Merge branch 'hotfix/2.2.4'

chore(README.md): remove firmware version info
chore(README.md): update version and doc links
2018-12-31 15:40:27 +08:00 · 2018-12-31 10:33:23 +08:00 · 2018-12-31 10:14:21 +08:00 · 2018-12-31 06:45:25 +08:00 · 2018-12-29 16:47:18 +08:00 · 2018-12-29 16:40:03 +08:00
62 changed files with 803 additions and 1607 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@

 cmake_minimum_required(VERSION 3.0)

-project(mynteye VERSION 2.2.2 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.4 LANGUAGES C CXX)

 include(cmake/Common.cmake)

@@ -106,6 +106,7 @@ set_outdir(
 )

 ## main
+
 if(WITH_GLOG)
  add_executable(main src/main.cc)
  target_link_libraries(main glog::glog)
@@ -123,11 +124,6 @@ if(NOT WITH_GLOG AND NOT OS_WIN)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
  unset(__MINIGLOG_FLAGS)
 endif()
-if(NOT WITH_GLOG)
-  list(APPEND MYNTEYE_PUBLIC_H
-    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
-  )
-endif()

 if(OS_WIN)
  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK

-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.4-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)

 ## Overview

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

 * [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/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)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717670/mynt-eye-s-sdk-apidoc-2.2.4-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717671/mynt-eye-s-sdk-apidoc-2.2.4-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/2717672/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717673/mynt-eye-s-sdk-apidoc-2.2.4-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-2.2.4-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.4-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)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717663/mynt-eye-s-sdk-guide-2.2.4-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717664/mynt-eye-s-sdk-guide-2.2.4-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/2717665/mynt-eye-s-sdk-guide-2.2.4-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717666/mynt-eye-s-sdk-guide-2.2.4-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-2.2.4-zh-Hans/mynt-eye-s-sdk-guide-2.2.4-zh-Hans/index.html)

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

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

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

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

 ## Usage

--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@@ -21,6 +21,7 @@ include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
 # build components

 option(WITH_API "Build with API layer, need OpenCV" ON)
+
 option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)

 # 3rdparty components
@@ -31,6 +32,7 @@ option(WITH_BOOST "Include Boost support" ON)
 #   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
 option(WITH_GLOG "Include glog support" OFF)

+
 # packages

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

-PROJECT_NUMBER         = 2.2.2
+PROJECT_NUMBER         = 2.2.4

 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
--- a/doc/zh-Hans/api.doxyfile
+++ b/doc/zh-Hans/api.doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.

-PROJECT_NUMBER         = 2.2.2
+PROJECT_NUMBER         = 2.2.4

 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@@ -6,22 +6,25 @@

 | 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 |
+| 增益 | gain | 2 | 24 | 0 | 48 | √ | 0x12 | 关闭自动曝光，手动设定的参数 |
+| 亮度 | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
+| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | 关闭自动曝光，手动设定的参数 |

 > 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 |
+| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 说明 |
+| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----- |
+| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
+| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} |
+| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 |
+| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
+| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
+| 期望亮度 | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
+| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
+| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0：10-bit；1：12-bit |
+| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
 | 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
 | 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |
-| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
-| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | |
-
--- a/doc/zh-Hans/spec_control_channel.md
+++ b/doc/zh-Hans/spec_control_channel.md
@@ -49,5 +49,5 @@
 | File | ID | Max Size |
 | :--- | :- | :------- |
 | 硬件信息 | 1 | 250 |
-| 图像参数 | 2 | 404 |
+| 图像参数 | 2 | 250 |
 | IMU 参数 | 4 | 500 |
--- a/doc/zh-Hans/spec_image_data.md
+++ b/doc/zh-Hans/spec_image_data.md
@@ -3,19 +3,20 @@
 | 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 |
+| 时间戳 | timestamp | 10 us | 4 | uint32_t |
+| 曝光时间 | exposure_time | 10 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） |
+| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
+| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
+| 字节数 | 1 | 1 | 2 | 4 | 2 | 1 |
+| 类型 | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
+| 描述 | 0x3B | 0x08 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |

 * 数据包校验不过，会丢弃该帧。
-* 时间的单位精度为： 1 us 。
+* 时间单位的精度为： 0.01 ms / 10 us 。
+  * 4 字节能表示的最大时间约是 11.9 小时，溢出后将重累计。
 * 时间累计是从上电时从开始，而不是从打开时开始。
--- a/doc/zh-Hans/spec_imu_data.md
+++ b/doc/zh-Hans/spec_imu_data.md
@@ -10,7 +10,7 @@

 ## IMU 响应数据包

-IMU 响应数据包里会包含1个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
+IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个 IMU 段。

 | Name | Header | State | Size | IMU Packets | Checksum |
 | :--- | :----- | :---- | :--- | :---------- | :------- |
@@ -22,21 +22,21 @@ IMU 响应数据包里会包含1个 IMU 包，而每个 IMU 包又带有多个 I

 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 |
+| Name | Serial Number | Timestamp | Count | IMU Datas |
+| :--- | :------------ | :-------- | :---- | :-------- |
+| 字节数 | 4 | 4 | 1 | ... |
+| 类型 | uint32_t | uint32_t | uint8_t | - |
+| 描述 | 序列号 | IMU 基准时间戳 | IMU 段数量 | 所包含的 IMU 段 |

 ### 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 |
+| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
+| :--- | :----- | :------- | :------------ | :---------- | :-------- |
+| 字节数 | 2 | 2 | 6 | 2 | 6 |
+| 类型 | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
+| 描述 | 相对基准时间戳的偏移量 | 图像帧 ID | 加速度计 x y z 三轴的值 | IMU 的温度 | 陀螺仪 x y z 三轴的值 |

 * 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** 。
+  * 加速度计量程默认值为 **8 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
 * 温度计量值换算成物理值公式： **real = data / ratio + offset** 。
  * ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。
--- a/include/mynteye/api/api.h
+++ b/include/mynteye/api/api.h
@@ -72,7 +72,8 @@ struct MYNTEYE_API MotionData {

  bool operator==(const MotionData &other) const {
    if (imu && other.imu) {
-      return imu->timestamp == other.imu->timestamp;
+      return imu->frame_id == other.imu->frame_id &&
+             imu->timestamp == other.imu->timestamp;
    }
    return false;
  }
@@ -98,14 +99,7 @@ class MYNTEYE_API API {
   * @return the API instance.
   * @note This will call device::select() to select a device.
   */
-  static std::shared_ptr<API> Create(Resolution res);
-  /**
-   * Create the API instance.
-   * @param device the selected device.
-   * @return the API instance.
-   */
-  static std::shared_ptr<API> Create(
-      std::shared_ptr<Device> device, Resolution res);
+  static std::shared_ptr<API> Create();
  /**
   * Create the API instance.
   * @param device the selected device.
@@ -154,10 +148,6 @@ class MYNTEYE_API API {
   */
  bool Supports(const AddOns &addon) const;

-  /**
-   * set the stream request.
-   */
-  void SetStreamRequest(const Format &format, const FrameRate &rate);
  /**
   * Get all stream requests of the capability.
   */
@@ -214,11 +204,6 @@ class MYNTEYE_API API {
   */
  bool RunOptionAction(const Option &option) const;

-  /**
-   * Init device resolution.
-   */
-  void InitResolution(const Resolution &res);
-
  /**
   * Set the callback of stream.
   */
@@ -294,8 +279,6 @@ class MYNTEYE_API API {
  std::shared_ptr<Device> device_;

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

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

 #include <algorithm>
 #include <functional>
-#include <map>
 #include <memory>
 #include <vector>

@@ -30,20 +29,6 @@ MYNTEYE_BEGIN_NAMESPACE

 namespace device {

-typedef struct ImgParams {
-  bool ok;
-  std::map<Resolution, Intrinsics> in_left_map;
-  std::map<Resolution, Intrinsics> in_right_map;
-  Extrinsics ex_right_to_left;
-} img_params_t;
-
-typedef struct ImuParams {
-  bool ok;
-  ImuIntrinsics in_accel;
-  ImuIntrinsics in_gyro;
-  Extrinsics ex_left_to_imu;
-} imu_params_t;
-
 /**
 * @ingroup datatypes
 * Frame with raw data.
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -66,9 +66,6 @@ class MYNTEYE_API Device {
  using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
  using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;

-  using img_params_t = device::img_params_t;
-  using imu_params_t = device::imu_params_t;
-
  Device(const Model &model, std::shared_ptr<uvc::device> device);
  virtual ~Device();

@@ -104,14 +101,7 @@ class MYNTEYE_API Device {
   * Supports the addon or not.
   */
  bool Supports(const AddOns &addon) const;
-  /**
-   * Init device resolution.
-   */
-  void InitResolution(const Resolution &res);
-  /**
-   * set the stream request.
-   */
-  void SetStreamRequest(const Format &format, const FrameRate &rate);
+
  /**
   * Get all stream requests of the capability.
   */
@@ -263,10 +253,6 @@ class MYNTEYE_API Device {
   * Get the motion datas.
   */
  std::vector<device::MotionData> GetMotionDatas();
-  /**
-   * Get the device img params
-   */
-  img_params_t GetImgParams();

 protected:
  std::shared_ptr<uvc::device> device() const {
@@ -302,8 +288,6 @@ class MYNTEYE_API Device {

 private:
  Model model_;
-  Resolution res_ = Resolution::RES_752x480;
-  StreamRequest request_;
  std::shared_ptr<uvc::device> device_;
  std::shared_ptr<DeviceInfo> device_info_;

@@ -313,7 +297,6 @@ class MYNTEYE_API Device {
  std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
  std::map<Stream, Extrinsics> motion_from_extrinsics_;

-  img_params_t img_params_;
  stream_callbacks_t stream_callbacks_;
  motion_callback_t motion_callback_;

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

  void ReadAllInfos();

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

--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -76,8 +76,6 @@ enum class Capabilities : std::uint8_t {
  STEREO,
  /** Provides color stream */
  COLOR,
-  /** Provide stereo color  stream */
-  STEREO_COLOR,
  /** Provides depth stream */
  DEPTH,
  /** Provides point cloud stream */
@@ -165,19 +163,19 @@ enum class Option : std::uint8_t {
  /**
   * Max gain, valid if auto-exposure
   *
-   *   range: [0,255], default: 8
+   *   range: [0,48], default: 48
   */
  MAX_GAIN,
  /**
   * Max exposure time, valid if auto-exposure
   *
-   *   range: [0,1000], default: 333
+   *   range: [0,240], default: 240
   */
  MAX_EXPOSURE_TIME,
  /**
   * Desired brightness, valid if auto-exposure
   *
-   *   range: [1,255], default: 122
+   *   range: [0,255], default: 192
   */
  DESIRED_BRIGHTNESS,
  /**
@@ -197,36 +195,18 @@ enum class Option : std::uint8_t {
  ZERO_DRIFT_CALIBRATION,
  /** Erase chip */
  ERASE_CHIP,
-  /**
-   * min exposure time, valid if auto-exposure
-   *
-   *   range: [0,1000], default: 0
-   */
-  MIN_EXPOSURE_TIME,
  /**
   * The range of accelerometer
   *
-   *   values: {6,12,24,48}, default: 6
+   *   values: {4,8,16,32}, default: 8
   */
  ACCELEROMETER_RANGE,
  /**
   * The range of gyroscope
   *
-   *   values: {250,500,1000,2000,4000}, default: 1000
+   *   values: {500,1000,2000,4000}, default: 1000
   */
  GYROSCOPE_RANGE,
-  /**
-   * The parameter of accelerometer low pass filter
-   *
-   *   values: {0,1,2}, default: 2
-   */
-  ACCELEROMETER_LOW_PASS_FILTER,
-  /**
-   * The parameter of gyroscope low pass filter
-   *
-   *   values: {23,64}, default: 64
-   */
-  GYROSCOPE_LOW_PASS_FILTER,
  /** Last guard */
  LAST
 };
@@ -259,40 +239,6 @@ enum class AddOns : std::uint8_t {
  LAST
 };

-/**
- * @ingroup enumerations
- * @brief Camera supported resolution.
- */
-enum class Resolution : std::uint8_t {
-  /** 752x480 */
-  RES_752x480,
-  /** 1280x400 */
-  RES_1280x400,
-  /** 2560x800 */
-  RES_2560x800,
-  /** Last guard */
-  LAST
-};
-
-/**
- * @ingroup enumerations
- * @brief Camera supported frame rate.
- */
-enum class FrameRate : std::uint8_t {
-  /** 10 fps */
-  RATE_10_FPS = 10,
-  /** 20 fps */
-  RATE_20_FPS = 20,
-  /** 20 fps */
-  RATE_25_FPS = 25,
-  /** 30 fps */
-  RATE_30_FPS = 30,
-  /** 60 fps */
-  RATE_60_FPS = 60,
-  /** Last guard */
-  LAST
-};
-
 #define MYNTEYE_ENUM_HELPERS(TYPE)                                       \
  MYNTEYE_API const char *to_string(const TYPE &value);                  \
  inline bool is_valid(const TYPE &value) {                              \
@@ -316,8 +262,6 @@ MYNTEYE_ENUM_HELPERS(Info)
 MYNTEYE_ENUM_HELPERS(Option)
 MYNTEYE_ENUM_HELPERS(Source)
 MYNTEYE_ENUM_HELPERS(AddOns)
-MYNTEYE_ENUM_HELPERS(Resolution)
-MYNTEYE_ENUM_HELPERS(FrameRate)

 #undef MYNTEYE_ENUM_HELPERS

@@ -334,8 +278,6 @@ enum class Format : std::uint32_t {
  GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
  /** YUV 4:2:2, 16 bits per pixel */
  YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
-  /** BGR 8:8:8, 24 bits per pixel */
-  BGR888 = MYNTEYE_FOURCC('B', 'G', 'R', '3'),
  /** Last guard */
  LAST
 };
@@ -363,33 +305,6 @@ struct MYNTEYE_API StreamRequest {
  /** Stream frames per second (unused) */
  std::uint16_t fps;

-  StreamRequest() {}
-
-  StreamRequest(
-      std::uint16_t width, std::uint16_t height, Format format,
-      std::uint16_t fps)
-      : width(width), height(height), format(format), fps(fps) {}
-
-  StreamRequest(Resolution res, Format format, FrameRate rate)
-      : format(format) {
-    fps = static_cast<uint16_t>(rate);
-
-    switch (res) {
-      case Resolution::RES_752x480:
-        width = 480, height = 752;
-        break;
-      case Resolution::RES_1280x400:
-        width = 1280, height = 400;
-        break;
-      case Resolution::RES_2560x800:
-        width = 2560, height = 800;
-        break;
-      default:
-        width = 480, height = 752;
-        break;
-    }
-  }
-
  bool operator==(const StreamRequest &other) const {
    return width == other.width && height == other.height &&
           format == other.format && fps == other.fps;
@@ -506,8 +421,8 @@ std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
 struct MYNTEYE_API ImgData {
  /** Image frame id */
  std::uint16_t frame_id;
-  /** Image timestamp in 1us */
-  std::uint64_t timestamp;
+  /** Image timestamp in 0.01ms */
+  std::uint32_t timestamp;
  /** Image exposure time, virtual value in [1, 480] */
  std::uint16_t exposure_time;

@@ -538,12 +453,10 @@ struct MYNTEYE_API ImgData {
 * IMU data.
 */
 struct MYNTEYE_API ImuData {
-  /** Imu serial number */
-  std::uint32_t serial_number;
-  /** accel or gyro flag:1 for accel,2 for gyro,3 for both */
-  std::uint8_t flag;
-  /** IMU timestamp in 1us */
-  std::uint64_t timestamp;
+  /** Image frame id */
+  std::uint16_t frame_id;
+  /** IMU timestamp in 0.01ms */
+  std::uint32_t timestamp;
  /** IMU accelerometer data for 3-axis: X, Y, Z. */
  double accel[3];
  /** IMU gyroscope data for 3-axis: X, Y, Z. */
@@ -552,7 +465,7 @@ struct MYNTEYE_API ImuData {
  double temperature;

  void Reset() {
-    flag = 0;
+    frame_id = 0;
    timestamp = 0;
    std::fill(accel, accel + 3, 0);
    std::fill(gyro, gyro + 3, 0);
--- a/mynteye-config.cmake.in
+++ b/mynteye-config.cmake.in
@@ -13,8 +13,6 @@
 # limitations under the License.

@PACKAGE_INIT@
-set(mynteye_WITH_API @WITH_API@)
-set(mynteye_WITH_GLOG @WITH_GLOG@)

 set(mynteye_WITH_API @WITH_API@)
 set(mynteye_WITH_GLOG @WITH_GLOG@)
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@@ -53,10 +53,6 @@ message(STATUS "Found mynteye: ${mynteye_VERSION}")

 include(${PRO_DIR}/cmake/DetectOpenCV.cmake)

-if(mynteye_WITH_GLOG)
-  include(${PRO_DIR}/cmake/DetectGLog.cmake)
-endif()
-
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)

 # targets
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -23,7 +23,10 @@ int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
  if (!api)
    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+
+  // api->SetOptionValue(Option::FRAME_RATE, 25);
+  // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
+  api->SetOptionValue(Option::IR_CONTROL, 80);
  api->LogOptionInfos();

  std::size_t left_count = 0;
@@ -52,7 +55,8 @@ int main(int argc, char *argv[]) {
    CHECK_NOTNULL(data.imu);
    ++imu_count;
    VLOG(2) << "Imu count: " << imu_count;
-    VLOG(2) << ", timestamp: " << data.imu->timestamp
+    VLOG(2) << "  frame_id: " << data.imu->frame_id
+            << ", timestamp: " << data.imu->timestamp
            << ", accel_x: " << data.imu->accel[0]
            << ", accel_y: " << data.imu->accel[1]
            << ", accel_z: " << data.imu->accel[2]
@@ -102,7 +106,8 @@ int main(int argc, char *argv[]) {
    auto &&motion_datas = api->GetMotionDatas();
    motion_count += motion_datas.size();
    for (auto &&data : motion_datas) {
-      LOG(INFO) << ", timestamp: " << data.imu->timestamp
+      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
+                << ", timestamp: " << data.imu->timestamp
                << ", accel_x: " << data.imu->accel[0]
                << ", accel_y: " << data.imu->accel[1]
                << ", accel_z: " << data.imu->accel[2]
--- a/samples/device/CMakeLists.txt
+++ b/samples/device/CMakeLists.txt
@@ -14,10 +14,6 @@

 get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)

-include_directories(
-  ${PRO_DIR}/src
-)
-
 set_outdir(
  "${OUT_DIR}/lib/${DIR_NAME}"
  "${OUT_DIR}/lib/${DIR_NAME}"
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -27,15 +27,33 @@ int main(int argc, char *argv[]) {
  auto &&device = device::select();
  if (!device)
    return 1;
+  /*
+  {  // auto-exposure
+    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
+    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
+    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
+    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
+  }
+  {  // manual-exposure
+    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
+    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
+    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
+    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
+  }
+  device->SetOptionValue(Option::IR_CONTROL, 80);
+  device->SetOptionValue(Option::FRAME_RATE, 25);
+  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
+  */
+  device->LogOptionInfos();
+
+  // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);

  std::size_t left_count = 0;
-  device->InitResolution(Resolution::RES_1280x400);
-  device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
  device->SetStreamCallback(
      Stream::LEFT, [&left_count](const device::StreamData &data) {
        CHECK_NOTNULL(data.img);
        ++left_count;
-        VLOG(2) << Stream::LEFT << "count: " << left_count;
+        VLOG(2) << Stream::LEFT << ", count: " << left_count;
        VLOG(2) << "  frame_id: " << data.img->frame_id
                << ", timestamp: " << data.img->timestamp
                << ", exposure_time: " << data.img->exposure_time;
@@ -45,19 +63,19 @@ int main(int argc, char *argv[]) {
      Stream::RIGHT, [&right_count](const device::StreamData &data) {
        CHECK_NOTNULL(data.img);
        ++right_count;
-        VLOG(2) << Stream::RIGHT << "count: " << right_count;
+        VLOG(2) << Stream::RIGHT << ", count: " << right_count;
        VLOG(2) << "  frame_id: " << data.img->frame_id
                << ", timestamp: " << data.img->timestamp
                << ", exposure_time: " << data.img->exposure_time;
      });

  std::size_t imu_count = 0;
-
  device->SetMotionCallback([&imu_count](const device::MotionData &data) {
    CHECK_NOTNULL(data.imu);
    ++imu_count;
    VLOG(2) << "Imu count: " << imu_count;
-    VLOG(2) << ", timestamp: " << data.imu->timestamp
+    VLOG(2) << "  frame_id: " << data.imu->frame_id
+            << ", timestamp: " << data.imu->timestamp
            << ", accel_x: " << data.imu->accel[0]
            << ", accel_y: " << data.imu->accel[1]
            << ", accel_z: " << data.imu->accel[2]
@@ -70,6 +88,7 @@ int main(int argc, char *argv[]) {
  // Enable this will cache the motion datas until you get them.
  device->EnableMotionDatas();
  device->Start(Source::ALL);
+
  cv::namedWindow("frame");

  std::size_t motion_count = 0;
@@ -83,7 +102,8 @@ int main(int argc, char *argv[]) {
    auto &&motion_datas = device->GetMotionDatas();
    motion_count += motion_datas.size();
    for (auto &&data : motion_datas) {
-      LOG(INFO) << "timestamp: " << data.imu->timestamp
+      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
+                << ", timestamp: " << data.imu->timestamp
                << ", accel_x: " << data.imu->accel[0]
                << ", accel_y: " << data.imu->accel[1]
                << ", accel_z: " << data.imu->accel[2]
@@ -93,41 +113,15 @@ int main(int argc, char *argv[]) {
                << ", temperature: " << data.imu->temperature;
    }

-    cv::Mat img;
-
-    // TODO(Kalman): Extract into public or internal method
-    if (left_data.frame->format() == Format::GREY) {
    cv::Mat left_img(
        left_data.frame->height(), left_data.frame->width(), CV_8UC1,
        left_data.frame->data());
    cv::Mat right_img(
        right_data.frame->height(), right_data.frame->width(), CV_8UC1,
        right_data.frame->data());
-      cv::hconcat(left_img, right_img, img);
-    } else if (left_data.frame->format() == Format::YUYV) {
-      cv::Mat left_img(
-          left_data.frame->height(), left_data.frame->width(), CV_8UC2,
-          left_data.frame->data());
-      cv::Mat right_img(
-          right_data.frame->height(), right_data.frame->width(), CV_8UC2,
-          right_data.frame->data());
-      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
-      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
-      cv::hconcat(left_img, right_img, img);
-    } else if (left_data.frame->format() == Format::BGR888) {
-      cv::Mat left_img(
-          left_data.frame->height(), left_data.frame->width(), CV_8UC3,
-          left_data.frame->data());
-      cv::Mat right_img(
-          right_data.frame->height(), right_data.frame->width(), CV_8UC3,
-          right_data.frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
-      cv::hconcat(left_img, right_img, img);
-    } else {
-      return -1;
-    }

+    cv::Mat img;
+    cv::hconcat(left_img, right_img, img);
    cv::imshow("frame", img);

    char key = static_cast<char>(cv::waitKey(1));
@@ -150,7 +144,7 @@ int main(int argc, char *argv[]) {
            << ", fps: " << (1000.f * right_count / elapsed_ms);
  LOG(INFO) << "Imu count: " << imu_count
            << ", hz: " << (1000.f * imu_count / elapsed_ms);
-  LOG(INFO) << "Motion count: " << motion_count
-            << ", hz: " << (1000.f * motion_count / elapsed_ms);
+  // LOG(INFO) << "Motion count: " << motion_count
+  //           << ", hz: " << (1000.f * motion_count / elapsed_ms);
  return 0;
 }
--- a/samples/tutorials/CMakeLists.txt
+++ b/samples/tutorials/CMakeLists.txt
@@ -16,7 +16,6 @@ get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)

 include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}
-  ${PRO_DIR}/src
 )

 set_outdir(
@@ -124,6 +123,7 @@ make_executable2(ctrl_manual_exposure
  SRCS control/manual_exposure.cc util/cv_painter.cc
  WITH_OPENCV
 )
+make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)

 # intermediate level

--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@@ -24,19 +24,16 @@ int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
  if (!api)
    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);

  // auto-exposure: 0
  api->SetOptionValue(Option::EXPOSURE_MODE, 0);

-  // max_gain: range [0,255], 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);
+  // 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);
@@ -44,12 +41,10 @@ int main(int argc, char *argv[]) {
            << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
  LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
            << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
-  LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
-            << api->GetOptionValue(Option::MIN_EXPOSURE_TIME);

  api->Start(Source::VIDEO_STREAMING);

-  CVPainter painter(30);
+  CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));

  cv::namedWindow("frame");

--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@@ -22,11 +22,22 @@
 MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
-  auto &&api = API::Create(Resolution::RES_1280x400);
-  // auto &&api = API::Create(argc, argv);
+  auto &&api = API::Create(argc, argv);
  if (!api)
    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+
+  // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
+  // succeed.
+
+  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
+  api->SetOptionValue(Option::FRAME_RATE, 25);
+  // IMU_FREQUENCY values: 100, 200, 250, 333, 500
+  api->SetOptionValue(Option::IMU_FREQUENCY, 500);
+
+  LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE);
+  LOG(INFO) << "Set IMU_FREQUENCY to "
+            << api->GetOptionValue(Option::IMU_FREQUENCY);
+
  // Count img
  std::atomic_uint img_count(0);
  api->SetStreamCallback(
@@ -35,6 +46,13 @@ int main(int argc, char *argv[]) {
        ++img_count;
      });

+  // Count imu
+  std::atomic_uint imu_count(0);
+  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
+    CHECK_NOTNULL(data.imu);
+    ++imu_count;
+  });
+
  api->Start(Source::ALL);

  cv::namedWindow("frame");
@@ -67,5 +85,7 @@ int main(int argc, char *argv[]) {
            << ", cost: " << elapsed_ms << "ms";
  LOG(INFO) << "Img count: " << img_count
            << ", fps: " << (1000.f * img_count / elapsed_ms);
+  LOG(INFO) << "Imu count: " << imu_count
+            << ", hz: " << (1000.f * imu_count / elapsed_ms);
  return 0;
 }
--- a/samples/tutorials/control/imu_range.cc
+++ b/samples/tutorials/control/imu_range.cc
@@ -26,9 +26,9 @@ int main(int argc, char *argv[]) {
  if (!api)
    return 1;

-  // ACCELEROMETER_RANGE values: 6, 12, 24, 32
-  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
-  // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
+  // 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 "
--- a/samples/tutorials/control/infrared.cc
+++ b/samples/tutorials/control/infrared.cc
@@ -0,0 +1,61 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
+
+  // Detect infrared add-ons
+  LOG(INFO) << "Support infrared: " << std::boolalpha
+            << api->Supports(AddOns::INFRARED);
+  LOG(INFO) << "Support infrared2: " << std::boolalpha
+            << api->Supports(AddOns::INFRARED2);
+
+  // Get infrared intensity range
+  auto &&info = api->GetOptionInfo(Option::IR_CONTROL);
+  LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}";
+
+  // Set infrared intensity value
+  api->SetOptionValue(Option::IR_CONTROL, 80);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    cv::imshow("frame", img);
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}
--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@@ -24,20 +24,25 @@ int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
  if (!api)
    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);

  // manual-exposure: 1
  api->SetOptionValue(Option::EXPOSURE_MODE, 1);

+  // gain: range [0,48], default 24
+  api->SetOptionValue(Option::GAIN, 24);
  // brightness/exposure_time: range [0,240], default 120
  api->SetOptionValue(Option::BRIGHTNESS, 120);
+  // contrast/black_level_calibration: range [0,255], default 127
+  api->SetOptionValue(Option::CONTRAST, 127);

  LOG(INFO) << "Enable manual-exposure";
+  LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
  LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS);
+  LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);

  api->Start(Source::VIDEO_STREAMING);

-  CVPainter painter(30);
+  CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));

  cv::namedWindow("frame");

--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -20,7 +20,7 @@ int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
  if (!api)
    return 1;
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+
  LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
  LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
            << "}";
--- a/samples/tutorials/util/cv_painter.cc
+++ b/samples/tutorials/util/cv_painter.cc
@@ -117,7 +117,7 @@ cv::Rect CVPainter::DrawImuData(
  if (gravity == BOTTOM_LEFT || gravity == BOTTOM_RIGHT)
    sign = -1;

-  Clear(ss) << "stamp: " << data.timestamp
+  Clear(ss) << "frame_id: " << data.frame_id << ", stamp: " << data.timestamp
            << ", temp: " << fmt_temp << data.temperature;
  cv::Rect rect_i = DrawText(img, ss.str(), gravity, 5);

--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
  const auto frame_empty = [&frame]() { return frame == nullptr; };

  uvc::set_device_mode(
-      *device, 1280, 400, static_cast<int>(Format::BGR888), 20,
+      *device, 752, 480, static_cast<int>(Format::YUYV), 25,
      [&mtx, &cv, &frame, &frame_ready](
          const void *data, std::function<void()> continuation) {
        // reinterpret_cast<const std::uint8_t *>(data);
@@ -143,8 +143,8 @@ int main(int argc, char *argv[]) {
    }

    // only lastest frame is valid
-    cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
-    cv::cvtColor(img, img, CV_BGR2RGB);
+    cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame->data));
+    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
    cv::imshow("frame", img);

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

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

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

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

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

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

-std::shared_ptr<API> API::Create(Resolution res) {
-  auto &&device = device::select();
-  if (!device)
-    return nullptr;
-  device->InitResolution(res);
-  return std::make_shared<API>(device);
+std::shared_ptr<API> API::Create() {
+  return Create(device::select());
 }

-std::shared_ptr<API> API::Create(
-    std::shared_ptr<Device> device, Resolution res) {
-  if (!device)
-    return nullptr;
-  device->InitResolution(res);
-  return std::make_shared<API>(device);
-}
-
-// TODO(Kalman): Compatible with two generation
 std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
-  return Create(device, Resolution::RES_2560x800);
+  if (!device)
+    return nullptr;
+  return std::make_shared<API>(device);
 }

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

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

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

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

-// TODO(Kalman): Call this function in the appropriate place
-void API::CheckImageParams() {
-  if (device_ != nullptr) {
-    bool in_l_ok, in_r_ok, ex_l2r_ok;
-    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
-    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
-    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
-      LOG(FATAL) << "Image params not found, but we need it to process the "
-                    "images. Please `make tools` and use `img_params_writer` "
-                    "to write the image params. If you update the SDK from "
-                    "1.x, the `SN*.conf` is the file contains them. Besides, "
-                    "you could also calibrate them by yourself. Read the guide "
-                    "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
-                    "to learn more.";
-    }
-  }
-}
-
 MYNTEYE_END_NAMESPACE
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -17,8 +17,6 @@
 #include <functional>
 #include <stdexcept>

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

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

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

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

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

-  std::vector<std::string> spec_versions{"1.0", "1.1"};
+  std::vector<std::string> spec_versions{"1.0"};
  for (auto &&spec_ver : spec_versions) {
    if (*spec_version == Version(spec_ver)) {
      return;  // supported
@@ -143,24 +132,22 @@ void Channels::LogControlInfos() const {
  }
 }

-// TODO(Kalman): Compatible with two generation
 void Channels::UpdateControlInfos() {
-  for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) {
+  for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
+                                           Option::CONTRAST}) {
    control_infos_[option] = PuControlInfo(option);
  }

  for (auto &&option : std::vector<Option>{
-             Option::EXPOSURE_MODE, Option::DESIRED_BRIGHTNESS,
+           Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
           Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-             Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
-             Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
-             Option::GYROSCOPE_LOW_PASS_FILTER}) {
+           Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE,
+           Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}) {
    control_infos_[option] = XuControlInfo(option);
  }

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

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

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

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

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

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

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

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

  using device_info_t = DeviceInfo;

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

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

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

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

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

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

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

 using StreamRequests = std::vector<StreamRequest>;

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

--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -100,19 +100,13 @@ std::shared_ptr<Device> Device::Create(
    return std::make_shared<StandardDevice>(device);
  } else if (strings::starts_with(name, "MYNT-EYE-")) {
    // TODO(JohnZhao): Create different device by name, such as MYNT-EYE-S1000
-    std::string model_s = name.substr(9, 5);
+    std::string model_s = name.substr(9);
    VLOG(2) << "MYNE EYE Model: " << model_s;
    DeviceModel model(model_s);
-    if (model.type == 'S') {
-      switch (model.generation) {
-        case '1':
-          return std::make_shared<StandardDevice>(device);
-        case '2':
+    switch (model.type) {
+      case 'S':
        return std::make_shared<StandardDevice>(device);
      default:
-          LOG(FATAL) << "No such generation now";
-      }
-    } else {
        LOG(FATAL) << "MYNT EYE model is not supported now";
    }
  }
@@ -437,26 +431,13 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
  return motions_->GetMotionDatas();
 }

-void Device::InitResolution(const Resolution &res) {
-  res_ = res;
-  ConfigIntrinsics(res_);
-}
-
-void Device::SetStreamRequest(const Format &format, const FrameRate &rate) {
-  StreamRequest request(res_, format, rate);
-  request_ = request;
-}
-
 const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
  try {
    return stream_config_requests_.at(capability);
  } catch (const std::out_of_range &e) {
    auto &&requests = GetStreamRequests(capability);
    if (requests.size() >= 1) {
-      for (auto &&request : requests) {
-        if (request == request_)
-          return request;
-      }
+      VLOG(2) << "Select the first one stream request of " << capability;
      return requests[0];
    } else {
      LOG(FATAL) << "Please config the stream request of " << capability;
@@ -473,22 +454,28 @@ void Device::StartVideoStreaming() {
  streams_ = std::make_shared<Streams>(GetKeyStreams());

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

-      streams_->ConfigStream(capability, stream_request);
+    streams_->ConfigStream(Capabilities::STEREO, stream_request);
    uvc::set_device_mode(
        *device_, stream_request.width, stream_request.height,
        static_cast<int>(stream_request.format), stream_request.fps,
-          [this, capability](
-              const void *data, std::function<void()> continuation) {
+        [this](const void *data, std::function<void()> continuation) {
          // drop the first stereo stream data
          static std::uint8_t drop_count = 1;
          if (drop_count > 0) {
@@ -499,7 +486,7 @@ void Device::StartVideoStreaming() {
          // auto &&time_beg = times::now();
          {
            std::lock_guard<std::mutex> _(mtx_streams_);
-              if (streams_->PushStream(capability, data)) {
+            if (streams_->PushStream(Capabilities::STEREO, data)) {
              CallbackPushedStreamData(Stream::LEFT);
              CallbackPushedStreamData(Stream::RIGHT);
            }
@@ -511,10 +498,9 @@ void Device::StartVideoStreaming() {
          //     << " ms";
        });
  } else {
-      // LOG(FATAL) << "Not any stream capabilities are supported by this
-      // device";
-    }
+    LOG(FATAL) << "Not any stream capabilities are supported by this device";
  }
+
  uvc::start_streaming(*device_, 0);
  video_streaming_ = true;
 }
@@ -557,8 +543,9 @@ void Device::ReadAllInfos() {
  device_info_ = std::make_shared<DeviceInfo>();

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

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

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

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

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

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

  std::mutex mtx_datas_;

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

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

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

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

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

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

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

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

  void from_data(std::uint8_t *data) {
-    std::uint32_t timestamp_l;
-    std::uint32_t timestamp_h;
-
-    serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
-                    *(data + 3);
-    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
-                  (*(data + 6) << 8) | *(data + 7);
-    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
-                  (*(data + 10) << 8) | *(data + 11);
-    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
-    flag = *(data + 12);
-    temperature = (*(data + 13) << 8) | *(data + 14);
-    accel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
-    accel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
-    accel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
+    offset = (*(data) << 8) | *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    accel[0] = (*(data + 4) << 8) | *(data + 5);
+    accel[1] = (*(data + 6) << 8) | *(data + 7);
+    accel[2] = (*(data + 8) << 8) | *(data + 9);
+    temperature = (*(data + 10) << 8) | *(data + 11);
+    gyro[0] = (*(data + 12) << 8) | *(data + 13);
+    gyro[1] = (*(data + 14) << 8) | *(data + 15);
+    gyro[2] = (*(data + 16) << 8) | *(data + 17);
  }
 };
 #pragma pack(pop)
@@ -241,18 +230,26 @@ struct ImuSegment {
 */
 #pragma pack(push, 1)
 struct ImuPacket {
+  std::uint32_t serial_number;
+  std::uint32_t timestamp;
  std::uint8_t count;
  std::vector<ImuSegment> segments;

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

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

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

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

 #define NO_DATA_MAX_COUNT 200
-#define LIVING_MAX_COUNT 9000

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

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

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

--- a/src/mynteye/uvc/win/uvc-wmf.cc
+++ b/src/mynteye/uvc/win/uvc-wmf.cc
@@ -64,8 +64,7 @@ namespace uvc {

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

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

-    check("MFSetAttributeRatio", MFSetAttributeRatio(media_type, MF_MT_FRAME_RATE, fps, 1));
    check("MFGetAttributeRatio", MFGetAttributeRatio(media_type, MF_MT_FRAME_RATE, &uvc_fps_num, &uvc_fps_denom));
    if (uvc_fps_denom == 0) continue;
    //int uvc_fps = uvc_fps_num / uvc_fps_denom;
--- a/src/public/miniglog.cc
+++ b/src/public/miniglog.cc
@@ -1,41 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
-// Author: keir@google.com (Keir Mierle)
-
-#include "mynteye/miniglog.h"
-
-namespace google {
-
-// This is the set of log sinks. This must be in a separate library to ensure
-// that there is only one instance of this across the entire program.
-std::set<google::LogSink *> log_sinks_global;
-
-int log_severity_global(INFO);
-
-}  // namespace google
--- a/src/public/miniglog.readme
+++ b/src/public/miniglog.readme
@@ -1,3 +0,0 @@
-miniglog:
-  * https://github.com/arpg/miniglog
-  * https://github.com/tzutalin/miniglog
--- a/src/uvc/uvc-libuvc.cc
+++ b/src/uvc/uvc-libuvc.cc
@@ -1,199 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include "uvc/uvc.h"  // NOLINT
-
-#include <libuvc/libuvc.h>
-
-#include "mynteye/logger.h"
-// #define ENABLE_DEBUG_SPAM
-
-MYNTEYE_BEGIN_NAMESPACE
-
-namespace uvc {
-
-static void check(const char *call, uvc_error_t status) {
-  LOG_IF(FATAL, status < 0)
-      << call << "(...) returned " << uvc_strerror(status);
-}
-#define CALL_UVC(name, ...) check(#name, name(__VA_ARGS__))
-
-struct context {
-  uvc_context_t *ctx;
-
-  context() : ctx(nullptr) {
-    VLOG(2) << __func__;
-    CALL_UVC(uvc_init, &ctx, nullptr);
-  }
-
-  ~context() {
-    VLOG(2) << __func__;
-    if (ctx)
-      uvc_exit(ctx);
-  }
-};
-
-struct device {
-  const std::shared_ptr<context> parent;
-
-  uvc_device_t *uvcdevice = nullptr;
-  uvc_device_handle_t *handle = nullptr;
-
-  int vid, pid;
-
-  device(std::shared_ptr<context> parent, uvc_device_t *uvcdevice)
-      : parent(parent), uvcdevice(uvcdevice) {
-    VLOG(2) << __func__;
-    open();
-
-    uvc_device_descriptor_t *desc;
-    CALL_UVC(uvc_get_device_descriptor, uvcdevice, &desc);
-    vid = desc->idVendor;
-    pid = desc->idProduct;
-    uvc_free_device_descriptor(desc);
-  }
-
-  ~device() {
-    VLOG(2) << __func__;
-    if (handle)
-      uvc_close(handle);
-    if (uvcdevice)
-      uvc_unref_device(uvcdevice);
-  }
-
-  void open() {
-    if (!handle)
-      CALL_UVC(uvc_open, uvcdevice, &handle);
-  }
-};
-
-std::shared_ptr<context> create_context() {
-  return std::make_shared<context>();
-}
-
-std::vector<std::shared_ptr<device>> query_devices(
-    std::shared_ptr<context> context) {
-  std::vector<std::shared_ptr<device>> devices;
-
-  uvc_device_t **list;
-  CALL_UVC(uvc_get_device_list, context->ctx, &list);
-  for (auto it = list; *it; ++it) {
-    try {
-      auto dev = std::make_shared<device>(context, *it);
-      devices.push_back(dev);
-    } catch (std::runtime_error &e) {
-      LOG(WARNING) << "usb:" << static_cast<int>(uvc_get_bus_number(*it)) << ':'
-                   << static_cast<int>(uvc_get_device_address(*it)) << ": "
-                   << e.what();
-    }
-  }
-  uvc_free_device_list(list, 1);
-
-  return devices;
-}
-
-int get_vendor_id(const device &device) {
-  return device.vid;
-}
-
-int get_product_id(const device &device) {
-  return device.pid;
-}
-
-std::string get_name(const device &device) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  return "";
-}
-
-std::string get_video_name(const device &device) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  return "";
-}
-
-bool pu_control_range(
-    const device &device, Option option, int32_t *min, int32_t *max,
-    int32_t *def) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(option)
-  UNUSED(min)
-  UNUSED(max)
-  UNUSED(def)
-  return false;
-}
-
-bool pu_control_query(
-    const device &device, Option option, pu_query query, int32_t *value) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(option)
-  UNUSED(query)
-  UNUSED(value)
-  return false;
-}
-
-bool xu_control_range(
-    const device &device, const xu &xu, uint8_t selector, uint8_t id, int32_t *min,
-    int32_t *max, int32_t *def) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(xu)
-  UNUSED(selector)
-  UNUSED(id)
-  UNUSED(min)
-  UNUSED(max)
-  UNUSED(def)
-  return false;
-}
-
-bool xu_control_query(
-    const device &device, const xu &xu, uint8_t selector, xu_query query,
-    uint16_t size, uint8_t *data) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(xu)
-  UNUSED(selector)
-  UNUSED(query)
-  UNUSED(size)
-  UNUSED(data)
-  return false;
-}
-
-void set_device_mode(
-    device &device, int width, int height, int fourcc, int fps,  // NOLINT
-    video_channel_callback callback) {
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(width)
-  UNUSED(height)
-  UNUSED(fourcc)
-  UNUSED(fps)
-  UNUSED(callback)
-}
-
-void start_streaming(device &device, int num_transfer_bufs) {  // NOLINT
-  // TODO(JohnZhao)
-  UNUSED(device)
-  UNUSED(num_transfer_bufs)
-}
-
-void stop_streaming(device &device) {  // NOLINT
-  // TODO(JohnZhao)
-  UNUSED(device)
-}
-
-}  // namespace uvc
-
-MYNTEYE_END_NAMESPACE
--- a/tools/analytics/stamp_analytics.py
+++ b/tools/analytics/stamp_analytics.py
@@ -97,10 +97,10 @@ class BinDataset(object):
        if What.imu in result:
          imu = result[What.imu]
          np.array([(
-              imu.timestamp, imu.flag,
+              imu.timestamp,
              imu.accel_x, imu.accel_y, imu.accel_z,
              imu.gyro_x, imu.gyro_y, imu.gyro_z
-          )], dtype="f8, i4, f8, f8, f8, f8, f8, f8").tofile(f_imu)
+          )], dtype="f8, f8, f8, f8, f8, f8, f8").tofile(f_imu)
          imu_count = imu_count + 1
          has_imu = True
        sys.stdout.write('\r  img: {}, imu: {}'.format(img_count, imu_count))
@@ -130,7 +130,7 @@ class BinDataset(object):

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

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

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

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

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

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

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

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

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

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

-    ax_imgs_t_diff.set_xlim([0, imgs_t_diff.size])
-    ax_imgs_t_diff.plot(imgs_t_diff)
-
-    def _plot_imus(name, t_diff, counts, pos_offset=0):
-      ax_imus_t_diff = fig_1.add_subplot(232 + pos_offset)
-      ax_imus_t_diff.set_title('{} Timestamp Diff'.format(name))
+    ax_imus_t_diff = fig_1.add_subplot(132)
+    ax_imus_t_diff.set_title('Imu Timestamp Diff')
    ax_imus_t_diff.set_xlabel('diff index')
    ax_imus_t_diff.set_ylabel('diff (s)')
    ax_imus_t_diff.axis('auto')

-      ax_imus_t_diff.set_xlim([0, t_diff.size - 1])
-      ax_imus_t_diff.plot(t_diff)
+    ax_imgs_t_imus = fig_1.add_subplot(133)
+    ax_imgs_t_imus.set_title('Imu Count Per Image Intervel')
+    ax_imgs_t_imus.set_xlabel('intervel index')
+    ax_imgs_t_imus.set_ylabel('imu count')
+    ax_imgs_t_imus.axis('auto')

-      ax_imus_counts = fig_1.add_subplot(233 + pos_offset)
-      ax_imus_counts.set_title('{} Count Per Image Intervel'.format(name))
-      ax_imus_counts.set_xlabel('intervel index')
-      ax_imus_counts.set_ylabel('imu count')
-      ax_imus_counts.axis('auto')
+    ax_imgs_t_diff.set_xlim([0, imgs_t_diff.size])
+    ax_imgs_t_diff.plot(imgs_t_diff)

-      # print(counts.values)
-      # counts.plot(kind='line', ax=ax_imus_counts)
-      data = counts.values
-      ax_imus_counts.set_xlim([0, data.size])
-      ax_imus_counts.set_ylim([np.min(data) - 1, np.max(data) + 1])
-      ax_imus_counts.plot(data)
+    ax_imus_t_diff.set_xlim([0, imus_t_diff.size])
+    ax_imus_t_diff.plot(imus_t_diff)

-    _plot_imus('Accel', accel_t_diff, accel_counts)
-    _plot_imus('Gyro', gyro_t_diff, gyro_counts, 3)
+    # print(imgs_t_imus.values)
+    # imgs_t_imus.plot(kind='line', ax=ax_imgs_t_imus)
+    data = imgs_t_imus.values
+    ax_imgs_t_imus.set_xlim([0, data.size])
+    ax_imgs_t_imus.set_ylim([np.min(data) - 1, np.max(data) + 1])
+    ax_imgs_t_imus.plot(data)

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

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

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

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

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

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

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

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

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

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

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

    motion_writer_ = writer;
    motion_count_ = 0;
-    accel_count_ = 0;
-    gyro_count_ = 0;
  }
  return motion_writer_;
 }
--- a/tools/dataset/dataset.h
+++ b/tools/dataset/dataset.h
@@ -58,8 +58,6 @@ class Dataset {

  std::map<Stream, std::size_t> stream_counts_;
  std::size_t motion_count_;
-  std::size_t accel_count_;
-  std::size_t gyro_count_;
 };

 }  // namespace tools
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -26,8 +26,23 @@ int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
  if (!api)
    return 1;
-  api->InitResolution(Resolution::RES_1280x400);
-  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  /*
+  {  // auto-exposure
+    api->SetOptionValue(Option::EXPOSURE_MODE, 0);
+    api->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
+    api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
+    api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
+  }
+  {  // manual-exposure
+    api->SetOptionValue(Option::EXPOSURE_MODE, 1);
+    api->SetOptionValue(Option::GAIN, 20);  // [0.48]
+    api->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
+    api->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
+  }
+  api->SetOptionValue(Option::IR_CONTROL, 80);
+  api->SetOptionValue(Option::FRAME_RATE, 25);
+  api->SetOptionValue(Option::IMU_FREQUENCY, 500);
+  */
  api->LogOptionInfos();

  // Enable this will cache the motion datas until you get them.
@@ -57,44 +72,14 @@ int main(int argc, char *argv[]) {
    auto &&motion_datas = api->GetMotionDatas();
    imu_count += motion_datas.size();

-    auto &&left_frame = left_datas.back().frame;
-    auto &&right_frame = right_datas.back().frame;
+    auto &&left_img = left_datas.back().frame;
+    auto &&right_img = right_datas.back().frame;

    cv::Mat img;
-
-    if (left_frame->format() == Format::GREY) {
-      cv::Mat left_img(
-          left_frame->height(), left_frame->width(), CV_8UC1,
-          left_frame->data());
-      cv::Mat right_img(
-          right_frame->height(), right_frame->width(), CV_8UC1,
-          right_frame->data());
    cv::hconcat(left_img, right_img, img);
-    } else if (left_frame->format() == Format::YUYV) {
-      cv::Mat left_img(
-          left_frame->height(), left_frame->width(), CV_8UC2,
-          left_frame->data());
-      cv::Mat right_img(
-          right_frame->height(), right_frame->width(), CV_8UC2,
-          right_frame->data());
-      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
-      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
-      cv::hconcat(left_img, right_img, img);
-    } else if (left_frame->format() == Format::BGR888) {
-      cv::Mat left_img(
-          left_frame->height(), left_frame->width(), CV_8UC3,
-          left_frame->data());
-      cv::Mat right_img(
-          right_frame->height(), right_frame->width(), CV_8UC3,
-          right_frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
-      cv::hconcat(left_img, right_img, img);
-    } else {
-      return -1;
-    }
    cv::imshow("frame", img);
-    if (img_count > 10 && imu_count > 50) {  // save
+
+    {  // save
      for (auto &&left : left_datas) {
        dataset.SaveStreamData(Stream::LEFT, left);
      }
--- a/tools/dataset/record2.cc
+++ b/tools/dataset/record2.cc
@@ -29,8 +29,23 @@ int main(int argc, char *argv[]) {
  auto &&device = device::select();
  if (!device)
    return 1;
-  device->InitResolution(Resolution::RES_1280x400);
-  device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
+  /*
+  {  // auto-exposure
+    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
+    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
+    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
+    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
+  }
+  {  // manual-exposure
+    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
+    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
+    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
+    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
+  }
+  device->SetOptionValue(Option::IR_CONTROL, 80);
+  device->SetOptionValue(Option::FRAME_RATE, 25);
+  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
+  */
  device->LogOptionInfos();

  // Enable this will cache the motion datas until you get them.
@@ -62,42 +77,17 @@ int main(int argc, char *argv[]) {

    auto &&left_frame = left_datas.back().frame;
    auto &&right_frame = right_datas.back().frame;
-
-    cv::Mat img;
-
-    if (left_frame->format() == Format::GREY) {
    cv::Mat left_img(
-          left_frame->height(), left_frame->width(), CV_8UC1,
-          left_frame->data());
+        left_frame->height(), left_frame->width(), CV_8UC1, left_frame->data());
    cv::Mat right_img(
        right_frame->height(), right_frame->width(), CV_8UC1,
        right_frame->data());
+
+    cv::Mat img;
    cv::hconcat(left_img, right_img, img);
-    } else if (left_frame->format() == Format::YUYV) {
-      cv::Mat left_img(
-          left_frame->height(), left_frame->width(), CV_8UC2,
-          left_frame->data());
-      cv::Mat right_img(
-          right_frame->height(), right_frame->width(), CV_8UC2,
-          right_frame->data());
-      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
-      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
-      cv::hconcat(left_img, right_img, img);
-    } else if (left_frame->format() == Format::BGR888) {
-      cv::Mat left_img(
-          left_frame->height(), left_frame->width(), CV_8UC3,
-          left_frame->data());
-      cv::Mat right_img(
-          right_frame->height(), right_frame->width(), CV_8UC3,
-          right_frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
-      cv::hconcat(left_img, right_img, img);
-    } else {
-      return -1;
-    }
    cv::imshow("frame", img);
-    if (img_count > 10 && imu_count > 50) {  // save
+
+    {  // save
      for (auto &&left : left_datas) {
        dataset.SaveStreamData(Stream::LEFT, left);
      }
--- a/tools/internal/data/init.py
+++ b/tools/internal/data/init.py
@@ -81,7 +81,6 @@ class IMU(Data):

  def __init__(self):
    super(IMU, self).__init__()
-    self._flag = 0
    self._accel_x = 0
    self._accel_y = 0
    self._accel_z = 0
@@ -89,14 +88,6 @@ class IMU(Data):
    self._gyro_y = 0
    self._gyro_z = 0

-  @property
-  def flag(self):
-    return self._flag
-
-  @flag.setter
-  def flag(self, flag):
-    self._flag = flag
-
  @property
  def accel(self):
    return self._accel_x, self._accel_y, self._accel_z
@@ -348,9 +339,9 @@ class MYNTEYE(Dataset):
      if index == -1:
        sys.exit('Error: Dataset is unexpected format, timestamp not found')

-      # unit from 1us to 1s
-      info.timebeg = float(first.split(',')[index].strip()) * 0.000001
-      info.timeend = float(last.split(',')[index].strip()) * 0.000001
+      # unit from 0.01ms to 1s
+      info.timebeg = float(first.split(',')[index].strip()) * 0.00001
+      info.timeend = float(last.split(',')[index].strip()) * 0.00001
      # print('time: [{}, {}]'.format(info.timebeg, info.timeend))

    return info
@@ -373,7 +364,7 @@ class MYNTEYE(Dataset):
        for line in f:
          values = [_.strip() for _ in line.split(',')]
          img = Image()
-          img.timestamp = float(values[fields['timestamp']]) * 0.000001
+          img.timestamp = float(values[fields['timestamp']]) * 0.00001
          yield {What.img_left: img}
    if hit_img_right and self._info.has_img_right:
      with open(self._info.img_right_txt) as f:
@@ -381,7 +372,7 @@ class MYNTEYE(Dataset):
        for line in f:
          values = [_.strip() for _ in line.split(',')]
          img = Image()
-          img.timestamp = float(values[fields['timestamp']]) * 0.000001
+          img.timestamp = float(values[fields['timestamp']]) * 0.00001
          yield {What.img_right: img}
    if (hit_imu or hit_temp) and self._info.has_imu:
      with open(self._info.imu_txt) as f:
@@ -389,8 +380,7 @@ class MYNTEYE(Dataset):
        for line in f:
          values = [_.strip() for _ in line.split(',')]
          imu = IMU()
-          imu.timestamp = float(values[fields['timestamp']]) * 0.000001
-          imu.flag = values[fields['flag']]
+          imu.timestamp = float(values[fields['timestamp']]) * 0.00001
          imu.accel_x = float(values[fields['accel_x']])
          imu.accel_y = float(values[fields['accel_y']])
          imu.accel_z = float(values[fields['accel_z']])
--- a/tools/writer/config/device.info
+++ b/tools/writer/config/device.info
@@ -1,10 +1,10 @@
 %YAML:1.0
 ---
-device_name: MYNT-EYE-S210A
+device_name: MYNT-EYE-S1000
 serial_number: "0386322C0009070E"
-firmware_version: "1.0"
-hardware_version: "1.0"
-spec_version: "1.1"
+firmware_version: "2.2"
+hardware_version: "2.0"
+spec_version: "1.0"
 lens_type: "0000"
 imu_type: "0000"
 nominal_baseline: 120
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@@ -1,53 +1,32 @@
 %YAML:1.0
 ---
-version: "1.1"
-in_left_map:
+in_left:
   -
-      width: 640
-      height: 400
-      fx: 1.9739641213416058e+02
-      fy: 1.9772337597617189e+02
-      cx: 3.2611983633916327e+02
-      cy: 1.9986969132833946e+02
+      width: 752
+      height: 480
+      fx: 3.6220059643202876e+02
+      fy: 3.6350065250745848e+02
+      cx: 4.0658699068023441e+02
+      cy: 2.3435161110061483e+02
      model: 0
-      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
-          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
+      coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
+          -7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
+in_right:
   -
-      width: 1280
-      height: 800
-      fx: 1.9739641213416058e+02
-      fy: 1.9772337597617189e+02
-      cx: 3.2611983633916327e+02
-      cy: 1.9986969132833946e+02
+      width: 752
+      height: 480
+      fx: 3.6514014888558478e+02
+      fy: 3.6513385298966961e+02
+      cx: 3.8932395100630907e+02
+      cy: 2.3495160212312547e+02
      model: 0
-      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
-          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
-in_right_map:
-   -
-      width: 640
-      height: 400
-      fx: 2.0335498653655989e+02
-      fy: 2.0453858622699008e+02
-      cx: 3.1589962248180814e+02
-      cy: 2.1871688038954812e+02
-      model: 0
-      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
-          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
-   -
-      width: 1280
-      height: 800
-      fx: 2.0335498653655989e+02
-      fy: 2.0453858622699008e+02
-      cx: 3.1589962248180814e+02
-      cy: 2.1871688038954812e+02
-      model: 0
-      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
-          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
+      coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
+          5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
 ex_right_to_left:
-   rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-       -4.3917309443490191e-03, 1.8166060642710027e-03,
-       9.9968925981619028e-01, -2.4861290203142431e-02,
-       4.4382582477776426e-03, 2.4853026274046636e-02,
-       9.9968126367795229e-01 ]
-   translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
-       2.2588034344482368e+00 ]
+   rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
+       5.0988459509619687e-02, 5.9890316389333252e-03,
+       9.9995670037792639e-01, 7.1224201868366971e-03,
+       -5.1031440326695092e-02, -6.8076406092671274e-03,
+       9.9867384471984544e-01 ]
+   translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
+       -5.2058205159996538e+00 ]
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@@ -13,7 +13,6 @@
 // limitations under the License.
 #include "writer/device_writer.h"

-#include <map>
 #include <vector>

 #include <opencv2/core/core.hpp>
@@ -70,9 +69,9 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
          nullptr, const_cast<img_params_t *>(&params), nullptr,
          &dev_info->spec_version)) {
    LOG(INFO) << "Write img params success";
-    // LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
-    // LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
-    LOG(INFO) << "Extrinsics left to right: {" << params.ex_right_to_left
+    LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
+    LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
+    LOG(INFO) << "Extrinsics right to left: {" << params.ex_right_to_left
              << "}";
    return true;
  } else {
@@ -126,16 +125,6 @@ cv::FileStorage &operator<<(
  return fs;
 }

-cv::FileStorage &operator<<(
-    cv::FileStorage &fs, const std::map<Resolution, Intrinsics> &mapIn) {
-  fs << "[";
-  std::map<Resolution, Intrinsics>::const_iterator it;
-  for (it = mapIn.begin(); it != mapIn.end(); it++)
-    fs << (*it).second;
-  fs << "]";
-  return fs;
-}
-
 cv::FileStorage &operator<<(cv::FileStorage &fs, const ImuIntrinsics &in) {
  std::vector<double> scales;
  for (std::size_t i = 0; i < 3; i++) {
@@ -187,25 +176,18 @@ bool DeviceWriter::SaveDeviceInfo(
 }

 bool DeviceWriter::SaveImgParams(
-    const dev_info_t &info, const img_params_t &params,
-    const std::string &filepath) {
+    const img_params_t &params, const std::string &filepath) {
  using FileStorage = cv::FileStorage;
  FileStorage fs(filepath, FileStorage::WRITE);
  if (!fs.isOpened()) {
    LOG(ERROR) << "Failed to save file: " << filepath;
    return false;
  }
-
-  if (params.in_left_map.size() == params.in_right_map.size()) {
-    fs << "version" << info.spec_version.to_string() << "in_left_map"
-       << params.in_left_map << "in_right_map" << params.in_right_map
-       << "ex_right_to_left" << params.ex_right_to_left;
+  fs << "in_left" << std::vector<Intrinsics>{params.in_left} << "in_right"
+     << std::vector<Intrinsics>{params.in_right} << "ex_right_to_left"
+     << params.ex_right_to_left;
  fs.release();
  return true;
-  } else {
-    fs.release();
-    return false;
-  }
 }

 bool DeviceWriter::SaveImuParams(
@@ -228,7 +210,9 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
  }
  SaveDeviceInfo(*device_->GetInfo(), dir + MYNTEYE_OS_SEP "device.info");
  SaveImgParams(
-      *device_->GetInfo(), device_->GetImgParams(),
+      {false, device_->GetIntrinsics(Stream::LEFT),
+       device_->GetIntrinsics(Stream::RIGHT),
+       device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT)},
      dir + MYNTEYE_OS_SEP "img.params");
  auto &&m_in = device_->GetMotionIntrinsics();
  SaveImuParams(
@@ -342,7 +326,6 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
  }

  img_params_t params;
-  if (fs["version"].isNone()) {
  if (fs["in_left"].isNone()) {
    std::uint16_t w = 752;
    std::uint16_t h = 480;
@@ -362,31 +345,15 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
    fs["R"] >> R;
    fs["T"] >> T;

-      to_intrinsics(
-          w, h, m, M1, D1, &params.in_left_map[Resolution::RES_752x480]);
-      to_intrinsics(
-          w, h, m, M2, D2, &params.in_right_map[Resolution::RES_752x480]);
+    to_intrinsics(w, h, m, M1, D1, &params.in_left);
+    to_intrinsics(w, h, m, M2, D2, &params.in_right);
    to_extrinsics(R, T, &params.ex_right_to_left);
  } else {
-      fs["in_left"][0] >> params.in_left_map[Resolution::RES_752x480];
-      fs["in_right"][0] >> params.in_right_map[Resolution::RES_752x480];
+    fs["in_left"][0] >> params.in_left;
+    fs["in_right"][0] >> params.in_right;
    fs["ex_right_to_left"] >> params.ex_right_to_left;
  }
-  } else {
-    // TODO(Kalman): Is there a more reasonable way?
-    if (static_cast<std::string>(fs["version"]) == "1.0") {
-      fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
-      fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];
-      fs["ex_right_to_left"] >> params.ex_right_to_left;
-    }
-    if (static_cast<std::string>(fs["version"]) == "1.1") {
-      fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_1280x400];
-      fs["in_left_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
-      fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_1280x400];
-      fs["in_right_map"][1] >> params.in_right_map[Resolution::RES_2560x800];
-      fs["ex_right_to_left"] >> params.ex_right_to_left;
-    }
-  }
+
  fs.release();
  return params;
 }
--- a/tools/writer/device_writer.h
+++ b/tools/writer/device_writer.h
@@ -31,8 +31,8 @@ namespace tools {
 class DeviceWriter {
 public:
  using dev_info_t = DeviceInfo;
-  using img_params_t = device::img_params_t;
-  using imu_params_t = device::imu_params_t;
+  using img_params_t = Channels::img_params_t;
+  using imu_params_t = Channels::imu_params_t;

  explicit DeviceWriter(std::shared_ptr<Device> device);
  ~DeviceWriter();
@@ -47,9 +47,7 @@ class DeviceWriter {
  bool WriteImuParams(const std::string &filepath);

  bool SaveDeviceInfo(const dev_info_t &info, const std::string &filepath);
-  bool SaveImgParams(
-      const dev_info_t &info, const img_params_t &params,
-      const std::string &filepath);
+  bool SaveImgParams(const img_params_t &params, const std::string &filepath);
  bool SaveImuParams(const imu_params_t &params, const std::string &filepath);

  /** Save all infos of this device */
--- a/wrappers/python/src/mynteye_py.cc
+++ b/wrappers/python/src/mynteye_py.cc
@@ -104,7 +104,8 @@ struct MYNTEYE_API MotionData {
  ImuData imu;

  bool operator==(const MotionData &other) const {
-    return imu.timestamp == other.imu.timestamp;           
+    return imu.frame_id == other.imu.frame_id &&
+           imu.timestamp == other.imu.timestamp;
  }
 };

@@ -363,6 +364,7 @@ BOOST_PYTHON_MODULE(mynteye_py) {
  // bp::register_ptr_to_python<std::shared_ptr<ImgData>>();

  bp::class_<ImuData>("ImuData")
+      .def_readonly("frame_id", &ImuData::frame_id)
      .def_readonly("timestamp", &ImuData::timestamp)
      .add_property(
          "accel", +[](ImuData *o) { return array_ref<double>{o->accel}; })
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@@ -103,7 +103,6 @@ add_compile_options(-std=c++11)

 include_directories(
  ${catkin_INCLUDE_DIRS}
-  ${SDK_DIR}/src
 )

 set(LINK_LIBS
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -13,9 +13,6 @@
  <arg name="depth_topic" default="depth/image_raw" />
  <arg name="points_topic" default="points/data_raw" />

-  <arg name="left_mono_topic" default="left/image_mono" />
-  <arg name="right_mono_topic" default="right/image_mono" />
-
  <arg name="imu_topic" default="imu/data_raw" />
  <arg name="temp_topic" default="temp/data_raw" />

@@ -29,33 +26,13 @@
  <arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
  <arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />

+  <arg name="imu_frame_id" default="$(arg mynteye)_imu_frame" />
  <arg name="temp_frame_id" default="$(arg mynteye)_temp_frame" />

  <arg name="gravity" default="9.8" />

  <!-- stream toggles -->

-  <!-- Resolution -->
-  <arg name="res_752x480"    default="0" />
-  <arg name="res_1280x400"   default="1" />
-  <arg name="res_2560x800"   default="2" />
-
-  <!-- FrameRate -->
-  <arg name="rate_10_fps"   default="10" />
-  <arg name="rate_20_fps"   default="20" />
-  <arg name="rate_25_fps"   default="25" />
-  <arg name="rate_30_fps"   default="30" />
-  <arg name="rate_60_fps"   default="60" />
-
-  <!-- Format -->
-  <arg name="grey"    default="1497715271" />
-  <arg name="yuyv"   default="1497715271" />
-  <arg name="bgr888"   default="861030210" />
-
-  <arg name="resolution" default="$(arg res_1280x400)" />
-  <arg name="framerate" default="$(arg rate_30_fps)" />
-  <arg name="format" default="$(arg bgr888)" />
-
  <arg name="enable_left_rect" default="false" />
  <arg name="enable_right_rect" default="false" />
  <arg name="enable_disparity" default="false" />
@@ -65,46 +42,58 @@

  <!-- device options, -1 will not set the value -->

+  <!-- gain range: [0,48] -->
+  <arg name="gain" default="-1" />
+  <!-- <arg name="gain" default="24" /> -->
+
  <!-- brightness range: [0,240] -->
  <arg name="brightness" default="-1" />
  <!-- <arg name="brightness" default="120" /> -->

+  <!-- contrast range: [0,255] -->
+  <arg name="contrast" default="-1" />
+  <!-- <arg name="contrast" default="127" /> -->
+
+  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
+  <arg name="frame_rate" default="-1" />
+  <!-- <arg name="frame_rate" default="25" /> -->
+
+  <!-- imu_frequency range: {100,200,250,333,500} -->
+  <arg name="imu_frequency" default="-1" />
+  <!-- <arg name="imu_frequency" default="200" /> -->
+
  <!-- exposure_mode, 0: auto-exposure, 1: manual-exposure -->
  <arg name="exposure_mode" default="-1" />
  <!-- <arg name="exposure_mode" default="0" /> -->

-  <!-- max_gain range: [0,255] -->
+  <!-- max_gain range: [0,48] -->
  <arg name="max_gain" default="-1" />
-  <!-- <arg name="max_gain" default="8" /> -->
+  <!-- <arg name="max_gain" default="48" /> -->

-  <!-- max_exposure_time range: [0,1000] -->
+  <!-- max_exposure_time range: [0,240] -->
  <arg name="max_exposure_time" default="-1" />
-  <!-- <arg name="max_exposure_time" default="333" /> -->
+  <!-- <arg name="max_exposure_time" default="240" /> -->

-  <!-- desired_brightness range: [1,255] -->
+  <!-- desired_brightness range: [0,255] -->
  <arg name="desired_brightness" default="-1" />
-  <!-- <arg name="desired_brightness" default="122" /> -->
+  <!-- <arg name="desired_brightness" default="192" /> -->

-  <!-- min_exposure_time range: [0,1000] -->
-  <arg name="min_exposure_time" default="-1" />
-  <!-- <arg name="min_exposure_time" default="0" /> -->
+  <!-- ir_control range: [0,160] -->
+  <arg name="ir_control" default="80" />
+  <!-- <arg name="ir_control" default="0" /> -->

-  <!-- accel_range range: [6,48] -->
+  <!-- hdr_mode, 0: 10-bit, 1: 12-bit -->
+  <arg name="hdr_mode" default="-1" />
+  <!-- <arg name="hdr_mode" default="0" /> -->
+
+  <!-- accel_range range: {4,8,16,32} -->
  <arg name="accel_range" default="-1" />
-  <!-- <arg name="accel_range" default="6" /> -->
+  <!-- <arg name="accel_range" default="8" /> -->

-  <!-- gyro_range range: [250,4000] -->
+  <!-- gyro_range range: {500,1000,2000,4000} -->
  <arg name="gyro_range" default="-1" />
  <!-- <arg name="gyro_range" default="1000" /> -->

-  <!-- accel_low_filter range: [0,2] -->
-  <arg name="accel_low_filter" default="-1" />
-  <!-- <arg name="accel_low_filter" default="2" /> -->
-
-  <!-- gyro_low_filter range: [23,64] -->
-  <arg name="gyro_low_filter" default="-1" />
-  <!-- <arg name="gyro_low_filter" default="64" /> -->
-
  <!-- Push down all topics/nodelets into "mynteye" namespace -->
  <group ns="$(arg mynteye)">

@@ -122,9 +111,6 @@
      <param name="points_topic" value="$(arg points_topic)" />
      <param name="depth_topic" value="$(arg depth_topic)" />

-      <param name="left_mono_topic" value="$(arg left_mono_topic)" />
-      <param name="right_mono_topic" value="$(arg right_mono_topic)" />
-
      <param name="imu_topic" value="$(arg imu_topic)" />
      <param name="temp_topic" value="$(arg temp_topic)" />

@@ -138,6 +124,7 @@
      <param name="points_frame_id" value="$(arg points_frame_id)" />
      <param name="depth_frame_id" value="$(arg depth_frame_id)" />

+      <param name="imu_frame_id" value="$(arg imu_frame_id)" />
      <param name="temp_frame_id" value="$(arg temp_frame_id)" />

      <param name="gravity" value="$(arg gravity)" />
@@ -151,23 +138,22 @@
      <param name="enable_points" value="$(arg enable_points)" />
      <param name="enable_depth" value="$(arg enable_depth)" />

-      <!-- init params -->
-      <param name="resolution" value="$(arg resolution)" />
-      <param name="framerate" value="$(arg framerate)" />
-      <param name="format" value="$(arg format)" />
-
      <!-- device options -->

+      <param name="gain" value="$(arg gain)" />
      <param name="brightness" value="$(arg brightness)" />
+      <param name="contrast" value="$(arg contrast)" />
+      <param name="frame_rate" value="$(arg frame_rate)" />
+      <param name="imu_frequency" value="$(arg imu_frequency)" />
      <param name="exposure_mode" value="$(arg exposure_mode)" />
      <param name="max_gain" value="$(arg max_gain)" />
      <param name="max_exposure_time" value="$(arg max_exposure_time)" />
      <param name="desired_brightness" value="$(arg desired_brightness)" />
-      <param name="min_exposure_time" value="$(arg max_exposure_time)" />
+      <param name="ir_control" value="$(arg ir_control)" />
+      <param name="hdr_mode" value="$(arg hdr_mode)" />
      <param name="accel_range" value="$(arg accel_range)" />
      <param name="gyro_range" value="$(arg gyro_range)" />
-      <param name="accel_low_filter" value="$(arg accel_low_filter)" />
-      <param name="gyro_low_filter" value="$(arg gyro_low_filter)" />
+
    </node>

    <!-- disable compressed depth plugin for image topics -->
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
@@ -7,7 +7,6 @@ Panels:
        - /Global Options1
        - /Status1
        - /Images1
-        - /Images1/Gray1
        - /Images1/Rectified1
        - /Disparity1
      Splitter Ratio: 0.5
@@ -78,34 +77,6 @@ Visualization Manager:
          Transport Hint: raw
          Unreliable: false
          Value: true
-        - Class: rviz/Group
-          Displays:
-            - Class: rviz/Image
-              Enabled: true
-              Image Topic: /mynteye/left/image_mono
-              Max Value: 1
-              Median window: 5
-              Min Value: 0
-              Name: LeftMono
-              Normalize Range: true
-              Queue Size: 2
-              Transport Hint: raw
-              Unreliable: false
-              Value: true
-            - Class: rviz/Image
-              Enabled: true
-              Image Topic: /mynteye/right/image_mono
-              Max Value: 1
-              Median window: 5
-              Min Value: 0
-              Name: RightMono
-              Normalize Range: true
-              Queue Size: 2
-              Transport Hint: raw
-              Unreliable: false
-              Value: true
-          Enabled: true
-          Name: Mono
        - Class: rviz/Group
          Displays:
            - Class: rviz/Image
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -50,7 +50,8 @@ inline double compute_time(const double end, const double start) {

 class ROSWrapperNodelet : public nodelet::Nodelet {
 public:
-  ROSWrapperNodelet() {}
+    ROSWrapperNodelet() {
+    }

  ~ROSWrapperNodelet() {
    // std::cout << __func__ << std::endl;
@@ -71,15 +72,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                  << (right_count_ / compute_time(time_end, right_time_beg_));
      }
      if (imu_time_beg_ != -1) {
-        if (publish_imu_by_sync_) {
-          LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
-                    << (imu_sync_count_ /
-                    compute_time(time_end, imu_time_beg_));
-        } else {
        LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
-                    << (imu_count_ /
-                    compute_time(time_end, imu_time_beg_));
-        }
+                  << (imu_count_ / compute_time(time_end, imu_time_beg_));
      }

      // ROS messages could not be reliably printed here, using glog instead :(
@@ -88,9 +82,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    }
  }

-  ros::Time hardTimeToSoftTime(double _hard_time) {
+  ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {
    static bool isInited = false;
-    static double soft_time_begin(0), hard_time_begin(0);
+    static double soft_time_begin(0);
+    static std::uint64_t hard_time_begin(0);

    if (false == isInited) {
      soft_time_begin = ros::Time::now().toSec();
@@ -99,22 +94,70 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    }

    return ros::Time(
-        soft_time_begin + (_hard_time - hard_time_begin) * 0.000001f);
+        static_cast<double>(soft_time_begin +
+        static_cast<double>(_hard_time - hard_time_begin) * 0.00001f));
+  }
+
+  inline bool is_overflow(std::uint32_t now,
+      std::uint32_t pre) {
+    static std::uint64_t unit =
+      std::numeric_limits<std::uint32_t>::max();
+
+    return (now < pre) && ((pre - now) > (unit / 2));
+  }
+
+  inline bool is_repeated(std::uint32_t now,
+      std::uint32_t pre) {
+    return now == pre;
+  }
+
+  inline bool is_abnormal(std::uint32_t now,
+      std::uint32_t pre) {
+    static std::uint64_t unit =
+      std::numeric_limits<std::uint32_t>::max();
+
+    return (now < pre) && ((pre - now) < (unit / 4));
+  }
+
+  ros::Time checkUpTimeStamp(std::uint32_t _hard_time,
+      const Stream &stream) {
+    static std::map<Stream, std::uint32_t> hard_time_now;
+    static std::map<Stream, std::uint32_t> acc;
+    static std::uint64_t unit_hard_time =
+      std::numeric_limits<std::uint32_t>::max();
+
+    if (is_overflow(_hard_time, hard_time_now[stream])) {
+      acc[stream]++;
+    }
+
+    hard_time_now[stream] = _hard_time;
+
+    return hardTimeToSoftTime(
+        acc[stream] * unit_hard_time + _hard_time);
+  }
+
+  ros::Time checkUpImuTimeStamp(std::uint32_t _hard_time) {
+    static std::uint32_t hard_time_now(0), acc(0);
+    static std::uint64_t unit_hard_time =
+      std::numeric_limits<std::uint32_t>::max();
+
+    if (is_overflow(_hard_time, hard_time_now)) {
+      acc++;
+    }
+
+    hard_time_now = _hard_time;
+
+    return hardTimeToSoftTime(
+        acc * unit_hard_time + _hard_time);
  }

  void onInit() override {
+    initDevice();
+    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
+
+    pthread_mutex_init(&mutex_data_, nullptr);
    nh_ = getMTNodeHandle();
    private_nh_ = getMTPrivateNodeHandle();
-    int resolution = 0;
-    int format = 0;
-    int framerate = 20;
-    private_nh_.getParam("resolution", resolution);
-    private_nh_.getParam("framerate", framerate);
-    private_nh_.getParam("format", format);
-    frame_rate_ = framerate;
-
-    initDevice(resolution, format, framerate);
-    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");

    // node params

@@ -139,15 +182,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    is_motion_published_ = false;
    is_started_ = false;

-    std::map<Stream, std::string> mono_names{{Stream::LEFT, "left_mono"},
-                                             {Stream::RIGHT, "right_mono"}};
-
-    std::map<Stream, std::string> mono_topics{};
-    for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) {
-      mono_topics[it->first] = it->second;
-      private_nh_.getParam(it->second + "_topic", mono_topics[it->first]);
-    }
-
    std::string imu_topic = "imu";
    std::string temp_topic = "temp";
    private_nh_.getParam("imu_topic", imu_topic);
@@ -172,16 +206,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    // device options

    std::map<Option, std::string> option_names = {
+        {Option::GAIN, "gain"},
        {Option::BRIGHTNESS, "brightness"},
+        {Option::CONTRAST, "contrast"},
+        {Option::FRAME_RATE, "frame_rate"},
+        {Option::IMU_FREQUENCY, "imu_frequency"},
        {Option::EXPOSURE_MODE, "exposure_mode"},
        {Option::MAX_GAIN, "max_gain"},
        {Option::MAX_EXPOSURE_TIME, "max_exposure_time"},
        {Option::DESIRED_BRIGHTNESS, "desired_brightness"},
-        {Option::MIN_EXPOSURE_TIME, "min_exposure_time"},
+        {Option::IR_CONTROL, "ir_control"},
+        {Option::HDR_MODE, "hdr_mode"},
        {Option::ACCELEROMETER_RANGE, "accel_range"},
-        {Option::GYROSCOPE_RANGE, "gyro_range"},
-        {Option::ACCELEROMETER_LOW_PASS_FILTER, "accel_low_filter"},
-        {Option::GYROSCOPE_LOW_PASS_FILTER, "gyro_low_filter"}};
+        {Option::GYROSCOPE_RANGE, "gyro_range"}
+    };
    for (auto &&it = option_names.begin(); it != option_names.end(); ++it) {
      if (!api_->Supports(it->first))
        continue;
@@ -193,6 +231,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      }
      NODELET_INFO_STREAM(it->first << ": " << api_->GetOptionValue(it->first));
    }
+    frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);

    // publishers

@@ -208,18 +247,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      NODELET_INFO_STREAM("Advertized on topic " << topic);
    }

-    for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
-      auto &&topic = mono_topics[it->first];
-      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
-        mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
-      }
-      NODELET_INFO_STREAM("Advertized on topic " << topic);
-    }
-
-    camera_encodings_ = {{Stream::LEFT, enc::BGR8},
-                         {Stream::RIGHT, enc::BGR8},
-                         {Stream::LEFT_RECTIFIED, enc::BGR8},
-                         {Stream::RIGHT_RECTIFIED, enc::BGR8},
+    camera_encodings_ = {{Stream::LEFT, enc::MONO8},
+                         {Stream::RIGHT, enc::MONO8},
+                         {Stream::LEFT_RECTIFIED, enc::MONO8},
+                         {Stream::RIGHT_RECTIFIED, enc::MONO8},
                         {Stream::DISPARITY, enc::MONO8},  // float
                         {Stream::DISPARITY_NORMALIZED, enc::MONO8},
                         {Stream::DEPTH, enc::MONO16}};
@@ -348,7 +379,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      api_->EnableStreamData(Stream::POINTS);
      api_->SetStreamCallback(
          Stream::POINTS, [this](const api::StreamData &data) {
-            ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
+            // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
+            ros::Time stamp = checkUpTimeStamp(
+                data.img->timestamp, Stream::POINTS);
            static std::size_t count = 0;
            ++count;
            publishPoints(data, count, stamp);
@@ -368,7 +401,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      api_->EnableStreamData(stream);
      api_->SetStreamCallback(
          stream, [this, stream](const api::StreamData &data) {
-            ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
+            // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
+            ros::Time stamp = checkUpTimeStamp(
+                data.img->timestamp, stream);
            static std::size_t count = 0;
            ++count;
            publishCamera(stream, data, count, stamp);
@@ -378,12 +413,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  }

  void publishTopics() {
-    if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
-        mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
+    if (camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 &&
        !is_published_[Stream::LEFT]) {
      api_->SetStreamCallback(
-          Stream::LEFT, [this](const api::StreamData &data) {
-            ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
+          Stream::LEFT, [&](const api::StreamData &data) {
+            // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
+            ros::Time stamp = checkUpTimeStamp(
+                data.img->timestamp, Stream::LEFT);

            // static double img_time_prev = -1;
            // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
@@ -398,7 +434,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {

            ++left_count_;
            publishCamera(Stream::LEFT, data, left_count_, stamp);
-            publishMono(Stream::LEFT, data, left_count_, stamp);
            NODELET_DEBUG_STREAM(
                Stream::LEFT << ", count: " << left_count_
                             << ", frame_id: " << data.img->frame_id
@@ -409,16 +444,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      is_published_[Stream::LEFT] = true;
    }

-    if ((camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 ||
-        mono_publishers_[Stream::RIGHT].getNumSubscribers() > 0) &&
+    if (camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 &&
        !is_published_[Stream::RIGHT]) {
      api_->SetStreamCallback(
-          Stream::RIGHT, [this](const api::StreamData &data) {
-            ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
+          Stream::RIGHT, [&](const api::StreamData &data) {
+            // ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
+            ros::Time stamp = checkUpTimeStamp(
+                data.img->timestamp, Stream::RIGHT);

            ++right_count_;
            publishCamera(Stream::RIGHT, data, right_count_, stamp);
-            publishMono(Stream::RIGHT, data, right_count_, stamp);
            NODELET_DEBUG_STREAM(
                Stream::RIGHT
                << ", count: " << right_count_ << ", frame_id: "
@@ -444,10 +479,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {

    if (!is_motion_published_) {
      api_->SetMotionCallback([this](const api::MotionData &data) {
-      ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);
+        // ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);
+        ros::Time stamp = checkUpImuTimeStamp(data.imu->timestamp);

        // static double imu_time_prev = -1;
-      // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << ros_time_beg
+        // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
+        // ros_time_beg
        //     << ", imu_time_elapsed: " << FULL_PRECISION
        //     << ((data.imu->timestamp - imu_time_beg) * 0.00001f)
        //     << ", imu_time_diff: " << FULL_PRECISION
@@ -456,26 +493,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
        // imu_time_prev = data.imu->timestamp;

        ++imu_count_;
-      if (publish_imu_by_sync_) {
-        if (data.imu) {
-          if (data.imu->flag == 1) {  // accelerometer
-            imu_accel_ = data.imu;
-            publishImuBySync(stamp);
-          } else if (data.imu->flag == 2) {  // gyroscope
-            imu_gyro_ = data.imu;
-            publishImuBySync(stamp);
-          } else {
-            NODELET_WARN_STREAM("Imu type is unknown");
-          }
-        } else {
-          NODELET_WARN_STREAM("Motion data is empty");
-        }
-      } else {
        publishImu(data, imu_count_, stamp);
        publishTemp(data.imu->temperature, imu_count_, stamp);
-      }
        NODELET_DEBUG_STREAM(
-          "Imu count: " << imu_count_ << ", timestamp: " << data.imu->timestamp
+            "Imu count: " << imu_count_ << ", frame_id: " << data.imu->frame_id
+                          << ", timestamp: " << data.imu->timestamp
                          << ", accel_x: " << data.imu->accel[0]
                          << ", accel_y: " << data.imu->accel[1]
                          << ", accel_z: " << data.imu->accel[2]
@@ -506,12 +528,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    header.seq = seq;
    header.stamp = stamp;
    header.frame_id = frame_ids_[stream];
+    pthread_mutex_lock(&mutex_data_);
    cv::Mat img = data.frame;
    if (stream == Stream::DISPARITY) {  // 32FC1 > 8UC1 = MONO8
      img.convertTo(img, CV_8UC1);
    }
    auto &&msg =
        cv_bridge::CvImage(header, camera_encodings_[stream], img).toImageMsg();
+    pthread_mutex_unlock(&mutex_data_);
    auto &&info = getCameraInfo(stream);
    info->header.stamp = msg->header.stamp;
    camera_publishers_[stream].publish(msg, info);
@@ -537,23 +561,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  }
  */

-  void publishMono(
-      const Stream &stream, const api::StreamData &data, std::uint32_t seq,
-      ros::Time stamp) {
-    if (mono_publishers_[stream].getNumSubscribers() == 0)
-      return;
-    std_msgs::Header header;
-    header.seq = seq;
-    header.stamp = stamp;
-    header.frame_id = frame_ids_[stream];
-    cv::Mat mono;
-    cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
-    auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
-    auto &&info = getCameraInfo(stream);
-    info->header.stamp = msg->header.stamp;
-    mono_publishers_[stream].publish(msg, info);
-  }
-
  void publishPoints(
      const api::StreamData &data, std::uint32_t seq, ros::Time stamp) {
    // if (points_publisher_.getNumSubscribers() == 0)
@@ -659,59 +666,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    pub_imu_.publish(msg);
  }

-  void publishImuBySync(ros::Time stamp) {
-    if (imu_accel_ == nullptr || imu_gyro_ == nullptr) {
-      return;
-    }
-    sensor_msgs::Imu msg;
-
-    msg.header.seq = imu_sync_count_;
-    msg.header.stamp = stamp;
-    msg.header.frame_id = imu_frame_id_;
-
-    // acceleration should be in m/s^2 (not in g's)
-    msg.linear_acceleration.x = imu_accel_->accel[0] * gravity_;
-    msg.linear_acceleration.y = imu_accel_->accel[1] * gravity_;
-    msg.linear_acceleration.z = imu_accel_->accel[2] * gravity_;
-
-    msg.linear_acceleration_covariance[0] = 0;
-    msg.linear_acceleration_covariance[1] = 0;
-    msg.linear_acceleration_covariance[2] = 0;
-
-    msg.linear_acceleration_covariance[3] = 0;
-    msg.linear_acceleration_covariance[4] = 0;
-    msg.linear_acceleration_covariance[5] = 0;
-
-    msg.linear_acceleration_covariance[6] = 0;
-    msg.linear_acceleration_covariance[7] = 0;
-    msg.linear_acceleration_covariance[8] = 0;
-
-    // velocity should be in rad/sec
-    msg.angular_velocity.x = imu_gyro_->gyro[0] * M_PI / 180;
-    msg.angular_velocity.y = imu_gyro_->gyro[1] * M_PI / 180;
-    msg.angular_velocity.z = imu_gyro_->gyro[2] * M_PI / 180;
-
-    msg.angular_velocity_covariance[0] = 0;
-    msg.angular_velocity_covariance[1] = 0;
-    msg.angular_velocity_covariance[2] = 0;
-
-    msg.angular_velocity_covariance[3] = 0;
-    msg.angular_velocity_covariance[4] = 0;
-    msg.angular_velocity_covariance[5] = 0;
-
-    msg.angular_velocity_covariance[6] = 0;
-    msg.angular_velocity_covariance[7] = 0;
-    msg.angular_velocity_covariance[8] = 0;
-
-    pub_imu_.publish(msg);
-
-    publishTemp(imu_accel_->temperature, imu_sync_count_, stamp);
-
-    ++imu_sync_count_;
-    imu_accel_ = nullptr;
-    imu_gyro_ = nullptr;
-  }
-
  void publishTemp(float temperature, std::uint32_t seq, ros::Time stamp) {
    if (pub_temp_.getNumSubscribers() == 0)
      return;
@@ -724,7 +678,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  }

 private:
-  void initDevice(int resolution, int format, int framerate) {
+  void initDevice() {
    NODELET_INFO_STREAM("Detecting MYNT EYE devices");

    Context context;
@@ -759,9 +713,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      }
    }

-    api_ = API::Create(device, static_cast<Resolution>(resolution));
-    api_->SetStreamRequest(static_cast<Format>(format),
-                            static_cast<FrameRate>(framerate));
+    api_ = API::Create(device);

    computeRectTransforms();
  }
@@ -773,6 +725,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    auto &&ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);

    cv::Size size{in_left.width, in_left.height};
+
    cv::Mat M1 =
        (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
         in_left.cy, 0, 0, 1);
@@ -1017,6 +970,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  ros::NodeHandle nh_;
  ros::NodeHandle private_nh_;

+  pthread_mutex_t mutex_data_;
+
  // camera:
  //   LEFT, RIGHT, LEFT_RECTIFIED, RIGHT_RECTIFIED,
  //   DISPARITY, DISPARITY_NORMALIZED,
@@ -1025,14 +980,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  std::map<Stream, sensor_msgs::CameraInfoPtr> camera_info_ptrs_;
  std::map<Stream, std::string> camera_encodings_;

-  // image: LEFT_RECTIFIED, RIGHT_RECTIFIED, DISPARITY, DISPARITY_NORMALIZED,
-  // DEPTH
-  std::map<Stream, image_transport::Publisher> image_publishers_;
-  std::map<Stream, std::string> image_encodings_;
-
-  // mono: LEFT, RIGHT
-  std::map<Stream, image_transport::CameraPublisher> mono_publishers_;
-
  // pointcloud: POINTS
  ros::Publisher points_publisher_;

@@ -1067,10 +1014,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  std::size_t left_count_ = 0;
  std::size_t right_count_ = 0;
  std::size_t imu_count_ = 0;
-  std::size_t imu_sync_count_ = 0;
-  std::shared_ptr<ImuData> imu_accel_;
-  std::shared_ptr<ImuData> imu_gyro_;
-  bool publish_imu_by_sync_ = false;
+
  std::map<Stream, bool> is_published_;
  bool is_motion_published_;
  bool is_started_;
Author	SHA1	Message	Date
John Zhao	203c5ce18b	Merge branch 'hotfix/2.2.4'	2018-12-31 15:40:27 +08:00
John Zhao	27ab088acd	chore(README.md): remove firmware version info	2018-12-31 10:33:23 +08:00
John Zhao	2a2ea0b370	chore(README.md): update version and doc links	2018-12-31 10:14:21 +08:00
John Zhao	6172f4c1b8	chore(root): update version	2018-12-31 06:45:25 +08:00
kalman	a3206e5be5	style(ros):rename mutex_data	2018-12-29 16:47:18 +08:00
kalman	e34e6e1466	style(ros):fix spell mistake	2018-12-29 16:40:03 +08:00
kalman	87c3c81a93	fix(ros):delete timestamp repeated/abnormal jundge	2018-12-29 16:32:03 +08:00
TinyOh	ceec4f492a	fix(ros): include publishOther and reduce the range	2018-12-29 09:53:25 +08:00
TinyOh	812638b7dc	fix(ros): record -a core error	2018-12-28 17:49:59 +08:00
kalman	6e638813f2	chore(root):update readme	2018-12-25 19:21:26 +08:00
kalman	18258fe7c9	chore(root):update readme	2018-12-25 19:07:52 +08:00
kalman	0bcaa0801e	fix(README):update url of api doc in English	2018-12-25 18:53:39 +08:00
kalman	b10415515e	chore(root):update reademe	2018-12-25 18:45:48 +08:00
Osenberg	aa19d65272	docs(doc):: Modified version number for release	2018-12-25 11:09:16 +08:00
Osenberg	1f6acd3c98	style(ros):: Remove useless log	2018-12-25 10:35:25 +08:00
Osenberg	28e539e277	fix(ros):: test ros timestamp overflow.	2018-12-23 17:20:03 +08:00
Osenberg	2e97266516	fix(ros): ros time stamp overflow	2018-12-21 20:45:19 +08:00
Osenberg	9eea427d59	Fixed ros timestamp overflow.	2018-12-20 10:58:59 +08:00