MYNTAI MYNT EYE D-Series, Документация

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MYNT EYE D SDK Documentation, Release 1.8.0
Sample code snippet:
auto motion_datas = cam.GetMotionDatas();
if (motion_datas.size() > 0 ) {
std :: cout << "Imu count: " << motion_datas.size() << std :: endl;
for ( auto data : motion_datas) {
if (data.imu) {
if (data.imu -> flag == MYNTEYE_IMU_ACCEL) {
counter.IncrAccelCount();
std :: cout << "[accel] stamp: " << data.imu -> timestamp
<< ", x: " << data.imu -> accel[ 0 ]
<< ", y: " << data.imu -> accel[ 1 ]
<< ", z: " << data.imu -> accel[ 2 ]
<< ", temp: " << data.imu -> temperature
<< std :: endl;
} else if (data.imu -> flag == MYNTEYE_IMU_GYRO) {
counter.IncrGyroCount();
std :: cout << "[gyro] stamp: " << data.imu -> timestamp
<< ", x: " << data.imu -> gyro[ 0 ]
<< ", y: " << data.imu -> gyro[ 1 ]
<< ", z: " << data.imu -> gyro[ 2 ]
<< ", temp: " << data.imu -> temperature
<< std :: endl;
} else {
std :: cerr << "Imu type is unknown" << std :: endl;
}
} else {
std :: cerr << "Motion data is empty" << std :: endl;
}
}
std :: cout << std :: endl;
}
OpenCV is used to display image and data. When window is selected, press ESC/Q to exit program.
Complete code examples, see get_imu.cc .
2.3.6 Get Data From Callbacks
API offers function
SetStreamCallback()
and
SetMotionCallback()
to set callbacks for various data.
Reference code snippet:
cam.SetImgInfoCallback([]( const std :: shared_ptr < ImgInfo >& info) {
std :: cout << " [img_info] fid: " << info -> frame_id
<< ", stamp: " << info -> timestamp
<< ", expos: " << info -> exposure_time << std :: endl
<< std :: flush;
});
for ( auto && type : types) {
// Set stream data callback
cam.SetStreamCallback(type, []( const StreamData & data) {
std :: cout << " [" << data.img -> type() << "] fid: "
<< data.img -> frame_id() << std :: endl
<< std :: flush;
});
}
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24 Chapter 2. SDK