MYNTAI MYNT EYE D-Series, Documentation

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MYNT EYE D SDK Documentation, Release 1.8.0
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if (left_color.img) {
cv :: Mat left = left_color.img -> To(ImageFormat :: COLOR_BGR) -> ToMat();
painter.DrawSize(left, CVPainter :: TOP_LEFT);
painter.DrawStreamData(left, left_color, CVPainter :: TOP_RIGHT);
painter.DrawInformation(left, util :: to_string(counter.fps()),
CVPainter :: BOTTOM_RIGHT);
cv :: imshow( "left color" , left);
Complete code samplessee get_stereo_image.cc .
2.3.2 Get Camera Image(Compatible With USB2.0)
Compatible with USB2.0 ,change to the resolution and frame rate for USB 2.0 automatically.Using
the
DeviceMode::DEVICE_COLOR
function of the API, you can get color imageor use
DeviceMode::DEVICE_ALL
to get color and depth image.
Using
GetStreamData()
to get your data.
Reference code snippet:
// Device mode, default DEVICE_ALL
// DEVICE_COLOR: IMAGE_LEFT_COLOR y IMAGE_RIGHT_COLOR - IMAGE_DEPTH n
// DEVICE_DEPTH: IMAGE_LEFT_COLOR n IMAGE_RIGHT_COLOR n IMAGE_DEPTH y
// DEVICE_ALL: IMAGE_LEFT_COLOR y IMAGE_RIGHT_COLOR - IMAGE_DEPTH y
// Note: y: available, n: unavailable, -: depends on #stream_mode
params.dev_mode = DeviceMode :: DEVICE_DEPTH;
auto left_color = cam.GetStreamData(ImageType :: IMAGE_LEFT_COLOR);
if (left_color.img) {
cv :: Mat left = left_color.img -> To(ImageFormat :: COLOR_BGR) -> ToMat();
painter.DrawSize(left, CVPainter :: TOP_LEFT);
painter.DrawStreamData(left, left_color, CVPainter :: TOP_RIGHT);
painter.DrawInformation(left, util :: to_string(counter.fps()),
CVPainter :: BOTTOM_RIGHT);
cv :: imshow( "left color" , left);
Complete code samplessee get_image.cc .
2.3.3 Get Depth Image
Depth images belongs to the upper layer of synthetic data.
You can change
depth_mode
to change the display of the depth image.
// Depth mode: colorful(default), gray, raw
params.depth_mode = DepthMode :: DEPTH_RAW;
Then you can get it through
GetStreamData()
.In addition, it should be check not be empty before use.
Reference code snippet:
auto image_depth = cam.GetStreamData(ImageType :: IMAGE_DEPTH);
if (image_depth.img) {
cv :: Mat depth = image_depth.img -> To(ImageFormat :: DEPTH_RAW) -> ToMat();
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22 Chapter 2. SDK