583 changed files with 16433 additions and 174680 deletions
--- a/.commitlintrc.js
+++ b/.commitlintrc.js
@ -1,11 +0,0 @@
-module.exports = {
-  extends: ['@commitlint/config-conventional'],
-  rules: {
-  'type-enum': [2, 'always', [
-    "feat", "fix", "docs", "style", "refactor", "perf", "test", "build", "ci", "chore", "revert"
-  ]],
-  'scope-empty': [2, 'never'],
-  'subject-full-stop': [0, 'never'],
-  'subject-case': [0, 'never']
-  }
-};
--- a/.gitignore
+++ b/.gitignore
@ -7,8 +7,6 @@ _build/
 _install/
 _output/

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

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

 /plugins/

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

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

 /wrappers/ros/build
--- a/.gitmodules
+++ b/.gitmodules
@ -0,0 +1,7 @@
+[submodule "test/gtest"]
+	path = test/gtest
+	url = https://github.com/google/googletest.git
+[submodule "tools/linter"]
+  path = tools/linter
+  url = https://github.com/slightech/linter.git
+  branch = slightech
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -14,7 +14,7 @@

 cmake_minimum_required(VERSION 3.0)

-project(mynteye VERSION 2.5.0 LANGUAGES C CXX)
+project(mynteye VERSION 2.2.2 LANGUAGES C CXX)

 include(cmake/Common.cmake)

@ -22,8 +22,6 @@ if(NOT CMAKE_DEBUG_POSTFIX)
  set(CMAKE_DEBUG_POSTFIX d)
 endif()

-LIST(APPEND CMAKE_MODULE_PATH cmake)
-
 # options

 include(cmake/Option.cmake)
@ -57,10 +55,12 @@ macro(target_link_threads NAME)
    target_compile_options(PUBLIC ${NAME} "-pthread")
  endif()
  if(CMAKE_THREAD_LIBS_INIT)
-    target_link_libraries(${NAME} PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
+    target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}")
  endif()
 endmacro()

+LIST(APPEND CMAKE_MODULE_PATH cmake)
+
 include(CMakePackageConfigHelpers)

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

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

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

 ## main
-
 if(WITH_GLOG)
  add_executable(main src/main.cc)
  target_link_libraries(main glog::glog)
@ -128,30 +115,10 @@ if(WITH_GLOG)
  )
 endif()

-## camera_models
-
-if(WITH_CAM_MODELS)
-
-  include_directories(
-    include
-    ${CMAKE_CURRENT_BINARY_DIR}/include
-    src/mynteye/api/camera_models
-    src/mynteye
-  )
-
-  add_library(camera_models STATIC
-    src/mynteye/api/camera_models/camera.cc
-    src/mynteye/api/camera_models/equidistant_camera.cc
-    src/mynteye/api/camera_models/util/gpl.cc
-  )
-
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
-endif()
-
 ## libmynteye

 if(NOT WITH_GLOG AND NOT OS_WIN)
-  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type -Wno-comment")
+  set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
  unset(__MINIGLOG_FLAGS)
@ -165,7 +132,15 @@ endif()
 if(OS_WIN)
  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
 elseif(OS_MAC)
-  add_compile_options(-x objective-c++ -Wno-unused-command-line-argument -Wno-missing-method-return-type -Wno-sign-compare)
+  add_compile_options(-x objective-c++)
+  ## INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx)
+  ## INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit)
+  ## aux_source_directory(src/mynteye/uvc/macosx/VVUVCKit/ MAC_VVUVCKIT_SRC_LIST)
+  ## aux_source_directory(src/mynteye/uvc/macosx/USBBusProber/ MAC_USBBUSPROBER_SRC_LIST)
+  ## add_library(usbBusProber SHARED ${MAC_USBBUSPROBER_SRC_LIST})
+  ## set_target_properties(usbBusProber PROPERTIES FRAMEWORK TRUE )
+  ## add_library(vvuvckit SHARED ${MAC_VVUVCKIT_SRC_LIST})
+  ## set_target_properties(vvuvckit PROPERTIES FRAMEWORK TRUE )

  INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/USBBusProber.framework/Headers)
  INCLUDE_DIRECTORIES(src/mynteye/uvc/macosx/VVUVCKit.framework/Headers)
@ -176,6 +151,11 @@ elseif(OS_MAC)

  set(UVC_SRC src/mynteye/uvc/macosx/CameraEngine.cpp src/mynteye/uvc/macosx/AVfoundationCamera.mm src/mynteye/uvc/macosx/uvc-vvuvckit.cc )
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}") 
+
+  find_package(libuvc REQUIRED)
+  set(UVC_LIB ${libuvc_LIBRARIES})
+
+  include_directories(${libuvc_INCLUDE_DIRS})
 elseif(OS_LINUX)
  set(UVC_SRC src/mynteye/uvc/linux/uvc-v4l2.cc)
 else()
@ -187,19 +167,12 @@ set(MYNTEYE_SRCS
  src/mynteye/types.cc
  src/mynteye/util/files.cc
  src/mynteye/util/strings.cc
-  src/mynteye/device/channel/bytes.cc
-  src/mynteye/device/channel/channels.cc
-  src/mynteye/device/channel/file_channel.cc
+  src/mynteye/device/channels.cc
  src/mynteye/device/config.cc
  src/mynteye/device/context.cc
  src/mynteye/device/device.cc
+  src/mynteye/device/device_s.cc
  src/mynteye/device/motions.cc
-  src/mynteye/device/standard/channels_adapter_s.cc
-  src/mynteye/device/standard/device_s.cc
-  src/mynteye/device/standard/streams_adapter_s.cc
-  src/mynteye/device/standard2/channels_adapter_s2.cc
-  src/mynteye/device/standard2/device_s2.cc
-  src/mynteye/device/standard2/streams_adapter_s2.cc
  src/mynteye/device/streams.cc
  src/mynteye/device/types.cc
  src/mynteye/device/utils.cc
@ -210,23 +183,13 @@ if(WITH_API)
    src/mynteye/api/dl.cc
    src/mynteye/api/processor.cc
    src/mynteye/api/synthetic.cc
+    src/mynteye/api/processor/rectify_processor.cc
    src/mynteye/api/processor/disparity_processor.cc
    src/mynteye/api/processor/disparity_normalized_processor.cc
-    src/mynteye/api/processor/root_camera_processor.cc
-    src/mynteye/api/processor/rectify_processor_ocv.cc
-    src/mynteye/api/correspondence.cc
-    src/mynteye/api/version_checker.cc
-    src/mynteye/api/data_tools.cc
-  )
-  if(WITH_CAM_MODELS)
-    list(APPEND MYNTEYE_SRCS
    src/mynteye/api/processor/depth_processor.cc
    src/mynteye/api/processor/points_processor.cc
-      src/mynteye/api/processor/rectify_processor.cc
  )
 endif()
-endif()
-
 if(NOT WITH_GLOG)
  list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
 endif()
@ -241,16 +204,12 @@ endif()
 if(WITH_GLOG)
  list(APPEND MYNTEYE_LINKLIBS glog::glog)
 endif()
-
 #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")

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

@ -290,7 +249,6 @@ install(FILES
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/callbacks.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/context.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/device.h
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/types.h
  ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/device/utils.h
  DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/device
 )
--- a/36
+++ b/36
@ -16,10 +16,7 @@ pipeline {
      steps {
        echo "WORKSPACE: ${env.WORKSPACE}"
        echo 'apt-get ..'
-        sh '''
-			apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-			apt-get update
-		'''
+        sh 'apt-get update'
      }
    }
    stage('Init') {
@ -42,21 +39,24 @@ pipeline {
        sh '. /opt/ros/kinetic/setup.sh; make install SUDO='
      }
    }
-
+    stage('Test') {
+      steps {
+        echo 'make test ..'
+        sh '. /opt/ros/kinetic/setup.sh; make test SUDO='
+      }
+    }
    stage('Samples') {
      steps {
        echo 'make samples ..'
        sh '. /opt/ros/kinetic/setup.sh; make samples SUDO='
      }
    }
-	   /*
    stage('Tools') {
      steps {
        echo 'make tools ..'
        sh '. /opt/ros/kinetic/setup.sh; make tools SUDO='
      }
    }
-	    */
    stage('ROS') {
      steps {
        echo 'make ros ..'
@ -82,36 +82,22 @@ pipeline {
  post {
    always {
      echo 'This will always run'
-	  /*
-	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
-                    imageUrl: 'http://icon-park.com/imagefiles/loading7_gray.gif',
-                    message: '开始构建',
-                    jenkinsUrl: "${JENKINS_URL}"
-					*/
-
    }
    success {
      echo 'This will run only if successful'
-	  /*
-	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
-                    imageUrl: 'http://icons.iconarchive.com/icons/paomedia/small-n-flat/1024/sign-check-icon.png',
-                    message: '构建成功',
-                    jenkinsUrl: "${JENKINS_URL}"
-*/
    }
    failure {
      echo 'This will run only if failed'
-	  dingTalk accessToken: '7dca6ae9b1b159b8b4b375e858b71f2e6cec8f73fa20d07552d09791261b2344',
-                    imageUrl: 'http://www.iconsdb.com/icons/preview/soylent-red/x-mark-3-xxl.png',
-                    message: '构建失败',
-                    jenkinsUrl: "${JENKINS_URL}"
+      mail to: 'mynteye-ci@slightech.com',
+      subject: "Failed Pipeline: ${currentBuild.fullDisplayName}",
+      body: "Something is wrong with ${env.BUILD_URL}"
    }
    unstable {
      echo 'This will run only if the run was marked as unstable'
    }
    changed {
      echo 'This will run only if the state of the Pipeline has changed'
-      echo 'For example, if the Pipeline was previously failing but is now successful11'
+      echo 'For example, if the Pipeline was previously failing but is now successful'
    }
  }
 }
--- a/127
+++ b/127
@ -22,14 +22,7 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 #   UNIX: /usr/local
 #   Windows: c:/Program Files/${PROJECT_NAME}

-# Options
-#
-#   SUDO: sudo command
-#
-# e.g. make [TARGET] SUDO=
-
 SUDO ?= sudo
-CMAKE_BUILD_EXTRA_OPTIONS ?=

 .DEFAULT_GOAL := all

@ -41,34 +34,47 @@ help:
 	@echo "  make init            init project"
 	@echo "  make build           build project"
 	@echo "  make install         install project"
+	@echo "  make test            build test and run"
 	@echo "  make samples         build samples"
-	@echo "  make pkg             package sdk(windows)"
+	@echo "  make tools           build tools"
+	@echo "  make pkg             package sdk"
 	@echo "  make ros             build ros wrapper"
+	@echo "  make py              build python wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"

 .PHONY: help

-all: init samples ros
+all: init samples tools ros

 .PHONY: all

 # doc

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

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

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

-.PHONY: doc apidoc opendoc cleandoc
+.PHONY: apidoc opendoc cleandoc
+
+# deps
+
+submodules:
+	@git submodule update --init
+
+.PHONY: submodules

 # init

@ -83,16 +89,36 @@ init:
 build:
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
-	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS))
+	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
 else
-	@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
+	@$(call cmake_build,./_build,..)
 endif

 .PHONY: build

+# test
+
+test: submodules install
+	@$(call echo,Make $@)
+	@$(call echo,Make gtest,33)
+ifeq ($(HOST_OS),Win)
+	@$(call cmake_build,./test/gtest/_build,..,-Dgtest_force_shared_crt=ON)
+else
+	@$(call cmake_build,./test/gtest/_build)
+endif
+	@$(call echo,Make test,33)
+	@$(call cmake_build,./test/_build)
+ifeq ($(HOST_OS),Win)
+	@.\\\test\\\_output\\\bin\\\mynteye_test.bat
+else
+	@./test/_output/bin/mynteye_test
+endif
+
+.PHONY: test
+
 # install

-install: uninstall build
+install: build
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
 ifneq ($(HOST_NAME),MinGW)
@ -129,6 +155,14 @@ samples: install

 .PHONY: samples

+# tools
+
+tools: install
+	@$(call echo,Make $@)
+	@$(call cmake_build,./tools/_build)
+
+.PHONY: tools
+
 # pkg

 pkg: clean
@ -171,6 +205,43 @@ cleanros:

 .PHONY: cleanros

+# python
+
+PBCVT_DIR := wrappers/python/third_party/pyboostcvconverter
+
+$(PBCVT_DIR):
+	@git clone https://github.com/Algomorph/pyboostcvconverter.git $@
+
+pbcvt: $(PBCVT_DIR)
+	@$(call cmake_build,$(PBCVT_DIR)/_build,.., \
+		-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/wrappers/python/_install \
+		-DPYTHON_DESIRED_VERSION=2.X)
+	@cd $(PBCVT_DIR)/_build; make install
+
+.PHONY: pbcvt
+
+NPCV_DIR := wrappers/python/third_party/numpy-opencv-converter
+
+$(NPCV_DIR):
+	@git clone https://github.com/GarrickLin/numpy-opencv-converter.git $@
+
+py: python
+
+python: install $(NPCV_DIR)
+	@$(call echo,Make $@)
+	@$(call cmake_build,./wrappers/python/_build)
+	@cd ./wrappers/python/_build; make install
+
+.PHONY: py python
+
+cleanpy:
+	@$(call echo,Make $@)
+	@$(call rm,./wrappers/python/_build/)
+	@$(call rm,./wrappers/python/_output/)
+	@$(call rm,./wrappers/python/_install/)
+	@$(call rm,./$(PBCVT_DIR)/_build/)
+
+.PHONY: cleanpy

 # clean

@ -181,10 +252,15 @@ clean:
 	@$(call rm,./_install/)
 	@$(call rm,./samples/_build/)
 	@$(call rm,./samples/_output/)
+	@$(call rm,./tools/_build/)
+	@$(call rm,./tools/_output/)
+	@$(call rm,./test/_build/)
+	@$(call rm,./test/_output/)
 	@$(MAKE) cleanlog
 ifeq ($(HOST_OS),Linux)
 	@$(MAKE) cleanros
 endif
+	@$(MAKE) cleanpy

 cleanlog:
 	@$(call rm_f,*INFO*)
@ -193,7 +269,11 @@ cleanlog:
 	@$(call rm_f,*FATAL*)

 cleanall: clean cleandoc
+	@$(call rm,./test/gtest/_build/)
+	@$(call rm,./third_party/glog/_build/)
 	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
+	@$(call rm,./$(PBCVT_DIR)/)
+	@$(call rm,./$(NPCV_DIR)/)

 .PHONY: clean cleanlog cleanall

@ -216,6 +296,11 @@ host:
 	@echo LDD: $(LDD)
 	@echo CMAKE: $(CMAKE)
 	@echo PKGNAME: $(PKGNAME)
-	@echo CMAKE_BUILD_EXTRA_OPTIONS: $(CMAKE_BUILD_EXTRA_OPTIONS)

 .PHONY: host
+
+cpplint: submodules
+	@$(call echo,Make $@)
+	@$(SH) ./scripts/$@.sh
+
+.PHONY: cpplint
--- a/README.md
+++ b/README.md
@ -1,6 +1,6 @@
 # MYNT® EYE S SDK

-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.5.0-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.2-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)

 ## Overview

@ -17,8 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations

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

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

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

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

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

 ## Usage

@ -53,7 +56,7 @@ Init project, build samples and run someone.
 ```bash
 make init
 make samples
-./samples/_output/bin/camera_with_junior_device_api
+./samples/_output/bin/device/camera_d
 ```

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

 set(WITH_OPENCV TRUE)
+add_definitions(-DWITH_OPENCV)

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

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

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

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

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

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

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

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

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

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

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

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

 status("  WITH_DEVICE_INFO_REQUIRED: ${WITH_DEVICE_INFO_REQUIRED}")

-status("  WITH_CAM_MODELS: ${WITH_CAM_MODELS}")
-
 status("  WITH_BOOST: ${WITH_BOOST}")
 if(WITH_BOOST)
  if(Boost_FOUND)
--- a/docs/arch.graphml
+++ b/docs/arch.graphml
--- a/docs/arch.jpg
+++ b/docs/arch.jpg
--- a/doc/build.sh
+++ b/doc/build.sh
@ -0,0 +1,83 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# _VERBOSE_=1
+# _TEST_=1
+
+BASE_DIR=$(cd "$(dirname "$0")" && pwd)
+ROOT_DIR=$(realpath "$BASE_DIR/..")
+SCRIPTS_DIR="$ROOT_DIR/scripts"
+
+source "$SCRIPTS_DIR/common/echo.sh"
+source "$SCRIPTS_DIR/common/mkdir.sh"
+source "$SCRIPTS_DIR/common/detect.sh"
+
+_detect "doxygen"
+_detect "pdflatex" 1
+
+source "$BASE_DIR/langs.sh"
+DOXYFILE="api.doxyfile"
+OUTPUT="$BASE_DIR/_output"
+
+# \usepackage{CJKutf8}
+# \begin{document}
+# \begin{CJK}{UTF8}{gbsn}
+# ...
+# \end{CJK}
+# \end{document}
+_texcjk() {
+  tex="$1"; shift;
+  _echo_in "add cjk to $tex"
+  sed -i "" -E $'s/^\\\\begin{document}$/\\\\usepackage{CJKutf8}\\\n\\\\begin{document}\\\n\\\\begin{CJK}{UTF8}{gbsn}/g' $tex
+  sed -i "" -E $'s/^\\\\end{document}$/\\\\end{CJK}\\\n\\\\end{document}/g' $tex
+}
+
+for lang in "${LANGS[@]}"; do
+  _echo_s "Build doc $lang"
+  [ -d "$BASE_DIR/$lang" ] || continue
+  cd "$BASE_DIR/$lang"
+  if [ -f "$DOXYFILE" ]; then
+    _mkdir "$OUTPUT/$lang"
+    _echo_i "doxygen $DOXYFILE"
+    doxygen $DOXYFILE
+
+    version=`cat $DOXYFILE | grep -m1 "^PROJECT_NUMBER\s*=" | \
+      sed -E "s/^.*=[[:space:]]*(.*)[[:space:]]*$/\1/g"`
+
+    # html
+    if [ -d "$OUTPUT/$lang/html" ]; then
+      dirname="mynt-eye-s-sdk-apidoc"; \
+        [ -n "$version" ] && dirname="$dirname-$version"; \
+        dirname="$dirname-$lang"
+      cd "$OUTPUT/$lang"
+      [ -d "$dirname" ] && rm -rf "$dirname"
+      mv "html" "$dirname" && zip -r "$dirname.zip" "$dirname"
+    fi
+
+    # latex
+    if [ $pdflatex_FOUND ] && [ -f "$OUTPUT/$lang/latex/Makefile" ]; then
+      _echo_in "doxygen make latex"
+      filename="mynt-eye-s-sdk-apidoc"; \
+        [ -n "$version" ] && filename="$filename-$version"; \
+        filename="$filename-$lang.pdf"
+      cd "$OUTPUT/$lang/latex" && _texcjk refman.tex && make
+      [ -f "refman.pdf" ] && mv "refman.pdf" "../$filename"
+    fi
+
+    _echo_d "doxygen completed"
+  else
+    _echo_e "$DOXYFILE not found"
+  fi
+done
--- a/doc/en/api.doxyfile
+++ b/doc/en/api.doxyfile
@ -38,27 +38,27 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.

-PROJECT_NUMBER         = 2.5.0
+PROJECT_NUMBER         = 2.2.2

 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.

-PROJECT_BRIEF          = https://www.myntai.com/mynteye/standard
+PROJECT_BRIEF          = http://www.myntai.com/mynteye/standard

 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.

-PROJECT_LOGO           =
+PROJECT_LOGO           = ../static/images/icon.png

 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.

-OUTPUT_DIRECTORY       = _doxygen
+OUTPUT_DIRECTORY       = ../_output/en

 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and
@ -791,7 +791,17 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.

-INPUT                  = ../include/mynteye
+INPUT                  = mainpage.md \
+                         specs_data.md \
+                         spec_hardware_info.md \
+                         spec_image_params.md \
+                         spec_imu_params.md \
+                         spec_image_data.md \
+                         spec_imu_data.md \
+                         specs_ctrl.md \
+                         spec_control_api.md \
+                         spec_control_channel.md \
+                         /usr/local/include/mynteye

 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@ -928,7 +938,7 @@ EXAMPLE_RECURSIVE      = NO
 # that contain images that are to be included in the documentation (see the
 # \image command).

-IMAGE_PATH             =
+IMAGE_PATH             = ../static/images

 # The INPUT_FILTER tag can be used to specify a program that doxygen should
 # invoke to filter for each input file. Doxygen will invoke the filter program
@ -1105,7 +1115,7 @@ IGNORE_PREFIX          =
 # If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
 # The default value is: YES.

-GENERATE_HTML          = NO
+GENERATE_HTML          = YES

 # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@ -1175,7 +1185,7 @@ HTML_STYLESHEET        =
 # list). For an example see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.

-HTML_EXTRA_STYLESHEET  =
+HTML_EXTRA_STYLESHEET  = ../static/custom.css

 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note
@ -1657,7 +1667,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.

-GENERATE_LATEX         = NO
+GENERATE_LATEX         = YES

 # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@ -1937,7 +1947,7 @@ MAN_LINKS              = NO
 # captures the structure of the code including all documentation.
 # The default value is: NO.

-GENERATE_XML           = YES
+GENERATE_XML           = NO

 # The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
@ -2092,8 +2102,7 @@ INCLUDE_FILE_PATTERNS  =

 PREDEFINED             = DOXYGEN_WORKING \
                         "MYNTEYE_BEGIN_NAMESPACE=namespace mynteye {" \
-                         "MYNTEYE_END_NAMESPACE=}" \
-                         "MYNTEYE_API=" "LAST="
+                         "MYNTEYE_END_NAMESPACE=}"

 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The
--- a/doc/en/mainpage.md
+++ b/doc/en/mainpage.md
@ -0,0 +1,11 @@
+# MYNT EYE S SDK {#mainpage}
+
+* <a class="el" href="annotated.html">API Classes</a>
+* <a class="el" href="modules.html">API Modules</a>
+  * \link enumerations Enumerations\endlink
+  * \link datatypes Datatypes\endlink
+  * \link utils Utiliities\endlink
+  * \link calibration Intrinsics & Extrinsics\endlink
+* <span style="font-weight:bold">Device Specifications</span>
+  * @subpage specs_data
+  * @subpage specs_ctrl
--- a/doc/en/spec_control_api.md
+++ b/doc/en/spec_control_api.md
@ -0,0 +1,26 @@
+# Control Protocols {#spec_control_api}
+
+There are two control modes, one is through UVC standard protocol, the other is through UVC custom protocol with extension unit.
+
+## Standard Protocol
+
+| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Note |
+| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :--- |
+| Gain | gain | 2 | 24 | 0 | 48 | √ | 0x12 | valid if manual-exposure |
+| Brightness | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | valid if manual-exposure |
+| Contrast | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | valid if manual-exposure |
+
+## Custom Protocol
+
+| Name | Field | Bytes | Default | Min | Max | Stored | Flash Address | Channel | Note |
+| :--- | :---- | :---- | :------ | :-- | :-- | :----- | :------------ | :------ | :----- |
+| Frame rate | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | values: {10,15,20,25,30,35,40,45,50,55,60} |
+| IMU frequency | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | values: {100,200,250,333,500} |
+| Exposure mode | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0: enable auto-exposure; 1: manual-exposure |
+| Max gain | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | valid if auto-exposure |
+| Max exposure time | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | valid if auto-exposure |
+| Desired brightness | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | valid if auto-exposure |
+| IR control | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
+| HDR mode | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0: 10-bit; 1: 12-bit |
+| Zero drift calibration | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| Erase chip | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
--- a/doc/en/spec_control_channel.md
+++ b/doc/en/spec_control_channel.md
@ -0,0 +1,53 @@
+# Control Channels {#spec_control_channel}
+
+| Name | Field | Address | Bandwidth | Node |
+| :----- | :----- | :----- | :----- | :----- |
+| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
+| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
+| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
+| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
+| File channel | XU_FILE_CHANNEL | 5 | 2000 | |
+
+## Camera Control Channel
+
+The channel provides get, set and query (min, max, default).
+
+## Half-Duplex Channel
+
+The channel only provides set, such as zero drift correction.
+
+## IMU Channel
+
+The channel is used to request and response IMU data, see @ref spec_imu_data.
+
+## File Channel
+
+The channel is used to read and write device information, image params, and IMU params.
+
+| Name | Header | Size | File | Checksum |
+| :--- | :- | :--- | :--- | :-------- |
+| Bytes | 1 | 2 | - | 1 |
+| Type | uint8_t | uint16_t | - | uint8_t |
+| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes |
+
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | Device information |
+| 1 | Image params |
+| 2 | IMU params |
+| 3~6 | Undefined |
+| 7 | 0: Get; 1: Set |
+
+### File Content Packet
+
+| Name | ID | Size | Content |
+| :--- | :- | :--- | :------ |
+| Bytes | 1 | 2 | - |
+| Type | uint8_t | uint16_t | - |
+| Description | Content ID | Content size | Content data |
+
+| File | ID | Max Size |
+| :--- | :- | :------- |
+| Device information | 1 | 250 |
+| Image params | 2 | 250 |
+| IMU params | 4 | 500 |
--- a/doc/en/spec_hardware_info.md
+++ b/doc/en/spec_hardware_info.md
@ -0,0 +1,14 @@
+# Device Information {#spec_hardware_info}
+
+| Name | Field | Fixed Value | USB Descriptor | UVC Extension Unit | Bytes | Note |
+| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
+| VID | vid | 0x04B4 | √ | × | 2 | |
+| PID | pid | 0x00F9 | √ | × | 2 | |
+| Device name | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
+| Serial number | serial_number | - | √ | √ Get | 16 | |
+| Firmware version | firmware_version | - | √ | √ Get | 2 | major,minor |
+| Hardware version | hardware_version | - | × | √ Get | 3 | major,minor,flag |
+| Spec version | spec_version | - | × | √ Get | 2 | major,minor |
+| Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
+| IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 |
+| Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 |
--- a/doc/en/spec_image_data.md
+++ b/doc/en/spec_image_data.md
@ -0,0 +1,20 @@
+# Image Data {#spec_image_data}
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] |
+| Timestamp | timestamp | 10 us | 4 | uint32_t |
+| Exposure Time | exposure_time | 10 us | 2 | uint16_t |
+
+## Image Packet
+
+| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
+| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
+| Bytes | 1 | 1 | 2 | 4 | 2 | 1 |
+| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
+| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes |
+
+* The image packet will be dropped, if checksum is incorrect.
+* The accuracy of the time unit: 0.01 ms / 10 us.
+  * The timestamp could indicate 11.9 hours, it will accumulate again after overflow.
+* The timestamp accumulation starts from the time of power-on, instead of opening.
--- a/doc/en/spec_image_params.md
+++ b/doc/en/spec_image_params.md
@ -0,0 +1,23 @@
+# Image Params {#spec_image_params}
+
+## Image Intrinsics
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Image width | width | px | 2 | uint16_t; [0,65535] |
+| Image height | height | px | 2 | uint16_t; [0,65535] |
+| Focal length | fx | - | 8 | double |
+| ^ | fy | - | 8 | double |
+| Principal point | cx | - | 8 | double |
+| ^ | cy | - | 8 | double |
+| Distortion model | model | - | 1 | uint8_t; pinhole,... |
+| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
+
+## Image Extrinsics
+
+Transformation matrix from left image to right image.
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Rotation matrix | rotation[3][3] | - | 72 | double |
+| Translation vector | translation[3] | - | 24 | double |
--- a/doc/en/spec_imu_data.md
+++ b/doc/en/spec_imu_data.md
@ -0,0 +1,42 @@
+# IMU Data {#spec_imu_data}
+
+## IMU Request Packet
+
+| Name | Header | Serial Number |
+| :--- | :----- | :------------ |
+| Bytes | 1 | 4 |
+| Type | uint8_t | uint32_t |
+| Description | 0x5A | First request should be 0, otherwise the last one |
+
+## IMU Response Packet
+
+The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.
+
+| Name | Header | State | Size | IMU Packets | Checksum |
+| :--- | :----- | :---- | :--- | :---------- | :------- |
+| Bytes | 1 | 1 | 2 | ... | 1 |
+| Type | uint8_t | uint8_t | uint16_t | - | uint8_t |
+| Description | 0x5B | 0 is success, others are failed | Content size | IMU packets | Checksum, XOR of all content bytes |
+
+### IMU Packet
+
+The IMU packet is an array of IMU datas.
+
+| Name | Serial Number | Timestamp | Count | IMU Datas |
+| :--- | :------------ | :-------- | :---- | :-------- |
+| Bytes | 4 | 4 | 1 | ... |
+| Type | uint32_t | uint32_t | uint8_t | - |
+| Description | Serial number | IMU basic timestamp | The number of IMU datas | IMU datas |
+
+### IMU Segment
+
+| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
+| :--- | :----- | :------- | :------------ | :---------- | :-------- |
+| Bytes | 2 | 2 | 6 | 2 | 6 |
+| Type | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
+| Description | The timestamp offset | Image frame ID | Accel x,y,z values | IMU temperature | Gyro x,y,z values |
+
+* Formula for converting the accel & gyro values to real ones: **real = data * range / 0x10000** .
+  * ``accel`` default ``range`` is **8 g**, ``gyro`` default ``range`` is **1000 deg/s**.
+* Formula for converting the temperature to real value: **real = data / ratio + offset** .
+  * default ``ratio`` is **326.8**, default ``offset`` is **25℃**.
--- a/doc/en/spec_imu_params.md
+++ b/doc/en/spec_imu_params.md
@ -0,0 +1,23 @@
+# IMU Params {#spec_imu_params}
+
+## IMU Intrinsics
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Scale matrix | acc_scale[3][3] | - | 72 | double |
+| ^ | gyro_scale[3][3] | - | 72 | double |
+| Zero-drift | acc_drift[3] | - | 24 | double |
+| ^ | gyro_drift[3] | - | 24 | double |
+| Noise density | acc_noise[3] | - | 24 | double |
+| ^ | gyro_noise[3] | - | 24 | double |
+| Random walk | acc_bias[3] | - | 24 | double |
+| ^ | gyro_bias[3] | - | 24 | double |
+
+## IMU Extrinsics
+
+Transformation matrix from left image to IMU.
+
+| Name | Field | Unit | Bytes | Note |
+| :----- | :----- | :----- | :-------- | :----- |
+| Rotation matrix | rotation[3][3] | - | 72 | double |
+| Translation vector | translation[3] | - | 24 | double |
--- a/doc/en/specs_ctrl.md
+++ b/doc/en/specs_ctrl.md
@ -0,0 +1,4 @@
+# Device Control Specification {#specs_ctrl}
+
+* @subpage spec_control_api
+* @subpage spec_control_channel
--- a/doc/en/specs_data.md
+++ b/doc/en/specs_data.md
@ -0,0 +1,7 @@
+# Device Data Specification {#specs_data}
+
+* @subpage spec_hardware_info
+* @subpage spec_image_params
+* @subpage spec_imu_params
+* @subpage spec_image_data
+* @subpage spec_imu_data
--- a/doc/langs.sh
+++ b/doc/langs.sh
@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+# Copyright 2018 Slightech Co., Ltd. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+LANGS=(
+  en
+  zh-Hans
+)
+[ $# -gt 0 ] && echo "LANGS=(${LANGS[@]})"
--- a/doc/static/custom.css
+++ b/doc/static/custom.css
@ -0,0 +1,3 @@
+#projectlogo img {
+  margin: 1em 0.5em 1em 1em;
+}
--- a/doc/static/images/icon.png
+++ b/doc/static/images/icon.png
--- a/doc/static/images/imu_analytics.png
+++ b/doc/static/images/imu_analytics.png
--- a/doc/static/images/make_install.png
+++ b/doc/static/images/make_install.png
--- a/doc/static/images/stamp_analytics.png
+++ b/doc/static/images/stamp_analytics.png
--- a/doc/zh-Hans/api.doxyfile
+++ b/doc/zh-Hans/api.doxyfile
--- a/doc/zh-Hans/guide_build_linux.md
+++ b/doc/zh-Hans/guide_build_linux.md
@ -0,0 +1,44 @@
+# 编译 on Linux {#guide_build_linux}
+
+> Ubuntu 16.04, Ubuntu 14.04
+
+## 获取代码
+
+```bash
+git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
+```
+
+## 准备依赖
+
+```bash
+cd mynt-eye-s-sdk/
+make init
+```
+
+### [OpenCV](https://opencv.org/)
+
+编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
+
+```bash
+# Linux, macOS
+export OpenCV_DIR=~/opencv
+
+# Windows
+set OpenCV_DIR=C:\opencv
+```
+
+## 编译代码
+
+```bash
+make install
+```
+
+结果：
+
+![make install](make_install.png)
+
+\latexonly
+\includegraphics[width=0.6\textwidth,keepaspectratio]{make_install.png}
+\endlatexonly
+
+> CMake 如何引入编译好的库，可参考 `samples/CMakeLists.txt` 里的配置。
--- a/doc/zh-Hans/guide_build_win.md
+++ b/doc/zh-Hans/guide_build_win.md
@ -0,0 +1,113 @@
+# 编译 on Windows {#guide_build_win}
+
+> Windows 10
+
+## 前提条件
+
+* [Git](https://git-scm.com/downloads)，用于获取代码。
+* [CMake](https://cmake.org/download/)，用于构建编译。
+* [Doxygen](http://www.stack.nl/~dimitri/doxygen/download.html)，用于生成文档。
+
+最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
+
+```cmd
+>cmake --version
+cmake version 3.10.1
+
+>git --version
+git version 2.11.1.windows.1
+
+>doxygen --version
+1.8.13
+```
+
+* [Visual Studio](https://www.visualstudio.com/)
+  * [Visual Studio 2015](https://my.visualstudio.com/Downloads?q=Visual Studio 2015)
+  * [Visual Studio 2017](https://my.visualstudio.com/Downloads?q=Visual Studio 2017)
+* [Windows 10 SDK](https://developer.microsoft.com/en-US/windows/downloads/windows-10-sdk)
+
+以 Visual Studio 2015 举例，请在系统环境变量 `PATH` 里添加上如下路径：
+
+    C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\bin
+    C:\Program Files (x86)\MSBuild\14.0\Bin
+
+最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
+
+```cmd
+>cl
+Microsoft (R) C/C++ Optimizing Compiler Version 19.00.24215.1 for x86
+
+>link
+Microsoft (R) Incremental Linker Version 14.00.24215.1
+
+>lib
+Microsoft (R) Library Manager Version 14.00.24215.1
+
+>msbuild
+Microsoft (R) 生成引擎版本 14.0.25420.1
+```
+
+* [MSYS2](http://www.msys2.org/)
+  * [国内镜像](https://lug.ustc.edu.cn/wiki/mirrors/help/msys2)
+  * [pacman](https://wiki.archlinux.org/index.php/pacman)
+
+打开 MSYS2 MSYS ，然后执行：
+
+```msys
+$ pacman -Syu
+$ pacman -S make
+```
+
+并在系统环境变量 `PATH` 里添加上如下路径：
+
+    C:\msys64\usr\bin
+
+最终，命令提示符（Command Prompt, cmd）里可找到如下命令：
+
+```cmd
+>make --version
+GNU Make 4.2.1
+```
+
+## 获取代码
+
+```cmd
+>git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
+```
+
+## 准备依赖
+
+```cmd
+>cd mynt-eye-s-sdk
+>make init
+Make init
+Init deps
+Install cmd: pacman -S
+Install deps: git clang-format
+pacman -S clang-format (not exists)
+error: target not found: clang-format
+pip install --upgrade autopep8 cpplint pylint requests
+...
+Init git hooks
+ERROR: clang-format-diff is not installed!
+Expect cmake version >= 3.0
+cmake version 3.10.1
+```
+
+### [OpenCV](https://opencv.org/)
+
+编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
+
+```bash
+# Linux, macOS
+export OpenCV_DIR=~/opencv
+
+# Windows
+set OpenCV_DIR=C:\opencv
+```
+
+## 编译代码
+
+```cmd
+>make install
+```
--- a/doc/zh-Hans/guide_log.md
+++ b/doc/zh-Hans/guide_log.md
@ -0,0 +1,6 @@
+# 日志 {#guide_log}
+
+日志系统用的 `glog` ，通用配置在头文件 `logger.h` 里。
+
+* 日志文件会存储在当前工作目录， `make cleanlog` 可以清理。
+* 如果需要打开详细日志，请取消 `logger.h` 里注释的 `FLAGS_v = 2;` ，重新编译。
--- a/doc/zh-Hans/guide_opencv.md
+++ b/doc/zh-Hans/guide_opencv.md
@ -0,0 +1,13 @@
+# OpenCV 依赖 {#guide_opencv}
+
+SDK 提供了三层接口，其 OpenCV 依赖情况如下：
+
+* `api`， 上层接口，依赖 OpenCV 。
+* `device`，中间层接口，不依赖 OpenCV 。
+* `uvc`，底层接口，不依赖 OpenCV 。
+
+如果不想使用 OpenCV ，你可编辑 `<sdk>/cmake/Option.cmake` 里的 `WITH_API` 选项，设为 `OFF` 就能关闭 `api` 层代码编译：
+
+```cmake
+option(WITH_API "Build with API layer, need OpenCV" ON)
+```
--- a/doc/zh-Hans/guide_ros.md
+++ b/doc/zh-Hans/guide_ros.md
@ -0,0 +1,30 @@
+# ROS 封装 {#guide_ros}
+
+ROS 封装实现在 ``<sdk>/wrappers/ros`` 目录。
+
+## 依赖
+
+* [ROS](http://www.ros.org/) 环境。
+
+## 编译
+
+```bash
+cd <sdk>
+make ros
+```
+
+## 运行
+
+运行发布节点，
+
+```bash
+source wrappers/ros/devel/setup.bash
+roslaunch mynt_eye_ros_wrapper mynteye.launch
+```
+
+运行发布节点，同时打开 RViz 预览图像，
+
+```bash
+source wrappers/ros/devel/setup.bash
+roslaunch mynt_eye_ros_wrapper display.launch
+```
--- a/doc/zh-Hans/guide_samples.md
+++ b/doc/zh-Hans/guide_samples.md
@ -0,0 +1,46 @@
+# 样例 {#guide_samples}
+
+样例在 `<sdk>/samples` 目录，其提供了不同接口层的使用范例。
+
+## 依赖
+
+* [OpenCV](https://opencv.org/)，用于显示图像。
+  * 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
+
+```bash
+# Linux, macOS
+export OpenCV_DIR=~/opencv
+
+# Windows
+set OpenCV_DIR=C:\opencv
+```
+
+## 编译
+
+```bash
+make samples
+```
+
+## 运行
+
+运行 `api` 层接口样例，显示图像并输出 IMU 。
+
+```bash
+./samples/_output/bin/api/camera_a
+
+# Windows
+.\samples\_output\bin\api\camera_a.bat
+```
+
+运行 `device` 层接口样例，显示图像并输出 IMU 。
+
+```bash
+./samples/_output/bin/device/camera_d
+
+# Windows
+.\samples\_output\bin\device\camera_d.bat
+```
+
+## 结语
+
+更多样例的说明，请见 `samples/README.md` 。
--- a/doc/zh-Hans/guide_tools.md
+++ b/doc/zh-Hans/guide_tools.md
@ -0,0 +1,73 @@
+# 工具 {#guide_tools}
+
+工具在 `<sdk>/tools` 目录，其提供一些有用的脚本和程序。
+
+## 依赖
+
+* [OpenCV](https://opencv.org/)，部分工具需要。
+  * 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
+
+```bash
+# Linux, macOS
+export OpenCV_DIR=~/opencv
+
+# Windows
+set OpenCV_DIR=C:\opencv
+```
+
+* Python 第三方库，脚本需要。
+
+```bash
+cd tools/
+sudo pip install -r requirements.txt
+```
+
+## 编译
+
+```bash
+make tools
+```
+
+## 录制数据集
+
+```bash
+./tools/_output/bin/dataset/record
+
+# Windows
+.\tools\_output\bin\dataset\record.bat
+```
+
+默认录制进 `dataset` 目录，加参数可指定该目录。
+
+## 分析数据集
+
+分析 IMU 数据，
+
+```bash
+python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
+-al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
+```
+
+![imu analytics](imu_analytics.png)
+
+\latexonly
+\includegraphics[width=0.6\textwidth,keepaspectratio]{imu_analytics.png}
+\endlatexonly
+
+分析图像 & IMU 时间戳，
+
+```bash
+python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
+```
+
+![stamp analytics](stamp_analytics.png)
+
+\latexonly
+\includegraphics[width=0.6\textwidth,keepaspectratio]{stamp_analytics.png}
+\endlatexonly
+
+> 如果用 ROS ，分析脚本也支持 ROS Bag 格式。
+
+## 结语
+
+设备信息读写、校验码等更多工具的说明，请见 `tools/README.md` 。
--- a/doc/zh-Hans/guides.md
+++ b/doc/zh-Hans/guides.md
@ -0,0 +1,9 @@
+# SDK 指导 {#guides}
+
+* @subpage guide_build_linux
+* @subpage guide_build_win
+* @subpage guide_samples
+* @subpage guide_tools
+* @subpage guide_log
+* @subpage guide_opencv
+* @subpage guide_ros
--- a/doc/zh-Hans/mainpage.md
+++ b/doc/zh-Hans/mainpage.md
@ -0,0 +1,11 @@
+# MYNT EYE S SDK {#mainpage}
+
+* <a class="el" href="annotated.html">API 类</a>
+* <a class="el" href="modules.html">API 模块</a>
+  * \link enumerations 枚举类型\endlink
+  * \link datatypes 数据类型\endlink
+  * \link utils 工具函数\endlink
+  * \link calibration 内参与外参\endlink
+* <span style="font-weight:bold">设备说明</span>
+  * @subpage specs_data
+  * @subpage specs_ctrl
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@ -0,0 +1,27 @@
+# 控制 API 说明 {#spec_control_api}
+
+控制有两种实现方式，一是通过 UVC 标准协议，二是通过 UVC 拓展通道自定义协议。
+
+## 标准协议
+
+| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 |
+| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
+| 亮度 | brightness | 2 | 192 | 0 | 255 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
+
+> UVC 标准协议实现的控制，有现成的 API 进行 Get & Set ，包括 Min, Max, Default 。
+
+## 自定义协议
+
+| 名称 | 字段 | 字节数 |  默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 通道地址 | 说明 |
+| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
+| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
+| 最大增益 | max_gain | 2 | 8 | 0 | 255 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
+| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
+| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | - | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | |
+
--- a/doc/zh-Hans/spec_control_channel.md
+++ b/doc/zh-Hans/spec_control_channel.md
@ -0,0 +1,53 @@
+# 拓展通道说明 {#spec_control_channel}
+
+| 名称 | 字段 | 地址 | 带宽 | 说明 |
+| :----- | :----- | :----- | :----- | :----- |
+| 相机控制通道 | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
+| 半双工通道 | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
+| IMU 请求通道 | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
+| IMU 响应通道 | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
+| 文件通道 | XU_FILE_CHANNEL | 5 | 2000 | |
+
+## 相机控制通道
+
+相机控制通道是那些需要 Get & Set & Query 的控制通道，其中 Query 细分为 Min, Max, Default 。
+
+## 半双工通道
+
+半双工通道是那些仅需 Set 的控制通道，如请求零漂矫正。
+
+## IMU 通道
+
+用来请求和响应 IMU 数据的通道，可参见 @ref spec_imu_data 。
+
+## 文件通道
+
+用来读写硬件信息、图像参数、 IMU 参数的通道。
+
+| Name | Header | Size | File | Checksum |
+| :--- | :----- | :--- | :--- | :-------- |
+| 字节数 | 1 | 2 | - | 1 |
+| 类型 | uint8_t | uint16_t | - | uint8_t |
+| 描述 | 标识 | 文件内容大小 | 文件内容 | 校验码（文件内容所有字节异或） |
+
+| Header Bit Subscript | Description |
+| :------------------- | :---------- |
+| 0 | 硬件信息 |
+| 1 | 图像参数 |
+| 2 | IMU 参数 |
+| 3~6 | 未定义 |
+| 7 | 0: Get; 1: Set |
+
+### 文件内容包
+
+| Name | ID | Size | Content |
+| :--- | :- | :--- | :------ |
+| 字节数 | 1 | 2 | - |
+| 类型 | uint8_t | uint16_t | - |
+| 描述 | 内容 ID | 内容大小 | 内容 |
+
+| File | ID | Max Size |
+| :--- | :- | :------- |
+| 硬件信息 | 1 | 250 |
+| 图像参数 | 2 | 404 |
+| IMU 参数 | 4 | 500 |
--- a/doc/zh-Hans/spec_hardware_info.md
+++ b/doc/zh-Hans/spec_hardware_info.md
@ -0,0 +1,17 @@
+# 硬件信息说明 {#spec_hardware_info}
+
+| 名称 | 字段 | 固定值 | 描述符获取 | 拓展通道获取 | 字节数 | 说明 |
+| :----- | :----- | :-------- | :-------------- | :----------------- | :-------- | :----- |
+| VID | vid | 0x04B4 | √ | × | 2 | |
+| PID | pid | 0x00F9 | √ | × | 2 | |
+| 设备名称 | name | MYNT-EYE-? | √ | √ Get | 16 | MYNT-EYE-S1000 |
+| 序列号 | serial_number | - | √ | √ Get | 16 | |
+| 固件版本 | firmware_version | - | √ | √ Get | 2 | major,minor |
+| 硬件版本 | hardware_version | - | × | √ Get | 3 | major,minor,flag |
+| 协议版本 | spec_version | - | × | √ Get | 2 | major,minor |
+| 镜头类型 | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
+| IMU 类型 | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 |
+| 基线长度 | nominal_baseline | - | × | √ Get/Set | 2 | 单位 mm ，未 set 默认 0 |
+
+* 描述符获取：指通用 USB 设备信息，可用工具查看。
+* 拓展通道获取：指通过拓展通道（UVC Extension Unit）问硬件获取到的信息，需要读取。
--- a/doc/zh-Hans/spec_image_data.md
+++ b/doc/zh-Hans/spec_image_data.md
@ -0,0 +1,21 @@
+# 图像数据说明 {#spec_image_data}
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] |
+| 时间戳 | timestamp | 1 us | 8 | uint64_t |
+| 曝光时间 | exposure_time | 1 us | 2 | uint16_t |
+
+> 图像数据传输方式：倒序排在图像尾部。
+
+## 图像数据包
+
+| Name | Header | Size | FrameID | Timestamp | ExposureTime | Checksum |
+| :--- | :----- | :--- | :------ | :-------- | :----------- | :------- |
+| 字节数 | 1 | 1 | 2 | 8 | 2 | 1 |
+| 类型 | uint8_t | uint8_t | uint16_t | uint64_t | uint16_t | uint8_t |
+| 描述 | 0x3B | 0x10 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
+
+* 数据包校验不过，会丢弃该帧。
+* 时间的单位精度为： 1 us 。
+* 时间累计是从上电时从开始，而不是从打开时开始。
--- a/doc/zh-Hans/spec_image_params.md
+++ b/doc/zh-Hans/spec_image_params.md
@ -0,0 +1,25 @@
+# 图像参数说明 {#spec_image_params}
+
+## 图像内参
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 宽度 | width | px | 2 | uint16_t; [0,65535] |
+| 高度 | height | px | 2 | uint16_t; [0,65535] |
+| 焦距 | fx | - | 8 | double |
+| ^ | fy | - | 8 | double |
+| 图像中心 | cx | - | 8 | double |
+| ^ | cy | - | 8 | double |
+| 畸变模型 | model | - | 1 | uint8_t; pinhole,... |
+| 畸变参数 | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
+
+> 图像分辨率不同，内参不同。多分辨率的话，需有多个内参。
+
+## 图像外参
+
+Left Image 到 Right Image 的变换矩阵。
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 旋转矩阵 | rotation[3][3] | - | 72 | double |
+| 平移矩阵 | translation[3] | - | 24 | double |
--- a/doc/zh-Hans/spec_imu_data.md
+++ b/doc/zh-Hans/spec_imu_data.md
@ -0,0 +1,42 @@
+# IMU 数据说明 {#spec_imu_data}
+
+## IMU 请求数据包
+
+| Name | Header | Serial Number |
+| :--- | :----- | :------------ |
+| 字节数 | 1 | 4 |
+| 类型 | uint8_t | uint32_t |
+| 描述 | 0x5A | 首次请求写 0 ，不然写上次响应数据包最后一个 IMU 包的序列号 |
+
+## IMU 响应数据包
+
+IMU 响应数据包里会包含1个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
+
+| Name | Header | State | Size | IMU Packets | Checksum |
+| :--- | :----- | :---- | :--- | :---------- | :------- |
+| 字节数 | 1 | 1 | 2 | ... | 1 |
+| 类型 | uint8_t | uint8_t | uint16_t | - | uint8_t |
+| 描述 | 0x5B | 正常状态为 0 ，否则错误 | 数据内容大小 | 所包含的 IMU 包 | 校验码（数据内容所有字节异或） |
+
+### IMU 包
+
+IMU 包/小包，是一组 IMU 数据。
+
+| Name | Count | IMU Datas |
+| :--- | :-----| :-------- |
+| 字节数 | 2 | ... |
+| 类型 | uint16_t | - |
+| 描述 | IMU 段数量 | 所包含的 IMU 段 |
+
+### IMU 段
+
+| Name | Serial Number | Timestamp | flag |  Temperature | Accelerometer or Gyroscope |
+| :--- | :------------ | :-------- | :----| :----------- | :------------------------- |
+| 字节数 | 4 | 8 | 1 | 2 | 6 |
+| 类型 | uint32_t | uint64_t | int8_t | int16_t | int16_t * 3 |
+| Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 x y z 三轴的值 |
+
+* 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。
+  * 加速度计量程默认值为 **12 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
+* 温度计量值换算成物理值公式： **real = data / ratio + offset** 。
+  * ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。
--- a/doc/zh-Hans/spec_imu_params.md
+++ b/doc/zh-Hans/spec_imu_params.md
@ -0,0 +1,23 @@
+# IMU 参数说明 {#spec_imu_params}
+
+## IMU 内参
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 比例因子 | acc_scale[3][3] | - | 72 | double |
+| ^ | gyro_scale[3][3] | - | 72 | double |
+| 零漂 | acc_drift[3] | - | 24 | double |
+| ^ | gyro_drift[3] | - | 24 | double |
+| 噪声密度 | acc_noise[3] | - | 24 | double |
+| ^ | gyro_noise[3] | - | 24 | double |
+| 随机游走 | acc_bias[3] | - | 24 | double |
+| ^ | gyro_bias[3] | - | 24 | double |
+
+## IMU 外参
+
+Left Image 到 IMU 的变换矩阵。
+
+| 名称 | 字段 | 单位 | 字节数 | 说明 |
+| :----- | :----- | :----- | :-------- | :----- |
+| 旋转矩阵 | rotation[3][3] | - | 72 | double |
+| 平移矩阵 | translation[3] | - | 24 | double |
--- a/doc/zh-Hans/specs_ctrl.md
+++ b/doc/zh-Hans/specs_ctrl.md
@ -0,0 +1,4 @@
+# 设备控制说明 {#specs_ctrl}
+
+* @subpage spec_control_api
+* @subpage spec_control_channel
--- a/doc/zh-Hans/specs_data.md
+++ b/doc/zh-Hans/specs_data.md
@ -0,0 +1,7 @@
+# 设备数据说明 {#specs_data}
+
+* @subpage spec_hardware_info
+* @subpage spec_image_params
+* @subpage spec_imu_params
+* @subpage spec_image_data
+* @subpage spec_imu_data
--- a/docs/Makefile
+++ b/docs/Makefile
@ -1,19 +0,0 @@
-# Minimal makefile for Sphinx documentation
-#
-
-# You can set these variables from the command line.
-SPHINXOPTS    =
-SPHINXBUILD   = sphinx-build
-SOURCEDIR     = .
-BUILDDIR      = _build
-
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
-
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
--- a/docs/api/api.rst
+++ b/docs/api/api.rst
@ -1,25 +0,0 @@
-.. _api:
-
-API
-===
-
-API
---
-
-.. doxygenclass:: mynteye::API
-   :project: mynteyes
-   :members:
-
-api::StreamData
---------------
-
-.. doxygenstruct:: mynteye::api::StreamData
-   :project: mynteyes
-   :members:
-
-api::MotionData
---------------
-
-.. doxygenstruct:: mynteye::api::MotionData
-   :project: mynteyes
-   :members:
--- a/docs/api/contents.rst
+++ b/docs/api/contents.rst
@ -1,10 +0,0 @@
-API DOCS
-==============
-
-.. toctree::
-
-   api
-   device
-   enums
-   types
-   utils
--- a/docs/api/device.rst
+++ b/docs/api/device.rst
@ -1,32 +0,0 @@
-.. _device:
-
-Device
-======
-
-Device
------
-
-.. doxygenclass:: mynteye::Device
-   :project: mynteyes
-   :members:
-
-device::Frame
-------------
-
-.. doxygenclass:: mynteye::device::Frame
-   :project: mynteyes
-   :members:
-
-device::StreamData
------------------
-
-.. doxygenstruct:: mynteye::device::StreamData
-   :project: mynteyes
-   :members:
-
-device::MotionData
------------------
-
-.. doxygenstruct:: mynteye::device::MotionData
-   :project: mynteyes
-   :members:
--- a/docs/api/enums.rst
+++ b/docs/api/enums.rst
@ -1,69 +0,0 @@
-.. _enums:
-
-Enums
-=====
-
-..
-  .. doxygengroup:: enumerations
-    :project: mynteyes
-
-Model
-----
-
-.. doxygenenum:: mynteye::Model
-  :project: mynteyes
-
-Stream
------
-
-.. doxygenenum:: mynteye::Stream
-  :project: mynteyes
-
-
-Capabilities
------------
-
-.. doxygenenum:: mynteye::Capabilities
-  :project: mynteyes
-
-Info
----
-
-.. doxygenenum:: mynteye::Info
-  :project: mynteyes
-
-Option
------
-
-.. doxygenenum:: mynteye::Option
-  :project: mynteyes
-
-Source
------
-
-.. doxygenenum:: mynteye::Source
-  :project: mynteyes
-
-AddOns
------
-
-.. doxygenenum:: mynteye::AddOns
-  :project: mynteyes
-
-Format
------
-
-.. doxygenenum:: mynteye::Format
-  :project: mynteyes
-
-CalibrationModel
----------------
-
-.. doxygenenum:: mynteye::CalibrationModel
-  :project: mynteyes
-
-DisparityComputingMethod
------------------------
-
-.. doxygenenum:: mynteye::DisparityComputingMethod
-  :project: mynteyes
--- a/docs/api/types.rst
+++ b/docs/api/types.rst
@ -1,77 +0,0 @@
-.. _types:
-
-Types
-=====
-
-OptionInfo
----------
-
-.. doxygenstruct:: mynteye::OptionInfo
-   :project: mynteyes
-   :members:
-
-Resolution
----------
-
-.. doxygenstruct:: mynteye::Resolution
-   :project: mynteyes
-   :members:
-
-StreamRequest
-------------
-
-.. doxygenstruct:: mynteye::StreamRequest
-   :project: mynteyes
-   :members:
-
-Intrinsics
----------
-
-IntrinsicsPinhole
-~~~~~~~~~~~~~~~~~
-
-.. doxygenstruct:: mynteye::IntrinsicsPinhole
-   :project: mynteyes
-   :members:
-
-IntrinsicsEquidistant
-~~~~~~~~~~~~~~~~~~~~~
-
-.. doxygenstruct:: mynteye::IntrinsicsEquidistant
-   :project: mynteyes
-   :members:
-
-ImuIntrinsics
-~~~~~~~~~~~~~
-
-.. doxygenstruct:: mynteye::ImuIntrinsics
-   :project: mynteyes
-   :members:
-
-MotionIntrinsics
-~~~~~~~~~~~~~~~~~
-
-.. doxygenstruct:: mynteye::MotionIntrinsics
-   :project: mynteyes
-   :members:
-
-Extrinsics
----------
-
-.. doxygenstruct:: mynteye::Extrinsics
-   :project: mynteyes
-   :members:
-
-ImgData
-------
-
-.. doxygenstruct:: mynteye::ImgData
-   :project: mynteyes
-   :members:
-
-ImuData
-------
-
-.. doxygenstruct:: mynteye::ImuData
-   :project: mynteyes
-   :members:
--- a/docs/api/utils.rst
+++ b/docs/api/utils.rst
@ -1,34 +0,0 @@
-.. _utils:
-
-Utils
-=====
-
-select
------
-
-.. doxygenfunction:: select
-   :project: mynteyes
-
-select_request
--------------
-
-.. doxygenfunction:: select_request
-   :project: mynteyes
-
-get_real_exposure_time
----------------------
-
-.. doxygenfunction:: get_real_exposure_time
-   :project: mynteyes
-
-get_sdk_root_dir
----------------
-
-.. doxygenfunction:: get_sdk_root_dir
-   :project: mynteyes
-
-get_sdk_install_dir
-------------------
-
-.. doxygenfunction:: get_sdk_install_dir
-   :project: mynteyes
--- a/docs/conf.py
+++ b/docs/conf.py
@ -1,194 +0,0 @@
-# -*- coding: utf-8 -*-
-#
-# Configuration file for the Sphinx documentation builder.
-#
-# This file does only contain a selection of the most common options. For a
-# full list see the documentation:
-# http://www.sphinx-doc.org/en/master/config
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-# import os
-# import sys
-# sys.path.insert(0, os.path.abspath('.'))
-
-
-# -- Project information -----------------------------------------------------
-
-project = 'MYNT® EYE S SDK'
-copyright = '2019, MYNTAI'
-author = 'MYNTAI'
-
-# The short X.Y version
-version = '2.5.0'
-# The full version, including alpha/beta/rc tags
-release = version
-
-
-# -- General configuration ---------------------------------------------------
-
-# If your documentation needs a minimal Sphinx version, state it here.
-#
-# needs_sphinx = '1.0'
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-    'breathe',
-]
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# The suffix(es) of source filenames.
-# You can specify multiple suffix as a list of string:
-#
-# source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
-
-# The master toctree document.
-master_doc = 'index'
-
-# The language for content autogenerated by Sphinx. Refer to documentation
-# for a list of supported languages.
-#
-# This is also used if you do content translation via gettext catalogs.
-# Usually you set "language" from the command line for these cases.
-language = 'en'
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
-
-# The name of the Pygments (syntax highlighting) style to use.
-pygments_style = None
-
-
-# on_rtd is whether we are on readthedocs.org
-import os
-on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
-
-import subprocess
-subprocess.call('doxygen', shell=True)
-
-
-# -- Options for HTML output -------------------------------------------------
-
-if not on_rtd:  # only import and set the theme if we're building docs locally
-    import sphinx_rtd_theme
-
-    # The theme to use for HTML and HTML Help pages.  See the documentation for
-    # a list of builtin themes.
-    #
-    # html_theme = 'alabaster'
-    html_theme = 'sphinx_rtd_theme'
-    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
-
-    # Theme options are theme-specific and customize the look and feel of a theme
-    # further.  For a list of options available for each theme, see the
-    # documentation.
-    #
-    # html_theme_options = {}
-
-    # Add any paths that contain custom static files (such as style sheets) here,
-    # relative to this directory. They are copied after the builtin static files,
-    # so a file named "default.css" will overwrite the builtin "default.css".
-    # html_static_path = ['_static']
-
-    # Custom sidebar templates, must be a dictionary that maps document names
-    # to template names.
-    #
-    # The default sidebars (for documents that don't match any pattern) are
-    # defined by theme itself.  Builtin themes are using these templates by
-    # default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
-    # 'searchbox.html']``.
-    #
-    # html_sidebars = {}
-
-# otherwise, readthedocs.org uses their theme by default, so no need to specify it
-
-
-# -- Options for HTMLHelp output ---------------------------------------------
-
-# Output file base name for HTML help builder.
-htmlhelp_basename = 'MYNTEYESSDKdoc'
-
-
-# -- Options for LaTeX output ------------------------------------------------
-
-latex_elements = {
-    # The paper size ('letterpaper' or 'a4paper').
-    #
-    # 'papersize': 'letterpaper',
-
-    # The font size ('10pt', '11pt' or '12pt').
-    #
-    # 'pointsize': '10pt',
-
-    # Additional stuff for the LaTeX preamble.
-    #
-    # 'preamble': '',
-
-    # Latex figure (float) alignment
-    #
-    # 'figure_align': 'htbp',
-}
-
-# Grouping the document tree into LaTeX files. List of tuples
-# (source start file, target name, title,
-#  author, documentclass [howto, manual, or own class]).
-latex_documents = [
-    (master_doc, 'MYNTEYESSDK.tex', 'MYNT® EYE S SDK Documentation',
-     'MYNTAI', 'manual'),
-]
-
-
-# -- Options for manual page output ------------------------------------------
-
-# One entry per manual page. List of tuples
-# (source start file, name, description, authors, manual section).
-man_pages = [
-    (master_doc, 'mynteyessdk', 'MYNT® EYE S SDK Documentation',
-     [author], 1)
-]
-
-
-# -- Options for Texinfo output ----------------------------------------------
-
-# Grouping the document tree into Texinfo files. List of tuples
-# (source start file, target name, title, author,
-#  dir menu entry, description, category)
-texinfo_documents = [
-    (master_doc, 'MYNTEYESSDK', 'MYNT® EYE S SDK Documentation',
-     author, 'MYNTEYESSDK', 'One line description of project.',
-     'Miscellaneous'),
-]
-
-
-# -- Options for Epub output -------------------------------------------------
-
-# Bibliographic Dublin Core info.
-epub_title = project
-
-# The unique identifier of the text. This can be a ISBN number
-# or the project homepage.
-#
-# epub_identifier = ''
-
-# A unique identification for the text.
-#
-# epub_uid = ''
-
-# A list of files that should not be packed into the epub file.
-epub_exclude_files = ['search.html']
-
-
-# -- Extension configuration -------------------------------------------------
-
-breathe_projects = { 'mynteyes': '_doxygen/xml' }
--- a/docs/files/libmynteye.conf
+++ b/docs/files/libmynteye.conf
@ -1,7 +0,0 @@
-# libmynteye configuration
-#
-# 1) Copy this file to: /etc/ld.so.conf.d/libmynteye.conf
-# 2) Run this cmd in Terminal: sudo /sbin/ldconfig
-
-/usr/local/cuda/lib64
-$HOME/opencv-3.4.1/lib
--- a/docs/images/firmware/boardupdate.png
+++ b/docs/images/firmware/boardupdate.png
--- a/docs/images/firmware/firmware_update.png
+++ b/docs/images/firmware/firmware_update.png
--- a/docs/images/firmware/firmware_update_cypressUSB.png
+++ b/docs/images/firmware/firmware_update_cypressUSB.png
--- a/docs/images/firmware/firmware_update_dir.png
+++ b/docs/images/firmware/firmware_update_dir.png
--- a/docs/images/firmware/firmware_update_driver.png
+++ b/docs/images/firmware/firmware_update_driver.png
--- a/docs/images/firmware/firmware_update_driver_install.png
+++ b/docs/images/firmware/firmware_update_driver_install.png
--- a/docs/images/firmware/firmware_update_option.png
+++ b/docs/images/firmware/firmware_update_option.png
--- a/docs/images/firmware/firmware_update_select.png
+++ b/docs/images/firmware/firmware_update_select.png
--- a/docs/images/firmware/firmware_update_success.png
+++ b/docs/images/firmware/firmware_update_success.png
--- a/docs/images/firmware/firmware_update_warning.png
+++ b/docs/images/firmware/firmware_update_warning.png
--- a/docs/images/firmware/firmware_update_westbridge.png
+++ b/docs/images/firmware/firmware_update_westbridge.png
--- a/docs/images/firmware/stmsuccess.png
+++ b/docs/images/firmware/stmsuccess.png
--- a/docs/images/firmware/stmupdate.png
+++ b/docs/images/firmware/stmupdate.png
--- a/docs/images/product/mynteye_imu_coord.jpg
+++ b/docs/images/product/mynteye_imu_coord.jpg
--- a/docs/images/product/mynteye_s2110_imu_coord.jpg
+++ b/docs/images/product/mynteye_s2110_imu_coord.jpg
--- a/docs/images/product/mynteye_s2_imu_coord.jpg
+++ b/docs/images/product/mynteye_s2_imu_coord.jpg
--- a/docs/images/product/mynteye_s2_surface_zh-Hans.jpg
+++ b/docs/images/product/mynteye_s2_surface_zh-Hans.jpg
--- a/docs/images/product/mynteye_surface_zh-Hans.jpg
+++ b/docs/images/product/mynteye_surface_zh-Hans.jpg
--- a/docs/images/product/tripod.png
+++ b/docs/images/product/tripod.png
--- a/docs/images/sdk/ir.png
+++ b/docs/images/sdk/ir.png
--- a/docs/images/sdk/tools/imu_analytics.png
+++ b/docs/images/sdk/tools/imu_analytics.png
--- a/docs/images/sdk/tools/stamp_analytics.png
+++ b/docs/images/sdk/tools/stamp_analytics.png
--- a/docs/images/sdk/vs_cmd.png
+++ b/docs/images/sdk/vs_cmd.png
--- a/docs/images/sdk/vs_cmd_menu.png
+++ b/docs/images/sdk/vs_cmd_menu.png
--- a/docs/images/sdk/vs_cmd_test.png
+++ b/docs/images/sdk/vs_cmd_test.png
--- a/docs/images/tools/calibration001.png
+++ b/docs/images/tools/calibration001.png
--- a/docs/images/tools/calibration002.png
+++ b/docs/images/tools/calibration002.png
--- a/docs/images/tools/calibration003.png
+++ b/docs/images/tools/calibration003.png
--- a/docs/images/tools/calibration004.png
+++ b/docs/images/tools/calibration004.png
--- a/docs/images/tools/calibration005.png
+++ b/docs/images/tools/calibration005.png
--- a/docs/images/tools/calibration006.png
+++ b/docs/images/tools/calibration006.png
--- a/docs/images/tools/calibration007.png
+++ b/docs/images/tools/calibration007.png
--- a/docs/images/tools/calibration008.png
+++ b/docs/images/tools/calibration008.png
--- a/docs/index.rst
+++ b/docs/index.rst
@ -1,27 +0,0 @@
-.. MYNT® EYE S SDK documentation master file, created by
-   sphinx-quickstart on Mon Mar 11 08:59:35 2019.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
-MYNT® EYE S SDK
-===============
-
-.. toctree::
-   :titlesonly:
-   :maxdepth: 2
-
-   src/product/contents
-   src/sdk/contents
-   src/firmware/contents
-   src/tools/contents
-   src/slam/contents
-   api/contents
-   src/support/contents
-
-..
-  Indices and tables
-  ==================
-
-  * :ref:`genindex`
-  * :ref:`modindex`
-  * :ref:`search`
--- a/docs/make.bat
+++ b/docs/make.bat
@ -1,35 +0,0 @@
-@ECHO OFF
-
-pushd %~dp0
-
-REM Command file for Sphinx documentation
-
-if "%SPHINXBUILD%" == "" (
-	set SPHINXBUILD=sphinx-build
-)
-set SOURCEDIR=.
-set BUILDDIR=_build
-
-if "%1" == "" goto help
-
-%SPHINXBUILD% >NUL 2>NUL
-if errorlevel 9009 (
-	echo.
-	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
-	echo.installed, then set the SPHINXBUILD environment variable to point
-	echo.to the full path of the 'sphinx-build' executable. Alternatively you
-	echo.may add the Sphinx directory to PATH.
-	echo.
-	echo.If you don't have Sphinx installed, grab it from
-	echo.http://sphinx-doc.org/
-	exit /b 1
-)
-
-%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
-goto end
-
-:help
-%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
-
-:end
-popd
--- a/docs/mynt-eye-s-sdk.tree
+++ b/docs/mynt-eye-s-sdk.tree
@ -1,327 +0,0 @@
-mynt-eye-s-sdk
-├── 3rdparty
-│   └── eigen3                   matrix 3rd lib
-├── cmake
-│   ├── Common.cmake             cmake common macro
-│   ├── DetectCXX11.cmake
-│   ├── DetectOpenCV.cmake
-│   ├── FindCUDA
-│   │   ├── make2cmake.cmake
-│   │   ├── parse_cubin.cmake
-│   │   └── run_nvcc.cmake
-│   ├── FindCUDA.cmake
-│   ├── IncludeGuard.cmake
-│   ├── Option.cmake              include(DetectOpenCV.cmake)
-│   ├── TargetArch.cmake
-│   ├── templates
-│   └── Utils.cmake               include(Common.cmake)
-├── CMakeLists.txt
-├── docs
-│   ├── api
-│   ├── conf.py                   sdkHtml config
-│   ├── files
-│   ├── images
-│   │   ├── firmware
-│   │   ├── product
-│   │   ├── project
-│   │   │   └── vs2017
-│   │   ├── sdk
-│   │   │   └── tools
-│   │   └── tools
-│   ├── Makefile                  sdkHtml Makefile
-│   └── src
-│       ├── firmware
-│       ├── log
-│       ├── product
-│       ├── sdk
-│       │   ├── control
-│       │   ├── data
-│       │   └── project
-│       ├── slam
-│       ├── support
-│       └── wrapper
-├── include
-│   ├── deprecated
-│   │   └── mynteye
-│   │       ├── api.h              x
-│   │       ├── callbacks.h        x
-│   │       ├── context.h          x
-│   │       ├── device.h           x
-│   │       ├── files.h            x
-│   │       ├── glog_init.h        x
-│   │       ├── object.h           x
-│   │       ├── plugin.h           x
-│   │       ├── strings.h          x
-│   │       ├── times.h            x
-│   │       └── utils.h            x
-│   └── mynteye
-│       ├── api
-│       │   ├── api.h              user api(mynteye.h types.h opencv2*)
-│       │   ├── object.h           img formats transform(mynteye.h opencv2*)
-│       │   └── plugin.h           plugin process in&out(mynteye.h opencv2*)
-│       ├── device
-│       │   ├── callbacks.h        processor data callback(mynteye.h mynteye/types.h)
-│       │   ├── context.h          detect uvc device(mynteye.h)
-│       │   ├── device.h           imu-->motions & camera-->streams(mynteye.h callbacks.h device/types.h)
-│       │   ├── types.h            img & imu_data types(mynteye.h mynteye/types.h)
-│       │   └── utils.h            user help(mynteye.h mynteye/types.h)
-│       ├── global.h               os adapter
-│       ├── logger.h               message output
-│       ├── miniglog.h             google miniglog
-│       ├── mynteye.h.in           api version(global.h)
-│       ├── types.h                all types(mynteye.h)
-│       └── util
-│           ├── files.h           (mynteye.h)
-│           ├── strings.h         (mynteye.h)
-│           └── times.h           (mynteye.h)
-├── Makefile
-├── samples
-│   ├── camera_with_junior_device_api.cc       (device.h utils.h times.h)
-│   ├── camera_with_senior_api.cc              (api.h times.h)
-│   ├── CMakeLists.txt                          samples build
-│   ├── config
-│   │   ├── S1030
-│   │   │   └── deprecated
-│   │   └── S210A
-│   │       └── deprecated
-│   ├── ctrl_auto_exposure.cc                  (api.h)
-│   ├── ctrl_framerate.cc                      (api.h times.h)
-│   ├── ctrl_iic_address.cc                    (api.h)
-│   ├── ctrl_imu_low_pass_filter.cc            (api.h times.h)
-│   ├── ctrl_imu_range.cc                      (api.h times.h)
-│   ├── ctrl_infrared.cc                          
-│   ├── ctrl_manual_exposure.cc
-│   ├── ctrl_sync_timestamp.cc
-│   ├── dataset.cc
-│   ├── dataset.h
-│   ├── device_writer.cc
-│   ├── device_writer.h
-│   ├── get_data_without_select.cc
-│   ├── get_depth_and_points.cc
-│   ├── get_depth.cc
-│   ├── get_depth_with_region.cc
-│   ├── get_device_info.cc
-│   ├── get_disparity.cc
-│   ├── get_from_callbacks.cc
-│   ├── get_img_params.cc
-│   ├── get_imu.cc
-│   ├── get_imu_correspondence.cc
-│   ├── get_imu_params.cc
-│   ├── get_stereo_rectified.cc
-│   ├── get_with_plugin.cc
-│   ├── record.cc
-│   ├── save_all_infos.cc
-│   ├── save_single_image.cc
-│   ├── simple_demo                    independent demo
-│   │   ├── project_cmake
-│   │   │   ├── CMakeLists.txt         linux build
-│   │   │   └── mynteye_demo.cc
-│   │   └── project_vs2017             windows vs
-│   │       ├── images
-│   │       └── mynteyes_demo         
-│   │           └── mynteyes_demo
-│   │               ├── stdafx.h
-│   │               └── targetver.h
-│   ├── util_cv.cc                    (util_cv.h device/utils.h)          
-│   ├── util_cv.h                      cv painter(mynteye/types.h) 
-│   ├── util_pcl.cc		      (util_pcl.h)
-│   ├── util_pcl.h                     pcl cloud points viewer
-│   ├── uvc_camera.cc
-│   ├── write_device_info.cc
-│   ├── write_img_params.cc
-│   └── write_imu_params.cc
-├── scripts
-│   ├── common
-│   └── win
-│       ├── cmake
-│       │   ├── mynteye-targets.cmake
-│       │   └── mynteye-targets-release.cmake
-│       └── nsis
-│           └── Include
-├── src
-│   ├── main.cc
-│   └── mynteye
-│       ├── api
-│       │   ├── api.cc                                     (correspondence.h dl.h plugin.h ...)
-│       │   ├── camera_models
-│       │   │   ├── camera.cc                              (camera.h)
-│       │   │   ├── camera.h                                camera base(eigen3* opencv2* mynteye.h)
-│       │   │   ├── equidistant_camera.cc                  (equidistant_camera.h)
-│       │   │   ├── equidistant_camera.h                    KB projection model(opencv2* camera.h)
-│       │   │   ├── gpl.cc
-│       │   │   └── gpl.h
-│       │   ├── correspondence.cc                          (correspondence.h device.h)
-│       │   ├── correspondence.h                            stream control(api.h callbacks.h)
-│       │   ├── data_tools.cc                              (data_tools.h)
-│       │   ├── data_tools.h                                api<--data<-->obj(object.h api.h device.h) 
-│       │   ├── dl.cc                                      (dl.h) 
-│       │   ├── dl.h                                        dynamic loading(mynteye.h)
-│       │   ├── processor                           root-->rectify-->disparity(norm)-->depth-->points
-│       │   │   ├── depth_processor.cc                     (depth_Processor.h)
-│       │   │   ├── depth_processor.h                      (processor.h types.h rectify_processor.h)
-│       │   │   ├── depth_processor_ocv.cc                 (depth_processor_ocv.h) 
-│       │   │   ├── depth_processor_ocv.h                   output cv::Mat(processor.h) 
-│       │   │   ├── disparity_normalized_processor.cc      (opencv2* disparity_normalized_processor.h)
-│       │   │   ├── disparity_normalized_processor.h       (processor.h)
-│       │   │   ├── disparity_processor.cc                 (opencv2* disparity_processor.h)
-│       │   │   ├── disparity_processor.h                  (mynteye/types.h processor.h)
-│       │   │   ├── points_processor.cc                    (opencv2* points_processor.h)
-│       │   │   ├── points_processor.h                     (mynteye/types.h processor.h)
-│       │   │   ├── points_processor_ocv.cc              
-│       │   │   ├── points_processor_ocv.h
-│       │   │   ├── rectify_processor.cc                   (opencv2* rectify_processor.h)
-│       │   │   ├── rectify_processor.h                    (equidistant_camera.h ...)
-│       │   │   ├── rectify_processor_ocv.cc       
-│       │   │   ├── rectify_processor_ocv.h
-│       │   │   ├── root_camera_processor.cc               (opencv2* synthetic.h device.h data_tools.h)
-│       │   │   └── root_camera_processor.h                (opencv2* processor.h)
-│       │   ├── processor.cc                               (strings.h times.h data_tools.h)
-│       │   ├── processor.h                                processor base(synthetic.h mynteye.h object.h)
-│       │   ├── synthetic.cc                         (*processor.h object.h plugin.h device.h data_tools.h)
-│       │   ├── synthetic.h                                synthetic pipeline(api.h)               
-│       │   ├── version_checker.cc                         
-│       │   └── version_checker.h
-│       ├── device
-│       │   ├── async_callback.h                           asynchronous data translate
-│       │   ├── async_callback_impl.h                      derived
-│       │   ├── channel
-│       │   │   ├── bytes.cc
-│       │   │   ├── bytes.h                                <--uint8_t data-->
-│       │   │   ├── channels.cc
-│       │   │   ├── channels.h                             channels control api
-│       │   │   ├── def.h                                  data packet
-│       │   │   ├── file_channel.cc
-│       │   │   └── file_channel.h                         data parser
-│       │   ├── config.cc
-│       │   ├── config.h                                   config lists
-│       │   ├── context.cc                                 create context
-│       │   ├── device.cc                                  device class
-│       │   ├── motions.cc                                 
-│       │   ├── motions.h                                  imu motions
-│       │   ├── standard                                   standard device s
-│       │   │   ├── channels_adapter_s.cc
-│       │   │   ├── channels_adapter_s.h
-│       │   │   ├── device_s.cc
-│       │   │   ├── device_s.h
-│       │   │   ├── streams_adapter_s.cc
-│       │   │   └── streams_adapter_s.h
-│       │   ├── standard2                                  standard device s2
-│       │   │   ├── channels_adapter_s2.cc
-│       │   │   ├── channels_adapter_s2.h
-│       │   │   ├── device_s2.cc
-│       │   │   ├── device_s2.h
-│       │   │   ├── streams_adapter_s2.cc
-│       │   │   └── streams_adapter_s2.h
-│       │   ├── streams.cc                                 
-│       │   ├── streams.h                                  camera streams
-│       │   ├── types.cc                                   to string
-│       │   └── utils.cc                                   user helper
-│       ├── miniglog.cc                          
-│       ├── types.cc                                       device,streams,option...types str
-│       ├── util
-│       │   ├── files.cc
-│       │   └── strings.cc
-│       └── uvc
-│ 
-├── tools
-│   ├── _build
-│   │   ├── CMakeCache.txt
-│   │   ├── CMakeFiles
-│   │   │   ├── 3.5.1
-│   │   │   │   ├── CMakeCCompiler.cmake
-│   │   │   │   ├── CMakeCXXCompiler.cmake
-│   │   │   │   ├── CMakeDetermineCompilerABI_C.bin
-│   │   │   │   ├── CMakeDetermineCompilerABI_CXX.bin
-│   │   │   │   ├── CMakeSystem.cmake
-│   │   │   │   ├── CompilerIdC
-│   │   │   │   │   └── CMakeCCompilerId.c
-│   │   │   │   └── CompilerIdCXX
-│   │   │   │       └── CMakeCXXCompilerId.cpp
-│   │   │   ├── CMakeDirectoryInformation.cmake
-│   │   │   ├── CMakeOutput.log
-│   │   │   ├── CMakeTmp
-│   │   │   ├── Makefile2
-│   │   │   └── Makefile.cmake
-│   │   ├── cmake_install.cmake
-│   │   ├── dataset
-│   │   │   ├── CMakeFiles
-│   │   │   │   ├── CMakeDirectoryInformation.cmake
-│   │   │   │   └── record2.dir
-│   │   │   │       ├── cmake_clean.cmake
-│   │   │   │       └── DependInfo.cmake
-│   │   │   ├── cmake_install.cmake
-│   │   │   └── Makefile
-│   │   ├── Makefile
-│   │   └── writer
-│   │       ├── CMakeFiles
-│   │       │   ├── CMakeDirectoryInformation.cmake
-│   │       │   ├── device_info_writer.dir
-│   │       │   │   ├── cmake_clean.cmake
-│   │       │   │   └── DependInfo.cmake
-│   │       │   ├── device_writer.dir
-│   │       │   │   ├── cmake_clean.cmake
-│   │       │   │   ├── cmake_clean_target.cmake
-│   │       │   │   └── DependInfo.cmake
-│   │       │   ├── img_params_writer.dir
-│   │       │   │   ├── cmake_clean.cmake
-│   │       │   │   └── DependInfo.cmake
-│   │       │   ├── imu_params_writer.dir
-│   │       │   │   ├── cmake_clean.cmake
-│   │       │   │   └── DependInfo.cmake
-│   │       │   └── save_all_infos.dir
-│   │       │       ├── cmake_clean.cmake
-│   │       │       └── DependInfo.cmake
-│   │       ├── cmake_install.cmake
-│   │       └── Makefile
-│   ├── linter
-│   └── _output
-│       ├── bin
-│       │   ├── dataset
-│       │   └── writer
-│       └── lib
-│           └── writer
-└── wrappers
-    ├── android
-    │   
-    ├── python
-    │   ├── CMakeLists.txt
-    │   ├── samples
-    │   │   ├── mynteye.py
-    │   │   └── util
-    │   │       ├── cv_painter.py
-    │   │       └── __init__.py
-    │   ├── src
-    │   │   └── mynteye_py.cc
-    │   └── third_party
-    │       └── array
-    │           ├── array_indexing_suite.hpp
-    │           └── array_ref.hpp
-    └── ros
-        └── src
-            └── mynt_eye_ros_wrapper
-                ├── CMakeLists.txt
-                ├── config
-                │   ├── device
-                │   ├── laserscan
-                │   ├── process
-                │   ├── slam
-                │   └── sub
-                │       ├── device_1
-                │       ├── device_2
-                │       ├── process_1
-                │       └── process_2
-                ├── launch
-                │   ├── laserscan
-                │   ├── slam
-                │   └── sub
-                ├── mesh
-                ├── rviz
-                ├── scripts
-                │   └── get_device_info.py
-                ├── src
-                │   ├── configuru.hpp
-                │   ├── wrapper_node.cc
-                │   └── wrapper_nodelet.cc
-                └── srv
-
-
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@ -1,5 +0,0 @@
-breathe>=4.13
-restructuredtext-lint>=1.3.0
-Sphinx>=2.0.1
-sphinx-intl>=0.9.11
-sphinx-rtd-theme>=0.4.2
--- a/docs/src/firmware/applicable.rst
+++ b/docs/src/firmware/applicable.rst
@ -1,38 +0,0 @@
-.. _firmware_applicable:
-
-Firmware and SDK compatibility
-==============================
-
-============================ ========================
-S1030 Firmwares                    SDK Version
-============================ ========================
-MYNTEYE-S1030-2.7.0.img      2.5.0 (2.5.0 ~ latest)
-MYNTEYE-S1030-2.5.0.img      2.4.0 (2.4.0 ~ 2.5.0)
-MYNTEYE_S_2.4.0.img          2.3.4 (2.3.4 ~ 2.3.9)
-MYNTEYE_S_2.3.0.img          2.3.0 (2.2.2-rc1 ~ 2.3.3)
-MYNTEYE_S_2.2.2.img          2.3.0 (2.2.2-rc1 ~ 2.3.0)
-MYNTEYE_S_2.0.0_rc.img       2.0.0-rc (2.0.0-rc ~ 2.0.0-rc2)
-MYNTEYE_S_2.0.0_rc2.img      2.0.0-rc2 (2.0.0-rc ~ 2.0.0-rc2)
-MYNTEYE_S_2.0.0_rc1.img      2.0.0-rc1
-MYNTEYE_S_2.0.0_rc0.img      2.0.0-rc0 (2.0.0-rc1 ~ 2.0.0-alpha1)
-MYNTEYE_S_2.0.0_alpha1.1.img 2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1)
-MYNTEYE_S_2.0.0_alpha1.img   2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1)
-MYNTEYE_S_2.0.0_alpha0.img   2.0.0-alpha0
-============================ ========================
-
-============================ ===========================
-S21X0 Firmwares                    SDK Version
-============================ ===========================
-MYNTEYE-S21X0-2.1.0.img      2.5.0 (2.5.0 ~ latest)
-MYNTEYE-S21X0-1.4.0.img      2.4.2(2.4.2 ~ 2.5.0)
-MYNTEYE-S2100-1.3.2.img      2.4.0(2.4.0 ~ 2.4.1)
-MYNTEYE_S2100_1.2.img        2.3.5(2.3.5 ~ 2.3.9)
-MYNTEYE_S2100_1.1.img        2.3.4
-============================ ===========================
-
-.. attention::
-  Please CONFIRM your device model and use CORRECT firmware.
-
-``Firmwares`` indicates the firmware file name. It's in `MYNTEYE_BOX(Download Link) <http://doc.myntai.com/mynteye/s/download>`_ in the ``Firmwares`` directory.
-
-``SDK Version`` indicates the version of the SDK that the firmware is adapted to, and the range of available versions are indicated in parentheses.
--- a/docs/src/firmware/contents.rst
+++ b/docs/src/firmware/contents.rst
@ -1,9 +0,0 @@
-FIRMWARE
-==================
-
-.. toctree::
-   :maxdepth: 2
-
-   fw_info
-   fw_update
-   fw_changelog
--- a/docs/src/firmware/fw_changelog.rst
+++ b/docs/src/firmware/fw_changelog.rst
@ -1,50 +0,0 @@
-Change Log
-==================
-
-.. toctree::
-   :maxdepth: 2
-
-2019-11-25
-------------------
-
-S1030 Main Chip Firmware: MYNTEYE-S1030-2.7.0.img
-
-1. Fix some issues
-
-S21X0 Main Chip Firmware: MYNTEYE-S21X0-2.1.0.img
-
-1. Update protocol version
-2. Fix and optimize some other issues
-
-2019-09-09
-------------------
-
-S21X0 Main Chip Firmware: MYNTEYE-S21X0-1.4.0.img
-
-1. Support 2110 device.
-
-2019-08-09
-------------------
-
-S1030 Main Chip Firmware: MYNTEYE-S1030-2.5.0.img
-
-1. Optimize the synchronization of image and imu
-2. Not save the camera control parameters
-3. Fix the overexplosion problem at low resolution
-4. Fix USB 2.0 first open failure problem
-5. Add automatic recovery function when updating wrong firmware
-
-S2100 Main Chip Firmware: MYNTEYE-S2100-1.3.2.img
-
-1. Optimize the synchronization of image and imu
-2. Not save the camera control parameters
-3. Optimize IMU low-pass filter default values
-4. Optimize the exposure time calculation method, the maximum exposure time is limited to 66.5ms
-5. Add automatic recovery function when updating wrong firmware
-6. Fix and optimize some other issues
-
-S2100 Auxiliary Chip Firmware: MYNTEYE-S2100-auxiliary-chip-1.4.2.bin
-
-1. Time synchronization adds uart interface, io interruption judgement
-2. Time synchronization i2c interface adds whoami, read timestamp and median filter open state interface
-3. Fix and optimize some other issues
--- a/docs/src/firmware/fw_info.rst
+++ b/docs/src/firmware/fw_info.rst
@ -1,9 +0,0 @@
-.. _fw_info:
-
-Firmware Description
-==================
-
-.. toctree::
-   :maxdepth: 2
-
-   applicable
--- a/docs/src/firmware/fw_update.rst
+++ b/docs/src/firmware/fw_update.rst
@ -1,10 +0,0 @@
-.. _fw_update:
-
-Firmware Update
-==================
-
-.. toctree::
-   :maxdepth: 2
-
-   update_main_chip
-   update_auxiliary_chip
--- a/Show More
+++ b/Show More