++ b/doc/zh-Hans/spec_image_data.md
@@ -0,0 +1,21 @@
+# 图像数据说明 {#spec_image_data}
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] |
+| 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 | 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_image_params.md
+++ b/doc/zh-Hans/spec_image_params.md
@@ -0,0 +1,25 @@
+# 图像参数说明 {#spec_image_params}
+
+## 图像内参
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 宽度 | width | px | 2 | uint16_t; [0,65535] |
+| 高度 | height | px | 2 | uint16_t; [0,65535] |
+| 焦距 | fx | - | 8 | double |
+| ^ | fy | - | 8 | double |
+| 图像中心 | cx | - | 8 | double |
+| ^ | cy | - | 8 | double |
+| 畸变模型 | model | - | 1 | uint8_t; pinhole,... |
+| 畸变参数 | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
+
+> 图像分辨率不同，内参不同。多分辨率的话，需有多个内参。
+
+## 图像外参
+
+Left Image 到 Right Image 的变换矩阵。
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 旋转矩阵 | rotation[3][3] | - | 72 | double |
+| 平移矩阵 | translation[3] | - | 24 | double |
--- a/doc/zh-Hans/spec_imu_data.md
+++ b/doc/zh-Hans/spec_imu_data.md
@@ -0,0 +1,42 @@
+# IMU 数据说明 {#spec_imu_data}
+
+## IMU 请求数据包
+
+| Name | Header | Serial Number |
+| :--- | :----- | :------------ |
+| 字节数 | 1 | 4 |
+| 类型 | uint8_t | uint32_t |
+| 描述 | 0x5A | 首次请求写 0 ，不然写上次响应数据包最后一个 IMU 包的序列号 |
+
+## IMU 响应数据包
+
+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 |
+| :--- | :----- | :---- | :--- | :---------- | :------- |
+| 字节数 | 1 | 1 | 2 | ... | 1 |
+| 类型 | uint8_t | uint8_t | uint16_t | - | uint8_t |
+| 描述 | 0x5B | 正常状态为 0 ，否则错误 | 数据内容大小 | 所包含的 IMU 包 | 校验码（数据内容所有字节异或） |
+
+### IMU 包
+
+IMU 包/小包，是一组 IMU 数据。
+
+| 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 | 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 **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/doc/zh-Hans/spec_imu_params.md
+++ b/doc/zh-Hans/spec_imu_params.md
@@ -0,0 +1,23 @@
+# IMU 参数说明 {#spec_imu_params}
+
+## IMU 内参
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 比例因子 | acc_scale[3][3] | - | 72 | double |
+| ^ | gyro_scale[3][3] | - | 72 | double |
+| 零漂 | acc_drift[3] | - | 24 | double |
+| ^ | gyro_drift[3] | - | 24 | double |
+| 噪声密度 | acc_noise[3] | - | 24 | double |
+| ^ | gyro_noise[3] | - | 24 | double |
+| 随机游走 | acc_bias[3] | - | 24 | double |
+| ^ | gyro_bias[3] | - | 24 | double |
+
+## IMU 外参
+
+Left Image 到 IMU 的变换矩阵。
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 旋转矩阵 | rotation[3][3] | - | 72 | double |
+| 平移矩阵 | translation[3] | - | 24 | double |
--- a/doc/zh-Hans/specs_ctrl.md
+++ b/doc/zh-Hans/specs_ctrl.md
@@ -0,0 +1,4 @@
+# 设备控制说明 {#specs_ctrl}
+
+* @subpage spec_control_api
+* @subpage spec_control_channel
--- a/doc/zh-Hans/specs_data.md
+++ b/doc/zh-Hans/specs_data.md
@@ -0,0 +1,7 @@
+# 设备数据说明 {#specs_data}
+
+* @subpage spec_hardware_info
+* @subpage spec_image_params
+* @subpage spec_imu_params
+* @subpage spec_image_data
+* @subpage spec_imu_data
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -1,19 +0,0 @@
-# Minimal makefile for Sphinx documentation
-#
-
-# You can set these variables from the command line.
-SPHINXOPTS    =
-SPHINXBUILD   = sphinx-build
-SOURCEDIR     = .
-BUILDDIR      = _build
-
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
-
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
--- a/docs/api/api.rst
+++ b/docs/api/api.rst
@@ -1,23 +0,0 @@
-API
-===
-
-API
---
-
-.. doxygenclass:: mynteye::API
-   :project: mynteyes
-   :members:
-
-api::StreamData
---------------
-
-.. doxygenstruct:: mynteye::api::StreamData
-   :project: mynteyes
-   :members:
-
-api::MotionData
---------------
-
-.. doxygenstruct:: mynteye::api::MotionData
-   :project: mynteyes
-   :members:
--- a/docs/api/contents.rst
+++ b/docs/api/contents.rst
@@ -1,12 +0,0 @@
-.. _api:
-
-API DOC
-=========
-
-.. toctree::
-
-   api
-   device
-   enums
-   types
-   utils
--- a/docs/api/device.rst
+++ b/docs/api/device.rst
@@ -1,30 +0,0 @@
-Device
-======
-
-Device
------
-
-.. doxygenclass:: mynteye::Device
-   :project: mynteyes
-   :members:
-
-device::Frame
-------------
-
-.. doxygenclass:: mynteye::device::Frame
-   :project: mynteyes
-   :members:
-
-device::StreamData
------------------
-
-.. doxygenstruct:: mynteye::device::StreamData
-   :project: mynteyes
-   :members:
-
-device::MotionData
------------------
-
-.. doxygenstruct:: mynteye::device::MotionData
-   :project: mynteyes
-   :members:
--- a/docs/api/enums.rst
+++ b/docs/api/enums.rst
@@ -1,67 +0,0 @@
-Enums
-=====
-
-..
-  .. doxygengroup:: enumerations
-    :project: mynteyes
-
-Model
-----
-
-.. doxygenenum:: mynteye::Model
-  :project: mynteyes
-
-Stream
------
-
-.. doxygenenum:: mynteye::Stream
-  :project: mynteyes
-
-
-Capabilities
------------
-
-.. doxygenenum:: mynteye::Capabilities
-  :project: mynteyes
-
-Info
----
-
-.. doxygenenum:: mynteye::Info
-  :project: mynteyes
-
-Option
------
-
-.. doxygenenum:: mynteye::Option
-  :project: mynteyes
-
-Source
------
-
-.. doxygenenum:: mynteye::Source
-  :project: mynteyes
-
-AddOns
------
-
-.. doxygenenum:: mynteye::AddOns
-  :project: mynteyes
-
-Format
------
-
-.. doxygenenum:: mynteye::Format
-  :project: mynteyes
-
-CalibrationModel
----------------
-
-.. doxygenenum:: mynteye::CalibrationModel
-  :project: mynteyes
-
-DisparityComputingMethod
------------------------
-
-.. doxygenenum:: mynteye::DisparityComputingMethod
-  :project: mynteyes
--- a/docs/api/types.rst
+++ b/docs/api/types.rst
@@ -1,75 +0,0 @@
-Types
-=====
-
-OptionInfo
----------
-
-.. doxygenstruct:: mynteye::OptionInfo
-   :project: mynteyes
-   :members:
-
-Resolution
----------
-
-.. doxygenstruct:: mynteye::Resolution
-   :project: mynteyes
-   :members:
-
-StreamRequest
-------------
-
-.. doxygenstruct:: mynteye::StreamRequest
-   :project: mynteyes
-   :members:
-
-Intrinsics
----------
-
-IntrinsicsPinhole
-~~~~~~~~~~~~~~~~~
-
-.. doxygenstruct:: mynteye::IntrinsicsPinhole
-   :project: mynteyes
-   :members:
-
-IntrinsicsEquidistant
-~~~~~~~~~~~~~~~~~~~~~
-
-.. doxygenstruct:: mynteye::IntrinsicsEquidistant
-   :project: mynteyes
-   :members:
-
-ImuIntrinsics
-~~~~~~~~~~~~~
-
-.. doxygenstruct:: mynteye::ImuIntrinsics
-   :project: mynteyes
-   :members:
-
-MotionIntrinsics
-~~~~~~~~~~~~~~~~~
-
-.. doxygenstruct:: mynteye::MotionIntrinsics
-   :project: mynteyes
-   :members:
-
-Extrinsics
----------
-
-.. doxygenstruct:: mynteye::Extrinsics
-   :project: mynteyes
-   :members:
-
-ImgData
-------
-
-.. doxygenstruct:: mynteye::ImgData
-   :project: mynteyes
-   :members:
-
-ImuData
-------
-
-.. doxygenstruct:: mynteye::ImuData
-   :project: mynteyes
-   :members:
--- a/docs/api/utils.rst
+++ b/docs/api/utils.rst
@@ -1,32 +0,0 @@
-Utils
-=====
-
-select
------
-
-.. doxygenfunction:: select
-   :project: mynteyes
-
-select_request
--------------
-
-.. doxygenfunction:: select_request
-   :project: mynteyes
-
-get_real_exposure_time
----------------------
-
-.. doxygenfunction:: get_real_exposure_time
-   :project: mynteyes
-
-get_sdk_root_dir
----------------
-
-.. doxygenfunction:: get_sdk_root_dir
-   :project: mynteyes
-
-get_sdk_install_dir
-------------------
-
-.. doxygenfunction:: get_sdk_install_dir
-   :project: mynteyes
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -1,194 +0,0 @@
-# -*- coding: utf-8 -*-
-#
-# Configuration file for the Sphinx documentation builder.
-#
-# This file does only contain a selection of the most common options. For a
-# full list see the documentation:
-# http://www.sphinx-doc.org/en/master/config
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-# import os
-# import sys
-# sys.path.insert(0, os.path.abspath('.'))
-
-
-# -- Project information -----------------------------------------------------
-
-project = 'MYNT® EYE S SDK'
-copyright = '2018, MYNTAI'
-author = 'MYNTAI'
-
-# The short X.Y version
-version = '2.3.8'
-# The full version, including alpha/beta/rc tags
-release = version
-
-
-# -- General configuration ---------------------------------------------------
-
-# If your documentation needs a minimal Sphinx version, state it here.
-#
-# needs_sphinx = '1.0'
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-    'breathe',
-]
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# The suffix(es) of source filenames.
-# You can specify multiple suffix as a list of string:
-#
-# source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
-
-# The master toctree document.
-master_doc = 'index'
-
-# The language for content autogenerated by Sphinx. Refer to documentation
-# for a list of supported languages.
-#
-# This is also used if you do content translation via gettext catalogs.
-# Usually you set "language" from the command line for these cases.
-language = 'en'
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
-
-# The name of the Pygments (syntax highlighting) style to use.
-pygments_style = None
-
-
-# on_rtd is whether we are on readthedocs.org
-import os
-on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
-
-import subprocess
-subprocess.call('doxygen', shell=True)
-
-
-# -- Options for HTML output -------------------------------------------------
-
-if not on_rtd:  # only import and set the theme if we're building docs locally
-    import sphinx_rtd_theme
-
-    # The theme to use for HTML and HTML Help pages.  See the documentation for
-    # a list of builtin themes.
-    #
-    # html_theme = 'alabaster'
-    html_theme = 'sphinx_rtd_theme'
-    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
-
-    # Theme options are theme-specific and customize the look and feel of a theme
-    # further.  For a list of options available for each theme, see the
-    # documentation.
-    #
-    # html_theme_options = {}
-
-    # Add any paths that contain custom static files (such as style sheets) here,
-    # relative to this directory. They are copied after the builtin static files,
-    # so a file named "default.css" will overwrite the builtin "default.css".
-    # html_static_path = ['_static']
-
-    # Custom sidebar templates, must be a dictionary that maps document names
-    # to template names.
-    #
-    # The default sidebars (for documents that don't match any pattern) are
-    # defined by theme itself.  Builtin themes are using these templates by
-    # default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
-    # 'searchbox.html']``.
-    #
-    # html_sidebars = {}
-
-# otherwise, readthedocs.org uses their theme by default, so no need to specify it
-
-
-# -- Options for HTMLHelp output ---------------------------------------------
-
-# Output file base name for HTML help builder.
-htmlhelp_basename = 'MYNTEYESSDKdoc'
-
-
-# -- Options for LaTeX output ------------------------------------------------
-
-latex_elements = {
-    # The paper size ('letterpaper' or 'a4paper').
-    #
-    # 'papersize': 'letterpaper',
-
-    # The font size ('10pt', '11pt' or '12pt').
-    #
-    # 'pointsize': '10pt',
-
-    # Additional stuff for the LaTeX preamble.
-    #
-    # 'preamble': '',
-
-    # Latex figure (float) alignment
-    #
-    # 'figure_align': 'htbp',
-}
-
-# Grouping the document tree into LaTeX files. List of tuples
-# (source start file, target name, title,
-#  author, documentclass [howto, manual, or own class]).
-latex_documents = [
-    (master_doc, 'MYNTEYESSDK.tex', 'MYNT® EYE S SDK Documentation',
-     'MYNTAI', 'manual'),
-]
-
-
-# -- Options for manual page output ------------------------------------------
-
-# One entry per manual page. List of tuples
-# (source start file, name, description, authors, manual section).
-man_pages = [
-    (master_doc, 'mynteyessdk', 'MYNT® EYE S SDK Documentation',
-     [author], 1)
-]
-
-
-# -- Options for Texinfo output ----------------------------------------------
-
-# Grouping the document tree into Texinfo files. List of tuples
-# (source start file, target name, title, author,
-#  dir menu entry, description, category)
-texinfo_documents = [
-    (master_doc, 'MYNTEYESSDK', 'MYNT® EYE S SDK Documentation',
-     author, 'MYNTEYESSDK', 'One line description of project.',
-     'Miscellaneous'),
-]
-
-
-# -- Options for Epub output -------------------------------------------------
-
-# Bibliographic Dublin Core info.
-epub_title = project
-
-# The unique identifier of the text. This can be a ISBN number
-# or the project homepage.
-#
-# epub_identifier = ''
-
-# A unique identification for the text.
-#
-# epub_uid = ''
-
-# A list of files that should not be packed into the epub file.
-epub_exclude_files = ['search.html']
-
-
-# -- Extension configuration -------------------------------------------------
-
-breathe_projects = { 'mynteyes': '_doxygen/xml' }
--- a/docs/files/libmynteye.conf
+++ b/docs/files/libmynteye.conf
@@ -1,7 +0,0 @@
-# libmynteye configuration
-#
-# 1) Copy this file to: /etc/ld.so.conf.d/libmynteye.conf
-# 2) Run this cmd in Terminal: sudo /sbin/ldconfig
-
-/usr/local/cuda/lib64
-$HOME/opencv-3.4.1/lib
--- a/docs/images/boardupdate.png
+++ b/docs/images/boardupdate.png
--- a/docs/images/firmware_update.png
+++ b/docs/images/firmware_update.png
--- a/docs/images/firmware_update_cypressUSB.png
+++ b/docs/images/firmware_update_cypressUSB.png
--- a/docs/images/firmware_update_dir.png
+++ b/docs/images/firmware_update_dir.png
--- a/docs/images/firmware_update_driver.png
+++ b/docs/images/firmware_update_driver.png
--- a/docs/images/firmware_update_driver_install.png
+++ b/docs/images/firmware_update_driver_install.png
--- a/docs/images/firmware_update_option.png
+++ b/docs/images/firmware_update_option.png
--- a/docs/images/firmware_update_select.png
+++ b/docs/images/firmware_update_select.png
--- a/docs/images/firmware_update_success.png
+++ b/docs/images/firmware_update_success.png
--- a/docs/images/firmware_update_warning.png
+++ b/docs/images/firmware_update_warning.png
--- a/docs/images/firmware_update_westbridge.png
+++ b/docs/images/firmware_update_westbridge.png
--- a/docs/images/imu_analytics.png
+++ b/docs/images/imu_analytics.png
--- a/docs/images/ir.png
+++ b/docs/images/ir.png
--- a/docs/images/mynteye_avatar_imu_coord.jpg
+++ b/docs/images/mynteye_avatar_imu_coord.jpg
--- a/docs/images/mynteye_avatar_surface_zh-Hans.jpg
+++ b/docs/images/mynteye_avatar_surface_zh-Hans.jpg
--- a/docs/images/mynteye_imu_coord.jpg
+++ b/docs/images/mynteye_imu_coord.jpg
--- a/docs/images/mynteye_surface_zh-Hans.jpg
+++ b/docs/images/mynteye_surface_zh-Hans.jpg
--- a/docs/images/stamp_analytics.png
+++ b/docs/images/stamp_analytics.png
--- a/docs/images/stmsuccess.png
+++ b/docs/images/stmsuccess.png
--- a/docs/images/stmupdate.png
+++ b/docs/images/stmupdate.png
--- a/docs/images/vs_cmd.png
+++ b/docs/images/vs_cmd.png
--- a/docs/images/vs_cmd_menu.png
+++ b/docs/images/vs_cmd_menu.png
--- a/docs/images/vs_cmd_test.png
+++ b/docs/images/vs_cmd_test.png
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -1,30 +0,0 @@
-.. MYNT® EYE S SDK documentation master file, created by
-   sphinx-quickstart on Mon Mar 11 08:59:35 2019.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
-MYNT® EYE S SDK
-===============
-
-.. toctree::
-   :maxdepth: 2
-   :titlesonly:
-
-   src/mynteye/contents
-   src/sdk/contents
-   src/firmware/contents
-   src/data/contents
-   src/control/contents
-   src/log/contents
-   src/wrapper/contents
-   src/analytics/contents
-   src/slam/contents
-   api/contents
-
-..
-  Indices and tables
-  ==================
-
-  * :ref:`genindex`
-  * :ref:`modindex`
-  * :ref:`search`
--- a/docs/make.bat
+++ b/docs/make.bat
@@ -1,35 +0,0 @@
-@ECHO OFF
-
-pushd %~dp0
-
-REM Command file for Sphinx documentation
-
-if "%SPHINXBUILD%" == "" (
-	set SPHINXBUILD=sphinx-build
-)
-set SOURCEDIR=.
-set BUILDDIR=_build
-
-if "%1" == "" goto help
-
-%SPHINXBUILD% >NUL 2>NUL
-if errorlevel 9009 (
-	echo.
-	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
-	echo.installed, then set the SPHINXBUILD environment variable to point
-	echo.to the full path of the 'sphinx-build' executable. Alternatively you
-	echo.may add the Sphinx directory to PATH.
-	echo.
-	echo.If you don't have Sphinx installed, grab it from
-	echo.http://sphinx-doc.org/
-	exit /b 1
-)
-
-%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
-goto end
-
-:help
-%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
-
-:end
-popd
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1,5 +0,0 @@
-breathe>=4.13
-restructuredtext-lint>=1.3.0
-Sphinx>=2.0.1
-sphinx-intl>=0.9.11
-sphinx-rtd-theme>=0.4.2
--- a/docs/src/analytics/analytics_imu.rst
+++ b/docs/src/analytics/analytics_imu.rst
@@ -1,38 +0,0 @@
-.. _analytics_imu:
-
-Analyzing IMU
-==============
-
-The SDK provides the script ``imu_analytics.py`` for IMU analysis. The tool details can be seen in `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
-Refer to run commands and results on Linux:
-
-.. code-block:: bash
-
-  $ python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml -al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
-  imu analytics ...
-    input: dataset
-    outdir: dataset
-    gyro_limits: None
-    accel_limits: [(-1.2, 1.2), (-1.2, 1.2), (-1.2, 1.2), (-1.2, 1.2)]
-    time_unit: None
-    time_limits: None
-    auto: False
-    gyro_show_unit: d
-    gyro_data_unit: d
-    temp_limits: None
-  open dataset ...
-    imu: 20040, temp: 20040
-    timebeg: 4.384450, timeend: 44.615550, duration: 40.231100
-  save figure to:
-    dataset/imu_analytics.png
-  imu analytics done
-
-The analysis result graph will be saved in the data set directory, as follows:
-
-.. image:: ../../images/imu_analytics.png
-
-In addition, the script specific options can be executed ``-h``:
-
-.. code-block:: bash
-
-  $ python tools/analytics/imu_analytics.py -h
--- a/docs/src/analytics/analytics_stamp.rst
+++ b/docs/src/analytics/analytics_stamp.rst
@@ -1,55 +0,0 @@
-.. _analytics_stamp:
-
-Analyze time stamps
-====================
-
-SDK provides a script for timestamp analysis ``stamp_analytics.py`` . Tool details are visible in `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
-
-Reference run commands and results on Linux:
-
-.. code-block:: bash
-
-  $ python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
-  stamp analytics ...
-    input: dataset
-    outdir: dataset
-  open dataset ...
-  save to binary files ...
-    binimg: dataset/stamp_analytics_img.bin
-    binimu: dataset/stamp_analytics_imu.bin
-    img: 1007, imu: 20040
-
-  rate (Hz)
-    img: 25, imu: 500
-  sample period (s)
-    img: 0.04, imu: 0.002
-
-  diff count
-    imgs: 1007, imus: 20040
-    imgs_t_diff: 1006, imus_t_diff: 20039
-
-  diff where (factor=0.1)
-    imgs where diff > 0.04*1.1 (0)
-    imgs where diff < 0.04*0.9 (0)
-    imus where diff > 0.002*1.1 (0)
-    imus where diff < 0.002*0.9 (0)
-
-  image timestamp duplicates: 0
-
-  save figure to:
-    dataset/stamp_analytics.png
-  stamp analytics done
-
-The analysis result graph will be saved in the dataset directory, as follows:
-
-.. image:: ../../images/stamp_analytics.png
-
-In addition, the script specific options can be executed ``-h`` to understand:
-
-.. code-block:: bash
-
-  $ python tools/analytics/stamp_analytics.py -h
-
-.. tip::
-
-  Suggestions when recording data sets ``record.cc`` annotation display image inside ``cv::imshow()``, ``dataset.cc`` annotation display image inside ``cv::imwrite()`` . Because these operations are time-consuming, they can cause images to be discarded. In other words, consumption can't keep up with production, so some images are discarded. ``GetStreamDatas()`` used in ``record.cc`` only caches the latest 4 images.
--- a/docs/src/analytics/contents.rst
+++ b/docs/src/analytics/contents.rst
@@ -1,10 +0,0 @@
-.. _analytics:
-
-Data Analytics
-===============
-
-.. toctree::
-
-   dataset
-   analytics_imu
-   analytics_stamp
--- a/docs/src/analytics/dataset.rst
+++ b/docs/src/analytics/dataset.rst
@@ -1,58 +0,0 @@
-.. _dataset:
-
-Recording data sets
-====================
-
-The SDK provides the tool ``record`` for recording data sets. Tool details can be seen in `tools/README.md <https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/tools>`_ .
-
-Reference run command:
-
-.. code-block:: bash
-
-  ./tools/_output/bin/dataset/record2
-
-  # Windows
-  .\tools\_output\bin\dataset\record2.bat
-
-Reference run results on Linux:
-
-.. code-block:: bash
-
-  $ ./tools/_output/bin/dataset/record
-  I0513 21:28:57.128947 11487 utils.cc:26] Detecting MYNT EYE devices
-  I0513 21:28:57.807116 11487 utils.cc:33] MYNT EYE devices:
-  I0513 21:28:57.807155 11487 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
-  I0513 21:28:57.807163 11487 utils.cc:43] Only one MYNT EYE device, select index: 0
-  I0513 21:28:57.808437 11487 channels.cc:114] Option::GAIN: min=0, max=48, def=24, cur=24
-  I0513 21:28:57.809999 11487 channels.cc:114] Option::BRIGHTNESS: min=0, max=240, def=120, cur=120
-  I0513 21:28:57.818678 11487 channels.cc:114] Option::CONTRAST: min=0, max=255, def=127, cur=127
-  I0513 21:28:57.831529 11487 channels.cc:114] Option::FRAME_RATE: min=10, max=60, def=25, cur=25
-  I0513 21:28:57.848914 11487 channels.cc:114] Option::IMU_FREQUENCY: min=100, max=500, def=200, cur=500
-  I0513 21:28:57.865185 11487 channels.cc:114] Option::EXPOSURE_MODE: min=0, max=1, def=0, cur=0
-  I0513 21:28:57.881434 11487 channels.cc:114] Option::MAX_GAIN: min=0, max=48, def=48, cur=48
-  I0513 21:28:57.897598 11487 channels.cc:114] Option::MAX_EXPOSURE_TIME: min=0, max=240, def=240, cur=240
-  I0513 21:28:57.913918 11487 channels.cc:114] Option::DESIRED_BRIGHTNESS: min=0, max=255, def=192, cur=192
-  I0513 21:28:57.930177 11487 channels.cc:114] Option::IR_CONTROL: min=0, max=160, def=0, cur=0
-  I0513 21:28:57.946341 11487 channels.cc:114] Option::HDR_MODE: min=0, max=1, def=0, cur=0
-  Saved 1007 imgs, 20040 imus to ./dataset
-  I0513 21:29:38.608772 11487 record.cc:118] Time beg: 2018-05-13 21:28:58.255395, end: 2018-05-13 21:29:38.578696, cost: 40323.3ms
-  I0513 21:29:38.608853 11487 record.cc:121] Img count: 1007, fps: 24.9732
-  I0513 21:29:38.608873 11487 record.cc:123] Imu count: 20040, hz: 496.983
-
-Results save into ``<workdir>/dataset`` by default. You can also add parameter, select other directory to save.
-
-Record contents:
-
-.. code-block:: none
-
-  <workdir>/
-  └─dataset/
-     ├─left/
-     │  ├─stream.txt  # Image infomation
-     │  ├─000000.png  # Image，index 0
-     │  └─...
-     ├─right/
-     │  ├─stream.txt  # Image information
-     │  ├─000000.png  # Image，index 0
-     │  └─...
-     └─motion.txt  # IMU information
--- a/docs/src/control/auto_exposure.rst
+++ b/docs/src/control/auto_exposure.rst
@@ -1,129 +0,0 @@
-.. _auto_exposure:
-
-Enable auto exposure and its adjustment function
-=================================================
-
-Using the ``SetOptionValue()`` function of the API, you can set various control values of the current open device.
-
-To enable auto exposure, set ``Option::EXPOSURE_MODE`` to ``0`` .
-
-For mynteye s1030, the settings available for adjustment during auto exposure are:
-
-* ``Option::MAX_GAIN`` Maximum gain.
-* ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time.
-* ``Option::DESIRED_BRIGHTNESS`` Expected brightness.
-
-For mynteye s2100/s210a, the settings available for adjustment during auto exposure are:
-
-* ``Option::MAX_GAIN`` Maximum gain.
-* ``Option::MAX_EXPOSURE_TIME`` Maximum exposure time.
-* ``Option::DESIRED_BRIGHTNESS`` Expected brightness.
-* ``Option::MIN_EXPOSURE_TIME`` Minimum exposure time.
-
-Reference Code:
-
-s1030：
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-
-  // 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);
-
-  LOG(INFO) << "Enable auto-exposure";
-  LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
-  LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
-            << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
-  LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
-            << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
-
-s2100/s210a：
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-
-  bool ok;
-  auto &&request = api->SelectStreamRequest(&ok);
-  if (!ok) return 1;
-  api->ConfigStreamRequest(request);
-
-  // auto-exposure: 0
-  api->SetOptionValue(Option::EXPOSURE_MODE, 0);
-
-  // 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 EXPOSURE_MODE to "
-            << api->GetOptionValue(Option::EXPOSURE_MODE);
-  LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
-  LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
-            << 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);
-
-
-Reference running results on Linux:
-
-s1030：
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_auto_exposure
-  I0513 14:07:57.963943 31845 utils.cc:26] Detecting MYNT EYE devices
-  I0513 14:07:58.457536 31845 utils.cc:33] MYNT EYE devices:
-  I0513 14:07:58.457563 31845 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
-  I0513 14:07:58.457567 31845 utils.cc:43] Only one MYNT EYE device, select index: 0
-  I0513 14:07:58.474916 31845 auto_exposure.cc:37] Enable auto-exposure
-  I0513 14:07:58.491058 31845 auto_exposure.cc:38] Set MAX_GAIN to 48
-  I0513 14:07:58.505131 31845 auto_exposure.cc:39] Set MAX_EXPOSURE_TIME to 240
-  I0513 14:07:58.521375 31845 auto_exposure.cc:41] Set DESIRED_BRIGHTNESS to 192
-
-
-s2100/s210a：
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_auto_exposure 
-  I/utils.cc:30 Detecting MYNT EYE devices
-  I/utils.cc:40 MYNT EYE devices:
-  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
-  I/utils.cc:51 Only one MYNT EYE device, select index: 0
-  I/utils.cc:79 MYNT EYE devices:
-  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
-  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
-  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
-  I/utils.cc:93 There are 7 stream requests, select index: 
-  3
-  I/auto_exposure.cc:72 Enable auto-exposure
-  I/auto_exposure.cc:73 Set EXPOSURE_MODE to 0
-  I/auto_exposure.cc:75 Set MAX_GAIN to 8
-  I/auto_exposure.cc:76 Set MAX_EXPOSURE_TIME to 333
-  I/auto_exposure.cc:78 Set DESIRED_BRIGHTNESS to 122
-  I/auto_exposure.cc:80 Set MIN_EXPOSURE_TIME to 0
-
-
-The sample program displays an image with a real exposure time in the upper left corner, in milliseconds.
-
-Complete code examples, see `auto_exposure.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/auto_exposure.cc>`_ .
--- a/docs/src/control/contents.rst
+++ b/docs/src/control/contents.rst
@@ -1,14 +0,0 @@
-.. _ctrl:
-
-MYNT® EYE Control
-=================
-
-.. toctree::
-
-   framerate
-   imu_range
-   auto_exposure
-   manual_exposure
-   infrared
-   imu_low_pass_filter
-   iic_address
--- a/docs/src/control/framerate.rst
+++ b/docs/src/control/framerate.rst
@@ -1,108 +0,0 @@
-.. _framerate:
-
-Set the frame rate of image & IMU frequency
-============================================
-
-Using the ``SetOptionValue()`` function in the API, you can set various control valuesfor the current device.
-
-For mynteye s1030, to set the image frame rate and IMU frequency, set ``Option::FRAME_RATE`` and ``Option::IMU_FREQUENCY``.
-
-.. Attention::
-
-  * The effective fps of the image: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60.
-  * The effective frequency of IMU: 100, 200, 250, 333, 500.
-
-For mynteye s2100/s210a, the image frame rate should be selected when running the sample, and the frame rate and resolution are combined as follows:
-
-.. code-block:: bash
-
-  index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
-  index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
-  index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
-  index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
-  index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
-  index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
-  index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
-
-
-Reference Code:
-
-s1030：
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-
-  // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
-  // succeed.
-
-  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55
-  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);
-
-s2100/s210a：
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-  if (!api) return 1;
-  
-  bool ok;
-  auto &&request = api->SelectStreamRequest(&ok);
-  if (!ok) return 1;
-  api->ConfigStreamRequest(request);
-
-  LOG(INFO) << "Please set frame rate by 'SelectStreamRequest()'";
-
-
-
-Reference running results on Linux:
-
-s1030：
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_framerate
-  I0513 14:05:57.218222 31813 utils.cc:26] Detecting MYNT EYE devices
-  I0513 14:05:57.899404 31813 utils.cc:33] MYNT EYE devices:
-  I0513 14:05:57.899430 31813 utils.cc:37]   index: 0, name: MYNT-EYE-S1000
-  I0513 14:05:57.899435 31813 utils.cc:43] Only one MYNT EYE device, select index: 0
-  I0513 14:05:58.076257 31813 framerate.cc:36] Set FRAME_RATE to 25
-  I0513 14:05:58.076836 31813 framerate.cc:37] Set IMU_FREQUENCY to 500
-  I0513 14:06:21.702361 31813 framerate.cc:82] Time beg: 2018-05-13 14:05:58.384967, end: 2018-05-13 14:06:21.666115, cost: 23281.1ms
-  I0513 14:06:21.702388 31813 framerate.cc:85] Img count: 573, fps: 24.6122
-  I0513 14:06:21.702404 31813 framerate.cc:87] Imu count: 11509, hz: 494.348
-
-s2100/s210a：
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_framerate 
-  I/utils.cc:30 Detecting MYNT EYE devices
-  I/utils.cc:40 MYNT EYE devices:
-  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
-  I/utils.cc:51 Only one MYNT EYE device, select index: 0
-  I/utils.cc:79 MYNT EYE devices:
-  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
-  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
-  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
-  I/utils.cc:93 There are 7 stream requests, select index: 
-  2
-  I/framerate.cc:54 Please set frame rate by 'SelectStreamRequest()'
-  I/framerate.cc:99 Time beg: 2018-12-29 10:05:08.203095, end: 2018-12-29 10:08:20.074969, cost: 191872ms
-  I/framerate.cc:102 Img count: 5759, fps: 30.0148
-  I/framerate.cc:104 Imu count: 77163, hz: 402.159
-
-
-After the sample program finishes running with ``ESC/Q``, it will output the calculated value of the frame rate of image & IMU frequency.
-
-Complete code samples，please see `framerate.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/framerate.cc>`_ .
--- a/docs/src/control/iic_address.rst
+++ b/docs/src/control/iic_address.rst
@@ -1,58 +0,0 @@
-.. _iic_address:
-
-Set IIC Address
-================
-
-Using the ``SetOptionValue()`` function in the API, you can set various control values for the current device.
-
-To set the IIC address, set ``Option::IIC_ADDRESS_SETTING``.
-
-
-.. Attention::
-  Only support S210A/2100
-
-Reference Code:
-
-s210a/s2100：
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-  if (!api) return 1;
-  bool ok;
-  auto &&request = api->SelectStreamRequest(&ok);
-  if (!ok) return 1;
-  api->ConfigStreamRequest(request);
-  Model model = api->GetModel();
-  if (model == Model::STANDARD210A || model == Model::STANDARD2) {
-    api->SetOptionValue(Option::IIC_ADDRESS_SETTING, 0x31);
-    LOG(INFO) << "Set iic address to " << std::hex << "0x"
-              << api->GetOptionValue(Option::IIC_ADDRESS_SETTING);
-  }
-
-
-Reference running results on Linux:
-
-s210a/s2100：
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_iic_adress
-  I/utils.cc:30 Detecting MYNT EYE devices
-  I/utils.cc:40 MYNT EYE devices:
-  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
-  I/utils.cc:51 Only one MYNT EYE device, select index: 0
-  I/utils.cc:79 MYNT EYE devices:
-  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
-  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
-  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
-  I/utils.cc:93 There are 7 stream requests, select index:
-  3
-  I/imu_range.cc:51 Set iic address to 0x31
-
-After the sample program finishes running with ``ESC/Q``.
-Complete code samples，please see `iic_address.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/iic_address.cc>`_.
--- a/docs/src/control/imu_low_pass_filter.rst
+++ b/docs/src/control/imu_low_pass_filter.rst
@@ -1,63 +0,0 @@
-.. _imu_low_pass_filter:
-
-Low-pass Filter
-===============
-
-Using the ``SetOptionValue()`` function in the API, you can set various control values for the current device.
-
-To set the value of accelerometer low-pass filter and gyroscope low-pass filter, set ``Option::ACCELEROMETER_LOW_PASS_FILTER`` and ``Option::GYROSCOPE_LOW_PASS_FILTER``.
-
-.. Attention::
-  * s1030 doesn't support this feature
-
-Reference Code:
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-  if (!api) return 1;
-
-  bool ok;
-  auto &&request = api->SelectStreamRequest(&ok);
-  if (!ok) return 1;
-  api->ConfigStreamRequest(request);
-
-  // ACCELEROMETER_RANGE values: 0, 1, 2
-  api->SetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER, 2);
-  // GYROSCOPE_RANGE values: 23, 64
-  api->SetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER, 64);
-
-  LOG(INFO) << "Set ACCELEROMETER_LOW_PASS_FILTER to "
-            << api->GetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER);
-  LOG(INFO) << "Set GYROSCOPE_LOW_PASS_FILTER to "
-            << api->GetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER);
-
-
-Reference running results on Linux:
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_imu_low_pass_filter 
-  I/utils.cc:30 Detecting MYNT EYE devices
-  I/utils.cc:40 MYNT EYE devices:
-  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
-  I/utils.cc:51 Only one MYNT EYE device, select index: 0
-  I/utils.cc:79 MYNT EYE devices:
-  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
-  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
-  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
-  I/utils.cc:93 There are 7 stream requests, select index: 
-  1
-  I/imu_low_pass_filter.cc:48 Set ACCELEROMETER_LOW_PASS_FILTER to 2
-  I/imu_low_pass_filter.cc:50 Set GYROSCOPE_LOW_PASS_FILTER to 64
-  I/imu_low_pass_filter.cc:96 Time beg: 2018-12-29 13:53:42.296299, end: 2018-12-29 14:06:33.295960, cost: 771000ms
-  I/imu_low_pass_filter.cc:99 Img count: 15412, fps: 19.9896
-  I/imu_low_pass_filter.cc:101 Imu count: 309891, hz: 401.934
-
-After the sample program finishes running with ``ESC/Q``, the low-pass filter of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.
-
-Complete code samples，please see `imu_low_pass_filter.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/imu_low_pass_filter.cc>`_ 。
--- a/docs/src/control/imu_range.rst
+++ b/docs/src/control/imu_range.rst
@@ -1,108 +0,0 @@
-.. _imu_range:
-
-Set the range of accelerometer & gyroscope
-==========================================
-
-Using the ``SetOptionValue()`` function in the API, you can set various control values for the current device.
-
-To set the range of accelerometer and gyroscope, set ``Option::ACCELEROMETER_RANGE`` and ``Option::GYROSCOPE_RANGE``.
-
-.. Attention::
-  For mynteye s1030, the available settings are:
-  
-  * The effective range of accelerometer(unit:g): 4, 8, 16, 32.
-  * Gyroscope Range Valid value (unit: DEG/S): 500, 1000, 2000, 4000.
-
-  For mynteye s2100/s210a, the available settings are:
-  
-  * The effective range of accelerometer(unit:g): 6, 12, 24, 48.
-  * The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000.
-
-Reference Code:
-
-s1030：
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, 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
-  api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
-
-  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
-            << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
-  LOG(INFO) << "Set GYROSCOPE_RANGE to "
-            << api->GetOptionValue(Option::GYROSCOPE_RANGE);
-
-s2100/s210a：
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-  if (!api) return 1;
-
-  bool ok;
-  auto &&request = api->SelectStreamRequest(&ok);
-  if (!ok) return 1;
-  api->ConfigStreamRequest(request);
-
-  // ACCELEROMETER_RANGE values: 6, 12, 24, 48
-  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
-  // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
-  api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
-
-  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
-            << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
-  LOG(INFO) << "Set GYROSCOPE_RANGE to "
-            << api->GetOptionValue(Option::GYROSCOPE_RANGE);
-
-
-Reference running results on Linux:
-
-s1030：
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_imu_range
-  I/utils.cc:28 Detecting MYNT EYE devices
-  I/utils.cc:38 MYNT EYE devices:
-  I/utils.cc:41   index: 0, name: MYNT-EYE-S1030, sn: 4B4C1F1100090712
-  I/utils.cc:49 Only one MYNT EYE device, select index: 0
-  I/imu_range.cc:34 Set ACCELEROMETER_RANGE to 8
-  I/imu_range.cc:36 Set GYROSCOPE_RANGE to 1000
-  I/imu_range.cc:81 Time beg: 2018-11-21 15:34:57.726428, end: 2018-11-21 15:35:12.190478, cost: 14464ms
-  I/imu_range.cc:84 Img count: 363, fps: 25.0967
-  I/imu_range.cc:86 Imu count: 2825, hz: 195.312
-
-s2100/s210a：
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_imu_range 
-  I/utils.cc:30 Detecting MYNT EYE devices
-  I/utils.cc:40 MYNT EYE devices:
-  I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
-  I/utils.cc:51 Only one MYNT EYE device, select index: 0
-  I/utils.cc:79 MYNT EYE devices:
-  I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
-  I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
-  I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
-  I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
-  I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
-  I/utils.cc:93 There are 7 stream requests, select index: 
-  3
-  I/imu_range.cc:51 Set ACCELEROMETER_RANGE to 6
-  I/imu_range.cc:53 Set GYROSCOPE_RANGE to 1000
-  I/imu_range.cc:98 Time beg: 2018-12-29 10:03:10.706211, end: 2018-12-29 10:04:12.497427, cost: 61791.2ms
-  I/imu_range.cc:101 Img count: 3706, fps: 59.9762
-  I/imu_range.cc:103 Imu count: 24873, hz: 402.533
-
-After the sample program finishes running with ``ESC/Q``, the ranges of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.
-
-Complete code samples，please see `imu_range.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/imu_range.cc>`_.
--- a/docs/src/control/infrared.rst
+++ b/docs/src/control/infrared.rst
@@ -1,54 +0,0 @@
-.. _infrared:
-
-Enable IR and its adjustments function
-=======================================
-
-Using the ``SetOptionValue()`` function of the API, you can set various control values for the current open device.
-
-Enabling IR is setting ``Option::IR_CONTROL`` greater than 0. The greater the value, the greater the IR's intensity.
-
-.. Attention::
-  * mynteye s2100/s210a doesn't support this feature.
-
-Reference Code:
-
-.. code-block:: c++
-
-  auto &&api = API::Create(argc, argv);
-
-  // 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);
-
-Reference running results on Linux:
-
-.. code-block:: bash
-
-  $ ./samples/_output/bin/tutorials/ctrl_infrared
-  I0504 16:16:28.016624 25848 utils.cc:13] Detecting MYNT EYE devices
-  I0504 16:16:28.512462 25848 utils.cc:20] MYNT EYE devices:
-  I0504 16:16:28.512473 25848 utils.cc:24]   index: 0, name: MYNT-EYE-S1000
-  I0504 16:16:28.512477 25848 utils.cc:30] Only one MYNT EYE device, select index: 0
-  I0504 16:16:28.520848 25848 infrared.cc:13] Support infrared: true
-  I0504 16:16:28.520869 25848 infrared.cc:15] Support infrared2: true
-  I0504 16:16:28.520889 25848 infrared.cc:20] Option::IR_CONTROL: {min: 0, max: 160, def: 0}
-
-At this point, if the image is displayed, you can see IR speckle on the image, as below:
-
-.. image:: ../../images/ir.png
-
-
-.. attention::
-
-  The hardware will not record the IR value after being turned off. In order to keep IR enabled, you must set the IR value after turning on the device.
-
-Complete code samples，see `infrared.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/control/infrared.cc>`_ .
--- 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	f96e89b941	Add mynteye_image_pipeline	2018-12-06 11:19:32 +08:00