V1.2.7:For more information, please refer to the ReleaseNotes.txt

Vzense · Sep 14, 2023 · 4e8f31a · 4e8f31a
1 parent 88a97b9
commit 4e8f31a
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Showing 75 changed files with 90 additions and 73 deletions.
diff --git a/AArch64/Include/VzenseNebula_types.h b/AArch64/Include/VzenseNebula_types.h
@@ -4,6 +4,10 @@
 #include <stdint.h>
 #include "VzenseNebula_enums.h"
 
+#ifndef __cplusplus
+#include <stdbool.h>
+#endif
+
 typedef uint16_t VzDepthPixel;  //!< Depth image pixel type in 16-bit
 typedef uint16_t VzGray16Pixel; //!< Gray image pixel type in 16-bit
 typedef uint8_t VzGray8Pixel;   //!< Gray image pixel type in 8-bit
@@ -165,9 +169,6 @@ typedef struct
     int	exposureTime;              //When the control mode is AE,  exposureTime represents the maximum exposure time.
                                    //When the control mode is Manual, exposureTime represents the current exposure time.
 } VzExposureTimeParams;
-
-
-
 /**
  * @brief Error informations about the device
  */

diff --git a/AArch64/Lib/Drivers/libgc2053.so b/AArch64/Lib/Drivers/libgc2053.so
diff --git a/AArch64/Lib/Drivers/libsony_cw_2022.so b/AArch64/Lib/Drivers/libsony_cw_2022.so
diff --git a/AArch64/Lib/libNebula_api.so b/AArch64/Lib/libNebula_api.so
diff --git a/AArch64/Lib/libNebula_api.so.1.2 b/AArch64/Lib/libNebula_api.so.1.2
diff --git a/AArch64/Lib/libNebula_api.so.1.2.4 b/AArch64/Lib/libNebula_api.so.1.2.4
diff --git a/AArch64/Lib/libNebula_api.so.1.2.7 b/AArch64/Lib/libNebula_api.so.1.2.7
diff --git a/AArch64/ReleaseNotes.txt b/AArch64/ReleaseNotes.txt
@@ -1,3 +1,14 @@
+Ver1.2.7
+1.Add sleep 1000ms in the VZ_SetWorkMode api
+2.Optimizate code and fix some errors
+
+Ver1.2.6
+1.Optimizate the code for checking the device remove
+
+Ver1.2.5
+1.Optimizate the code for checking the device status
+2.Add memset before memcy for IP
+
 Ver1.2.4
 1.Optimizate code check the time from frame ready to get frame is out of 1s or not
 

diff --git a/AArch64/Samples/Base/DS77/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/AArch64/Samples/Base/DS77/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/AArch64/Samples/Base/DS77/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/AArch64/Samples/Base/DS77/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/AArch64/Samples/Base/DS77C/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/AArch64/Samples/Base/DS77C/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/AArch64/Samples/Base/DS77C/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/AArch64/Samples/Base/DS77C/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/AArch64/Samples/Base/DS86/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/AArch64/Samples/Base/DS86/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/AArch64/Samples/Base/DS86/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/AArch64/Samples/Base/DS86/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/Python/API/VzenseDS_api.py b/Python/API/VzenseDS_api.py
@@ -106,6 +106,8 @@ def VZ_StopStream(self):
 
     def VZ_GetFrameReady(self,waitTime = c_uint16(33)):
         frameready = VzFrameReady()
+        if not self.device_handle:
+            return -3, frameready
         return self.vz_cam_lib.VZ_GetFrameReady(self.device_handle, waitTime, byref(frameready)), frameready
 
     def VZ_GetFrame(self,  frametype = VzFrameType.VzDepthFrame):   

diff --git a/Python/Samples/DS77/DevHotPlugCallback/DevHotPlugCallback.py b/Python/Samples/DS77/DevHotPlugCallback/DevHotPlugCallback.py
@@ -78,18 +78,7 @@ def HotPlugStateCallback(type_struct,  state = c_int32(0)):
         print("startstream failed",ret)
 
     while 1:
-        ret, frameready = camera.VZ_GetFrameReady(c_uint16(1000))
-        if  ret !=0:
-            print("VZ_GetFrameReady failed:",ret)
-            continue
-
-        if  frameready.depth:      
-            ret,frame = camera.VZ_GetFrame(VzFrameType.VzDepthFrame)
-            if  ret ==0:
-                print("frameIndex: ",frame.frameIndex)
-            else:
-                print("get depth frame failed ",ret)
-            continue
+        time.sleep(1)
 else:
     print('VZ_OpenDeviceByUri failed: ' + str(ret))  
 

diff --git a/Python/Samples/DS77C/DevHotPlugCallback/DevHotPlugCallback.py b/Python/Samples/DS77C/DevHotPlugCallback/DevHotPlugCallback.py
@@ -78,18 +78,7 @@ def HotPlugStateCallback(type_struct,  state = c_int32(0)):
         print("startstream failed",ret)
 
     while 1:
-        ret, frameready = camera.VZ_GetFrameReady(c_uint16(1000))
-        if  ret !=0:
-            print("VZ_GetFrameReady failed:",ret)
-            continue
-
-        if  frameready.depth:      
-            ret,frame = camera.VZ_GetFrame(VzFrameType.VzDepthFrame)
-            if  ret ==0:
-                print("frameIndex: ",frame.frameIndex)
-            else:
-                print("get depth frame failed ",ret)
-            continue
+        time.sleep(1)
 else:
     print('VZ_OpenDeviceByUri failed: ' + str(ret))  
 

diff --git a/Python/Samples/DS86/DevHotPlugCallback/DevHotPlugCallback.py b/Python/Samples/DS86/DevHotPlugCallback/DevHotPlugCallback.py
@@ -78,18 +78,7 @@ def HotPlugStateCallback(type_struct,  state = c_int32(0)):
         print("startstream failed",ret)
 
     while 1:
-        ret, frameready = camera.VZ_GetFrameReady(c_uint16(1000))
-        if  ret !=0:
-            print("VZ_GetFrameReady failed:",ret)
-            continue
-
-        if  frameready.depth:      
-            ret,frame = camera.VZ_GetFrame(VzFrameType.VzDepthFrame)
-            if  ret ==0:
-                print("frameIndex: ",frame.frameIndex)
-            else:
-                print("get depth frame failed ",ret)
-            continue
+        time.sleep(1)
 else:
     print('VZ_OpenDeviceByUri failed: ' + str(ret))  
 

diff --git a/Ubuntu16.04/Include/VzenseNebula_types.h b/Ubuntu16.04/Include/VzenseNebula_types.h
@@ -4,6 +4,10 @@
 #include <stdint.h>
 #include "VzenseNebula_enums.h"
 
+#ifndef __cplusplus
+#include <stdbool.h>
+#endif
+
 typedef uint16_t VzDepthPixel;  //!< Depth image pixel type in 16-bit
 typedef uint16_t VzGray16Pixel; //!< Gray image pixel type in 16-bit
 typedef uint8_t VzGray8Pixel;   //!< Gray image pixel type in 8-bit
@@ -165,9 +169,6 @@ typedef struct
     int	exposureTime;              //When the control mode is AE,  exposureTime represents the maximum exposure time.
                                    //When the control mode is Manual, exposureTime represents the current exposure time.
 } VzExposureTimeParams;
-
-
-
 /**
  * @brief Error informations about the device
  */

diff --git a/Ubuntu16.04/Lib/Drivers/libgc2053.so b/Ubuntu16.04/Lib/Drivers/libgc2053.so
diff --git a/Ubuntu16.04/Lib/Drivers/libsony_cw_2022.so b/Ubuntu16.04/Lib/Drivers/libsony_cw_2022.so
diff --git a/Ubuntu16.04/Lib/libNebula_api.so b/Ubuntu16.04/Lib/libNebula_api.so
diff --git a/Ubuntu16.04/Lib/libNebula_api.so.1.2 b/Ubuntu16.04/Lib/libNebula_api.so.1.2
diff --git a/Ubuntu16.04/Lib/libNebula_api.so.1.2.4 b/Ubuntu16.04/Lib/libNebula_api.so.1.2.4
diff --git a/Ubuntu16.04/Lib/libNebula_api.so.1.2.7 b/Ubuntu16.04/Lib/libNebula_api.so.1.2.7
diff --git a/Ubuntu16.04/ReleaseNotes.txt b/Ubuntu16.04/ReleaseNotes.txt
@@ -1,3 +1,14 @@
+Ver1.2.7
+1.Add sleep 1000ms in the VZ_SetWorkMode api
+2.Optimizate code and fix some errors
+
+Ver1.2.6
+1.Optimizate the code for checking the device remove
+
+Ver1.2.5
+1.Optimizate the code for checking the device status
+2.Add memset before memcy for IP
+
 Ver1.2.4
 1.Optimizate code check the time from frame ready to get frame is out of 1s or not
 

diff --git a/Ubuntu16.04/Samples/Base/DS77/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/Ubuntu16.04/Samples/Base/DS77/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/Ubuntu16.04/Samples/Base/DS77/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/Ubuntu16.04/Samples/Base/DS77/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/Ubuntu16.04/Samples/Base/DS77C/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/Ubuntu16.04/Samples/Base/DS77C/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/Ubuntu16.04/Samples/Base/DS77C/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/Ubuntu16.04/Samples/Base/DS77C/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/Ubuntu16.04/Samples/Base/DS86/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/Ubuntu16.04/Samples/Base/DS86/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/Ubuntu16.04/Samples/Base/DS86/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/Ubuntu16.04/Samples/Base/DS86/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/Ubuntu18.04/Include/VzenseNebula_types.h b/Ubuntu18.04/Include/VzenseNebula_types.h
@@ -4,6 +4,10 @@
 #include <stdint.h>
 #include "VzenseNebula_enums.h"
 
+#ifndef __cplusplus
+#include <stdbool.h>
+#endif
+
 typedef uint16_t VzDepthPixel;  //!< Depth image pixel type in 16-bit
 typedef uint16_t VzGray16Pixel; //!< Gray image pixel type in 16-bit
 typedef uint8_t VzGray8Pixel;   //!< Gray image pixel type in 8-bit
@@ -165,9 +169,6 @@ typedef struct
     int	exposureTime;              //When the control mode is AE,  exposureTime represents the maximum exposure time.
                                    //When the control mode is Manual, exposureTime represents the current exposure time.
 } VzExposureTimeParams;
-
-
-
 /**
  * @brief Error informations about the device
  */

diff --git a/Ubuntu18.04/Lib/Drivers/libgc2053.so b/Ubuntu18.04/Lib/Drivers/libgc2053.so
diff --git a/Ubuntu18.04/Lib/Drivers/libsony_cw_2022.so b/Ubuntu18.04/Lib/Drivers/libsony_cw_2022.so
diff --git a/Ubuntu18.04/Lib/libNebula_api.so.1.2 b/Ubuntu18.04/Lib/libNebula_api.so.1.2
@@ -1 +1 @@
-libNebula_api.so.1.2.4
+libNebula_api.so.1.2.7
diff --git a/Ubuntu18.04/Lib/libNebula_api.so.1.2.4 b/Ubuntu18.04/Lib/libNebula_api.so.1.2.4
diff --git a/Ubuntu18.04/Lib/libNebula_api.so.1.2.7 b/Ubuntu18.04/Lib/libNebula_api.so.1.2.7
diff --git a/Ubuntu18.04/ReleaseNotes.txt b/Ubuntu18.04/ReleaseNotes.txt
@@ -1,3 +1,14 @@
+Ver1.2.7
+1.Add sleep 1000ms in the VZ_SetWorkMode api
+2.Optimizate code and fix some errors
+
+Ver1.2.6
+1.Optimizate the code for checking the device remove
+
+Ver1.2.5
+1.Optimizate the code for checking the device status
+2.Add memset before memcy for IP
+
 Ver1.2.4
 1.Optimizate code check the time from frame ready to get frame is out of 1s or not
 

diff --git a/Ubuntu18.04/Samples/Base/DS77/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/Ubuntu18.04/Samples/Base/DS77/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/Ubuntu18.04/Samples/Base/DS77/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/Ubuntu18.04/Samples/Base/DS77/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/Ubuntu18.04/Samples/Base/DS77C/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/Ubuntu18.04/Samples/Base/DS77C/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/Ubuntu18.04/Samples/Base/DS77C/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/Ubuntu18.04/Samples/Base/DS77C/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/Ubuntu18.04/Samples/Base/DS86/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/Ubuntu18.04/Samples/Base/DS86/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/Ubuntu18.04/Samples/Base/DS86/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/Ubuntu18.04/Samples/Base/DS86/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{

diff --git a/Windows/Bin/x64/DSImgPreProcess.dll b/Windows/Bin/x64/DSImgPreProcess.dll
diff --git a/Windows/Bin/x64/Drivers/gc2053.dll b/Windows/Bin/x64/Drivers/gc2053.dll
diff --git a/Windows/Bin/x64/Drivers/sony_cw_2022.dll b/Windows/Bin/x64/Drivers/sony_cw_2022.dll
diff --git a/Windows/Bin/x64/Nebula_api.dll b/Windows/Bin/x64/Nebula_api.dll
diff --git a/Windows/Bin/x86/DSImgPreProcess.dll b/Windows/Bin/x86/DSImgPreProcess.dll
diff --git a/Windows/Bin/x86/Drivers/gc2053.dll b/Windows/Bin/x86/Drivers/gc2053.dll
diff --git a/Windows/Bin/x86/Drivers/sony_cw_2022.dll b/Windows/Bin/x86/Drivers/sony_cw_2022.dll
diff --git a/Windows/Bin/x86/Nebula_api.dll b/Windows/Bin/x86/Nebula_api.dll
diff --git a/Windows/Include/VzenseNebula_types.h b/Windows/Include/VzenseNebula_types.h
@@ -4,6 +4,10 @@
 #include <stdint.h>
 #include "VzenseNebula_enums.h"
 
+#ifndef __cplusplus
+#include <stdbool.h>
+#endif
+
 typedef uint16_t VzDepthPixel;  //!< Depth image pixel type in 16-bit
 typedef uint16_t VzGray16Pixel; //!< Gray image pixel type in 16-bit
 typedef uint8_t VzGray8Pixel;   //!< Gray image pixel type in 8-bit
@@ -165,9 +169,6 @@ typedef struct
     int	exposureTime;              //When the control mode is AE,  exposureTime represents the maximum exposure time.
                                    //When the control mode is Manual, exposureTime represents the current exposure time.
 } VzExposureTimeParams;
-
-
-
 /**
  * @brief Error informations about the device
  */

diff --git a/Windows/Lib/x64/Nebula_api.lib b/Windows/Lib/x64/Nebula_api.lib
diff --git a/Windows/Lib/x86/Nebula_api.lib b/Windows/Lib/x86/Nebula_api.lib
diff --git a/Windows/PrecompiledSamples/DS77C_OpenCVSample/DSImgPreProcess.dll b/Windows/PrecompiledSamples/DS77C_OpenCVSample/DSImgPreProcess.dll
diff --git a/Windows/PrecompiledSamples/DS77C_OpenCVSample/Drivers/gc2053.dll b/Windows/PrecompiledSamples/DS77C_OpenCVSample/Drivers/gc2053.dll
diff --git a/Windows/PrecompiledSamples/DS77C_OpenCVSample/Drivers/sony_cw_2022.dll b/Windows/PrecompiledSamples/DS77C_OpenCVSample/Drivers/sony_cw_2022.dll
diff --git a/Windows/PrecompiledSamples/DS77C_OpenCVSample/Nebula_api.dll b/Windows/PrecompiledSamples/DS77C_OpenCVSample/Nebula_api.dll
diff --git a/Windows/PrecompiledSamples/DS77_OpenCVSample/DSImgPreProcess.dll b/Windows/PrecompiledSamples/DS77_OpenCVSample/DSImgPreProcess.dll
diff --git a/Windows/PrecompiledSamples/DS77_OpenCVSample/Drivers/gc2053.dll b/Windows/PrecompiledSamples/DS77_OpenCVSample/Drivers/gc2053.dll
diff --git a/Windows/PrecompiledSamples/DS77_OpenCVSample/Drivers/sony_cw_2022.dll b/Windows/PrecompiledSamples/DS77_OpenCVSample/Drivers/sony_cw_2022.dll
diff --git a/Windows/PrecompiledSamples/DS77_OpenCVSample/Nebula_api.dll b/Windows/PrecompiledSamples/DS77_OpenCVSample/Nebula_api.dll
diff --git a/Windows/PrecompiledSamples/DS86_OpenCVSample/DSImgPreProcess.dll b/Windows/PrecompiledSamples/DS86_OpenCVSample/DSImgPreProcess.dll
diff --git a/Windows/PrecompiledSamples/DS86_OpenCVSample/Drivers/gc2053.dll b/Windows/PrecompiledSamples/DS86_OpenCVSample/Drivers/gc2053.dll
diff --git a/Windows/PrecompiledSamples/DS86_OpenCVSample/Drivers/sony_cw_2022.dll b/Windows/PrecompiledSamples/DS86_OpenCVSample/Drivers/sony_cw_2022.dll
diff --git a/Windows/PrecompiledSamples/DS86_OpenCVSample/Nebula_api.dll b/Windows/PrecompiledSamples/DS86_OpenCVSample/Nebula_api.dll
diff --git a/Windows/ReleaseNotes.txt b/Windows/ReleaseNotes.txt
@@ -1,3 +1,14 @@
+Ver1.2.7
+1.Add sleep 1000ms in the VZ_SetWorkMode api
+2.Optimizate code and fix some errors
+
+Ver1.2.6
+1.Optimizate the code for checking the device remove
+
+Ver1.2.5
+1.Optimizate the code for checking the device status
+2.Add memset before memcy for IP
+
 Ver1.2.4
 1.Optimizate code check the time from frame ready to get frame is out of 1s or not
 

diff --git a/Windows/Samples/Base/DS77/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp b/Windows/Samples/Base/DS77/DevHotPlugCallbackC/DeviceHotPlugCallbackC.cpp
@@ -129,7 +129,7 @@ bool InitDevice(const int deviceCount)
 void HotPlugStateCallback(const VzDeviceInfo *pInfo, int status, void *contex)
 {
 	cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-	cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+	cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 	if (status == 0)
 	{

diff --git a/Windows/Samples/Base/DS77/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp b/Windows/Samples/Base/DS77/DevHotPlugCallbackCpp/DeviceHotPlugCallbackcplusplus.cpp
@@ -85,7 +85,7 @@ class Sensor {
 	void HandleCallback(const VzDeviceInfo* pInfo, int status)
 	{
 		cout << "uri " << status << "  " << pInfo->uri << "    " << (status == 0 ? "add" : "remove") << endl;
-		cout << "alia " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
+		cout << "alias " << status << "  " << pInfo->alias << "    " << (status == 0 ? "add" : "remove") << endl;
 
 		if (status == 0)
 		{