Merge branch 'master' into simple_api

5 files changed, 358 insertions, 8 deletions

diff --git a/winbuild/calibrate/calibrate.vcxproj b/winbuild/calibrate/calibrate.vcxproj
index d0b1c48..feb72fd 100644
--- a/winbuild/calibrate/calibrate.vcxproj
+++ b/winbuild/calibrate/calibrate.vcxproj
@@ -17,6 +17,14 @@
       <Configuration>Release</Configuration>
       <Platform>x64</Platform>
     </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|Win32">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|x64">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>15.0</VCProjectVersion>
@@ -39,6 +47,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
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   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
@@ -52,6 +67,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
   <ImportGroup Label="ExtensionSettings">
   </ImportGroup>
@@ -63,12 +85,18 @@
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <LinkIncremental>true</LinkIncremental>
@@ -80,9 +108,15 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <ClCompile>
       <PrecompiledHeader>
@@ -152,6 +186,30 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUMX;HIDAPI;_CRT_SECURE_NO_WARNINGS;WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalLibraryDirectories>
+      </AdditionalLibraryDirectories>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
@@ -176,6 +234,30 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUMX;HIDAPI;_CRT_SECURE_NO_WARNINGS;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalLibraryDirectories>
+      </AdditionalLibraryDirectories>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemGroup>
     <ClCompile Include="..\..\calibrate.c" />
     <ClCompile Include="..\..\redist\CNFG3D.c" />
diff --git a/winbuild/data_recorder/data_recorder.vcxproj b/winbuild/data_recorder/data_recorder.vcxproj
index e63d474..9f3f86a 100644
--- a/winbuild/data_recorder/data_recorder.vcxproj
+++ b/winbuild/data_recorder/data_recorder.vcxproj
@@ -17,6 +17,14 @@
       <Configuration>Release</Configuration>
       <Platform>x64</Platform>
     </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|Win32">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|x64">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>15.0</VCProjectVersion>
@@ -39,6 +47,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
@@ -52,6 +67,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
   <ImportGroup Label="ExtensionSettings">
   </ImportGroup>
@@ -63,12 +85,18 @@
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <LinkIncremental>true</LinkIncremental>
@@ -80,9 +108,15 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <ClCompile>
       <PrecompiledHeader>
@@ -143,6 +177,28 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;HIDAPI;_CRT_SECURE_NO_WARNINGS;WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
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+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
@@ -165,6 +221,28 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;HIDAPI;_CRT_SECURE_NO_WARNINGS;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
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+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
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+  </ItemDefinitionGroup>
   <ItemGroup>
     <ProjectReference Include="..\libsurvive\libsurvive.vcxproj">
       <Project>{435cfd2c-8724-42ee-8fde-71ef7d2c6b2f}</Project>
diff --git a/winbuild/libsurvive/libsurvive.vcxproj b/winbuild/libsurvive/libsurvive.vcxproj
index 85e9f5a..620e4e6 100644
--- a/winbuild/libsurvive/libsurvive.vcxproj
+++ b/winbuild/libsurvive/libsurvive.vcxproj
@@ -17,6 +17,14 @@
       <Configuration>Release</Configuration>
       <Platform>x64</Platform>
     </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|Win32">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|x64">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>15.0</VCProjectVersion>
@@ -33,7 +41,14 @@
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="Configuration">
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     <PlatformToolset>v141</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
@@ -46,7 +61,14 @@
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
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     <PlatformToolset>v141</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
@@ -64,12 +86,18 @@
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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@@ -89,7 +117,7 @@
       <SubSystem>Windows</SubSystem>
       <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <GenerateMapFile>true</GenerateMapFile>
-      <MapFileName>$(IntDir)Test.txt</MapFileName>
+      <MapFileName>libsurvive.map</MapFileName>
       <MapExports>true</MapExports>
       <ModuleDefinitionFile>
       </ModuleDefinitionFile>
@@ -106,11 +134,15 @@
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       <WarningLevel>Level3</WarningLevel>
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-      <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUM;RUNTIME_SYMNUMX;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
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     <ProjectReference />
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@@ -122,13 +154,39 @@
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+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
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+    <ProjectReference />
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+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <ClCompile>
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+      <PrecompiledHeader>
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+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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     <Link>
       <SubSystem>Windows</SubSystem>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
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@@ -140,13 +198,39 @@
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     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
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+    <ProjectReference />
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <ClCompile>
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+      <PrecompiledHeader>
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+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
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+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
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@@ -160,6 +244,7 @@
     <ClCompile Include="..\..\redist\json_helpers.c" />
     <ClCompile Include="..\..\redist\linmath.c" />
     <ClCompile Include="..\..\redist\minimal_opencv.c" />
+    <ClCompile Include="..\..\redist\mpfit\mpfit.c" />
     <ClCompile Include="..\..\redist\puff.c" />
     <ClCompile Include="..\..\redist\sba\sba_chkjac.c" />
     <ClCompile Include="..\..\redist\sba\sba_crsm.c" />
@@ -170,10 +255,13 @@
     <ClCompile Include="..\..\src\epnp\epnp.c" />
     <ClCompile Include="..\..\src\ootx_decoder.c" />
     <ClCompile Include="..\..\src\poser.c" />
+    <ClCompile Include="..\..\src\poser_charlesrefine.c" />
     <ClCompile Include="..\..\src\poser_charlesslow.c" />
     <ClCompile Include="..\..\src\poser_daveortho.c" />
     <ClCompile Include="..\..\src\poser_dummy.c" />
     <ClCompile Include="..\..\src\poser_epnp.c" />
+    <ClCompile Include="..\..\src\poser_general_optimizer.c" />
+    <ClCompile Include="..\..\src\poser_mpfit.c" />
     <ClCompile Include="..\..\src\poser_octavioradii.c" />
     <ClCompile Include="..\..\src\poser_sba.c" />
     <ClCompile Include="..\..\src\poser_turveytori.c" />
@@ -185,6 +273,7 @@
     <ClCompile Include="..\..\src\survive_default_devices.c" />
     <ClCompile Include="..\..\src\survive_disambiguator.c" />
     <ClCompile Include="..\..\src\survive_driverman.c" />
+    <ClCompile Include="..\..\src\survive_imu.c" />
     <ClCompile Include="..\..\src\survive_playback.c" />
     <ClCompile Include="..\..\src\survive_process.c" />
     <ClCompile Include="..\..\src\survive_reproject.c" />
@@ -205,11 +294,13 @@
     <ClInclude Include="..\..\redist\json_helpers.h" />
     <ClInclude Include="..\..\redist\linmath.h" />
     <ClInclude Include="..\..\redist\minimal_opencv.h" />
+    <ClInclude Include="..\..\redist\mpfit\mpfit.h" />
     <ClInclude Include="..\..\redist\os_generic.h" />
     <ClInclude Include="..\..\redist\sba\sba.h" />
     <ClInclude Include="..\..\redist\symbol_enumerator.h" />
     <ClInclude Include="..\..\src\epnp\epnp.h" />
     <ClInclude Include="..\..\src\ootx_decoder.h" />
+    <ClInclude Include="..\..\src\poser_general_optimizer.h" />
     <ClInclude Include="..\..\src\survive_cal.h" />
     <ClInclude Include="..\..\src\survive_config.h" />
     <ClInclude Include="..\..\src\survive_default_devices.h" />
diff --git a/winbuild/libsurvive/libsurvive.vcxproj.filters b/winbuild/libsurvive/libsurvive.vcxproj.filters
index 61cec4c..b48377e 100644
--- a/winbuild/libsurvive/libsurvive.vcxproj.filters
+++ b/winbuild/libsurvive/libsurvive.vcxproj.filters
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup>
     <Filter Include="Source Files">
@@ -137,6 +137,21 @@
     </ClCompile>
     <ClCompile Include="..\..\src\survive_api.c">
       <Filter>Source Files</Filter>
+    </ClCompile>      
+    <ClCompile Include="..\..\src\survive_imu.c">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\redist\mpfit\mpfit.c">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\src\poser_general_optimizer.c">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\src\poser_mpfit.c">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\src\poser_charlesrefine.c">
+      <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
   <ItemGroup>
@@ -194,8 +209,14 @@
     <ClInclude Include="..\..\include\libsurvive\survive_api.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="..\..\redist\mpfit\mpfit.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\src\poser_general_optimizer.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <None Include="packages.config" />
   </ItemGroup>
-</Project>
\ No newline at end of file
+</Project>
diff --git a/winbuild/test/test.vcxproj b/winbuild/test/test.vcxproj
index 8df96d3..ae130b4 100644
--- a/winbuild/test/test.vcxproj
+++ b/winbuild/test/test.vcxproj
@@ -17,6 +17,14 @@
       <Configuration>Release</Configuration>
       <Platform>x64</Platform>
     </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|Win32">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|x64">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>15.0</VCProjectVersion>
@@ -39,6 +47,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
@@ -52,6 +67,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
   <ImportGroup Label="ExtensionSettings">
   </ImportGroup>
@@ -63,12 +85,18 @@
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <LinkIncremental>true</LinkIncremental>
@@ -81,9 +109,15 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <ClCompile>
       <PrecompiledHeader>
@@ -144,6 +178,28 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;HIDAPI;_CRT_SECURE_NO_WARNINGS;WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
@@ -166,6 +222,28 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;HIDAPI;_CRT_SECURE_NO_WARNINGS;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemGroup>
     <ProjectReference Include="..\libsurvive\libsurvive.vcxproj">
       <Project>{435cfd2c-8724-42ee-8fde-71ef7d2c6b2f}</Project>