MYNTAI MYNT EYE D-Series, Documentation

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MYNT EYE D SDK Documentation, Release 1.8.0
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cv :: setMouseCallback( "depth" , OnDepthMouseCallback, & depth_region);
// Note: DrawRect will change some depth values to show the rect.
depth_region.DrawRect(depth);
cv :: imshow( "depth" , depth);
depth_region.ShowElems < ushort > (depth, []( const ushort & elem) {
return std :: to_string(elem);
}, 80 , depth_info);
}
The above code uses OpenCV to display the image. When the display window is selected, pressing ESC/Q will end
the program.
Note: get_depth sample only support DEPTH_RAW mode.You can modify
depth_mode
parameter of other samples
to get depth images
Complete code examples, see get_depth.cc .
2.3.4 Get Point Image
Point images belongs to upper layer of synthetic data.You can get it through
GetStreamData()
.It should be
check not empty before use. Otherwise, when running pionts,you can use “space” to save
.ply
files. Then sam-
ple
view_points
can be used to view
.ply
files.
Sample code snippet:
auto image_color = cam.GetStreamData(ImageType :: IMAGE_LEFT_COLOR);
auto image_depth = cam.GetStreamData(ImageType :: IMAGE_DEPTH);
if (image_color.img && image_depth.img) {
cv :: Mat color = image_color.img -> To(ImageFormat :: COLOR_BGR)
-> ToMat();
painter.DrawSize(color, CVPainter :: TOP_LEFT);
painter.DrawStreamData(color, image_color, CVPainter :: TOP_RIGHT);
painter.DrawInformation(color, util :: to_string(counter.fps()),
CVPainter :: BOTTOM_RIGHT);
cv :: Mat depth = image_depth.img -> To(ImageFormat :: DEPTH_RAW)
-> ToMat();
cv :: imshow( "color" , color);
viewer.Update(color, depth);
}
PCL is used to display point images above. Program will close when point image window is closed.
Complete code examples, see get_points.cc .
2.3.5 Get IMU Data
You need
EnableMotionDatas()
to enable caching in order to get IMU data from
GetMotionDatas()
.Otherwise, IMU data is only available through the callback interface, see Get Data
From Callbacks .
2.3. SDK Samples 23