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MYNT EYE D SDK Documentation, Release 1.8.0

Change “Configuration” to “All Configurations”, then add the following paths to “Additional Include Directories”,

MYNTEYED_SDK_ROOT

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MYNTEYED_SDK_ROOT

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rdparty

pencv

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Chapter 2. SDK

Содержание MYNT EYE D-Series

Страница 1: ...MYNT EYE D SDK Documentation Release 1 8 0 MYNTAI Nov 07 2019...

Страница 2: ......

Страница 3: ...nge Log 51 3 Android SDK 55 3 1 SDK Explain 55 3 2 SDK Download 55 3 3 SDK Install 55 3 4 SDK Samples 55 3 5 Update Log 58 4 FIRMWARE 61 4 1 Firmware Update 61 4 2 Change Log 62 5 TOOLS SUPPORT 63 5 1...

Страница 4: ...7 5 Utils 91 8 Android API DOCS 93 8 1 USBMonitor 93 8 2 MYNTCamera 93 8 3 ImuData Device with Imu 98 8 4 FrameData 98 9 TECHNICAL SUPPORT 103 9 1 FAQ 103 9 2 Contact Us 103 Index 105 ii...

Страница 5: ...ocular IMU scheme provides accurate six axis complementary data for VSLAM applications and is more accurate and robust than other single solutions In addition MYNT EYE Depth also provides a rich SDK i...

Страница 6: ...th the visual positioning calculations of white wall non textured object For non IR version the outlet is reserved but there is no internal structured light emitter C USB Micro B interface and set scr...

Страница 7: ...1 9 3 5W 5V DC from USB Synchronization Precision 1ms up to 0 01ms IMU Frequency 200Hz Output data format YUYV MJPG Data transfer Interface USB2 0 3 0 Weight 184g UVC MODE Yes Software Support system...

Страница 8: ...lor Mode Color Working Distance 0 49 10m Scanning Mode Global Shutter Power 1 8W 5V DC from USB Synchronization Precision 1ms up to 0 01ms IMU Frequency 200Hz Output data format YUYV MJPG Data transfe...

Страница 9: ...640 480 Pixel Size 3 0 3 0m Baseline 40 0mm Visual Angle D 66 H 59 V 35 Focal Length 3 3mm IR Support YES IR detectable range 2m Color Mode Color Working Distance 0 2 3m Scanning Mode Rolling Shutter...

Страница 10: ...0 30 640x480 60 30 L R USB3 0 2560x720 30 not open null L R USB3 0 2560x720 30 not open null D USB3 0 not open null 1280x720 60 30 D USB3 0 not open null 640x480 60 30 L R USB2 0 2560x720 5 not open n...

Страница 11: ...Documentation Release 1 8 0 In IR Depth Only mode framerate only support 15fps and 30fps 1 5 IMU Coordinata System IMU coordinate system is right handed the axis directions are as follows 1 5 IMU Coor...

Страница 12: ...MYNT EYE D SDK Documentation Release 1 8 0 8 Chapter 1 PRODUCT...

Страница 13: ...ier RK3399 firefly Raspberry Pi 3B Tip Ubuntu only support source installation mode Only supports 64 bit systems Warning Due to the requirement of hardware transmission rate please use the USB 3 inter...

Страница 14: ...all python dev python numpy libtbb2 libtbb dev libjpeg dev libpng dev libtiff dev libjasper dev libdc1394 22 dev git clone https github com opencv opencv git cd opencv git checkout tags 3 4 3 cd openc...

Страница 15: ...e SDK make all 3 Run Samples Note Open the rectified image by default Run vio need to raw image run depth or points cloud need to rectified image 1 get_image shows the left camera image and colorful d...

Страница 16: ...th image samples _output bin get_depth_with_filter 11 get_points_with_filter display filtered point cloud image samples _output bin get_points_with_filter 4 Install With OpenCV ROS If you won t use RO...

Страница 17: ...s and install select Desktop development with C Tip support Visual Studio 2015 and Visual Studio 2017 1 2 Install CMake Download CMake from https cmake org and install 1 3 Install MSYS2 1 Download MSY...

Страница 18: ...D OpenCV Build x64 vc14 lib suggested for Visual Studio 2015 64 bit Windows setx m OPENCV_DIR D OpenCV Build x64 vc15 lib suggested for Visual Studio 2017 64 bit Windows Or referring to Add to the PA...

Страница 19: ...git clone https github com slightech MYNT EYE D SDK git cd MYNT EYE D SDK make all Tip Visual Studio Command Prompt can be opened from the Start menu You can also open it from the Visual Studio Tools...

Страница 20: ...eft camera image 16UC1 depthmap and depth value mm on mouse pointed pixel samples _output bin get_depth bat 4 get_points shows the left camera image 16UC1 depthmap and point cloud view samples _output...

Страница 21: ...l Visual Studio 2017 and CMake Second goto the samples directory and click generate bat to run Finally you could click _build mynteye_samples sln to open the samples project p s The example result of...

Страница 22: ...erating executable get_imu Generating get_imu bat Configuring done Generating done CMake Warning Manually specified variables were not used by the project CMAKE_BUILD_TYPE Build files have been writte...

Страница 23: ...setup bash roslaunch mynteye_wrapper_d mynteye launch 2 2 5 ROS Wrapper Usage Compile and run the node according to ROS Wrapper Installation rostopic list lists all released nodes mynteye depth camer...

Страница 24: ...e data Please read rostopic for more information The ROS file is structured like follows sdk wrappers ros src mynteye_wrapper_d launch display launch mynteye launch slam orb_slam2 launch vins_fusion l...

Страница 25: ...te_ae default true Auto white balance arg name state_awb default true IR intensity arg name ir_intensity default 4 IR Depth Only arg name ir_depth_only default false Setup your local gravity here arg...

Страница 26: ...R 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 GetStr...

Страница 27: ...unning 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_de...

Страница 28: ...mu 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...

Страница 29: ...de examples see get_from_callbacks cc 2 3 7 Get Different Types Of Image By Options get_all_with_options sample can add different options to control device get_all_with_options h Open device with diff...

Страница 30: ...unrectified image Complete code samplessee get_all_with_options cc 2 3 8 Get Image Calibration Parameters Use GetStreamIntrinsics and GetStreamExtrinsics to get image calibration parameters Reference...

Страница 31: ...cale 1 00205999990004191 0 00000000000000000 0 00000000000000000 0 00000000000000000 1 00622999999999996 0 00000000000000000 0 00000000000000000 0 00000000000000000 1 00171999999999994 assembly 1 0000...

Страница 32: ...ams framerate parameter you can set the frame rate of image Note The effective fps of the image 0 60 The effective fps of the image in 2560x720 resolution 30 Reference code snippet Framerate 30 defaul...

Страница 33: ...snippet Auto exposure true default false params state_ae false Auto white balance true default false params state_awb false Enable IR and its adjustments function Using the params ir_intensity parame...

Страница 34: ...15fps or greater than 30fps IR Depth Only mode will be not available params ir_depth_only false Adjust colour depth value Using the params colour_depth_value parameter The value is 5000 by default Re...

Страница 35: ...utoWhiteBalanceControl bool enable see camera h Set infrared IR intensity set infrared IR intensity 0 10 default 4 void SetIRIntensity const std uint16_t value see camera h Set global gain Note You ha...

Страница 36: ...LoadConfig void data inline bool TurnOn inline bool TurnOff inline bool IsEnable int main int argc char const argv SpatialFilter spat_filter TemporalFilter temp_filter for get frame spat_filter Proce...

Страница 37: ...et imu 20040 temp 20040 timebeg 4 384450 timeend 44 615550 duration 40 231100 save figure to dataset imu_analytics png imu analytics done The analysis result graph will be saved in the data set direct...

Страница 38: ...MYNT EYE D SDK Documentation Release 1 8 0 34 Chapter 2 SDK...

Страница 39: ...diff where factor 0 1 imgs where diff 0 04 1 1 0 imgs where diff 0 04 0 9 0 imus where diff 0 002 1 1 0 imus where diff 0 002 0 9 0 image timestamp duplicates 0 save figure to dataset stamp_analytics...

Страница 40: ...ents workdir dataset left stream txt Image infomation right stream txt Image information motion txt IMU information Tip When recording data dataset cc has annotated display image inside cv imwrite Bec...

Страница 41: ...ools _output bin writer imu_params_writer tools writer config imu params Windows tools _output bin writer imu_params_writer bat tools writer config imu params The path of parameters file can be found...

Страница 42: ...tion Release 1 8 0 Create Project Open Visual Studio 2017 then File New Project Select Windows Console Application set the project s name and location click OK Finally you will see the new project lik...

Страница 43: ...MYNT EYE D SDK Documentation Release 1 8 0 Config Properties Right click the project and open its Properties window 2 5 SDK Project Demos 39...

Страница 44: ...entation Release 1 8 0 Change Configuration to All Configurations then add the following paths to Additional Include Directories MYNTEYED_SDK_ROOT include MYNTEYED_SDK_ROOT 3rdparty opencv build inclu...

Страница 45: ...tions to Preprocessor Definitions WITH_OPENCV WITH_OPENCV3 Add the following paths to Additional Library Directories MYNTEYED_SDK_ROOT lib MYNTEYED_SDK_ROOT 3rdparty opencv build x64 vc15 lib Add the...

Страница 46: ...64 to run the project 2 5 2 How to use SDK with Qt Creator This tutorial will create a Qt project with Qt Creator to start using SDK You could find the project demo in sdk platforms projects qtcreator...

Страница 47: ...MYNT EYE D SDK Documentation Release 1 8 0 Choose Qt Widgets Application Set project location and its name 2 5 SDK Project Demos 43...

Страница 48: ...MYNT EYE D SDK Documentation Release 1 8 0 Select the build kits Then it will generate the skeleton source files 44 Chapter 2 SDK...

Страница 49: ...MYNT EYE D SDK Documentation Release 1 8 0 Finally you will see the new project like this 2 5 SDK Project Demos 45...

Страница 50: ...ty SDK_ROOT error MYNTEYED_SDK_ROOT not found please install SDK firstly message SDK_ROOT SDK_ROOT INCLUDEPATH SDK_ROOT include LIBS SDK_ROOT lib mynteye_depth lib unix INCLUDEPATH usr local include L...

Страница 51: ...MYNT EYE D SDK Documentation Release 1 8 0 Windows Should select Release to run the project Then you will see the main window 2 5 SDK Project Demos 47...

Страница 52: ...MYNT EYE D SDK Documentation Release 1 8 0 Linux Run the project and you will see the main window 48 Chapter 2 SDK...

Страница 53: ...nd the project demo in sdk platforms projects cmake directory Preparation Windows install the win pack of SDK Linux build from source and make install Create Project Add CMakeLists txt and mynteyed_de...

Страница 54: ...OOT lib cmake SDK_ROOT 3rdparty opencv build else message FATAL_ERROR MYNTEYED_SDK_ROOT not found please install SDK firstly endif endif mynteyed find_package mynteyed REQUIRED message STATUS Found my...

Страница 55: ...hen open x64 Native Tools Command Prompt for VS 2017 command shell to build and run mkdir _build cd _build cmake G Visual Studio 15 2017 Win64 msbuild exe ALL_BUILD vcxproj property Configuration Rele...

Страница 56: ...independent compilations 2 6 5 2019 04 26 v1 7 6 1 Fix ir_depth_only no depth image issue 2 Fix point cloud jitter issue for ros display 2 6 6 2019 04 17 v1 7 5 1 Remove beta_ros wrapper 2 Publish de...

Страница 57: ...T EYE D SDK Documentation Release 1 8 0 4 Fix the problem that the frame rate of camera info released by left and right eyes under ROS is twice the normal value 5 Document optimization 2 6 Change Log...

Страница 58: ...MYNT EYE D SDK Documentation Release 1 8 0 54 Chapter 2 SDK...

Страница 59: ...Google Drive https drive google com open id 1wVp4xqqgjidPQyzzW1Tmibbw4yY5p4sv 3 3 SDK Install 1 Get sdk resource SDK Download 2 New android project example Android Studio 3 Put the aar file of SDK to...

Страница 60: ...fun didAttach camera MYNTCamera Insert equipment override fun didDettach camera MYNTCamera Pull out equipment override fun didConnectedCamera camera MYNTCamera Connection successful override fun didD...

Страница 61: ...er post if mCamera null return post Color image previews related objects mColorSurface Surface colorTextureView surfaceTexture Depth image previews related objects mDepthSurface Surface depthTextureVi...

Страница 62: ...iew text String format acc x 2f y 2f z 2f timestamp d temperature 2f data value 0 data value 1 data value 2 data timestamp data temperature if data flag ImuData GYROSCOPE runOnUiThread gyroTextView te...

Страница 63: ...e display switch interface 3 5 4 v1 2 4 2019 05 27 Modify camera sample Add deep data save read example Fix crash caused by close camera Fix crash caused by turning on the camera 3 5 5 v1 2 3 2019 04...

Страница 64: ...MYNT EYE D SDK Documentation Release 1 8 0 3 5 8 v1 2 0 2019 02 26 Compatible with D 1200 devices Image compatible with D 1000 device IMU IR function temporarily unavailable 60 Chapter 3 Android SDK...

Страница 65: ...Drive Baidu Pan Update Firmware Note Please follow the steps to upgrade firmware Otherwise the camera calibration parameters will be lost 1 Select camera device 2 Select data type 256KB 3 Select chip...

Страница 66: ...put bin writer auxiliary_firmware_update firmware file path 4 2 Change Log 4 2 1 Auxiliary Chip Firmware 2019 08 26 v1 4 2 MYNTEYE D auxiliary chip 1 4 2 bin 1 Optimize the synchronization of image an...

Страница 67: ...older means using for 720p VGA for 480p You need calibrate both resolution for camera Copy and paste eDepthK prj to mynteye d calibrator_1 0 folder Open eDepthK prj with txt and modify Col1 2 3 4 to c...

Страница 68: ...snapshot of the properly positioned chess board If calibrator can not detect all the intersections on preview image you will get Not Found result 5 1 6 Operation guide 1 Double click mynteye d calibr...

Страница 69: ...t Found result 5 1 8 Operation guide 5 1 9 Calibration Result After calibration parameters will auto write into device After caliobration you can get Reprojection error in log file StereoSetting txt i...

Страница 70: ...r_Message Yoffset Error Message Possible root cause Yoffset Not support format 1 FW issue check page 14 2 eDepthK prj setting error No Device 1 USB unstable Yoffset Cannot Preview Resolution 1 FW issu...

Страница 71: ...alibration fail Calib_Line_Buffer_Err 1 linebuffer 160 quality error Calibration fail Calib_reproject_err 1 reprojection err 1 75 quality error Calibration Write flash fail 1 FW issue check page 14 5...

Страница 72: ...MYNT EYE D SDK Documentation Release 1 8 0 68 Chapter 5 TOOLS SUPPORT...

Страница 73: ...a ros pkg master ros_install sh chmod 755 ros_install sh bash ros_install sh catkin_ws kinetic 6 1 3 Run VINS Mono with docker Note To complie with docker we recommend that you should use more than 16...

Страница 74: ...l path of MYNT EYE D SDK source wrappers ros devel setup bash roslaunch mynteye_wrapper_d vins_mono launch stream_mode 0 2 Open another terminal to run vins mono cd MYNT EYE VINS Sample docker local p...

Страница 75: ...d run ORB_SLAM2 rosrun ORB_SLAM2 mynteye_d_stereo Vocabulary ORBvoc txt config mynteye_d_stereo yaml true mynteye left image_mono mynteye right image_mono 6 3 How To Use In OKVIS 6 3 1 If you wanna ru...

Страница 76: ...efficients coeffs only first four parameters of coeffs need to be filled focal_length fx fy principal_point cx cy distortion_type radialtangential 6 3 4 Run MYNTEYE OKVIS Run camera mynteye_wrapper_d...

Страница 77: ...MYNT EYE D SDK API you can get the image calibration parameters of the currently open device cd MYNT EYE S SDK samples _output bin get_img_params After running the above type pinhole s distortion_par...

Страница 78: ...x ubuntu gpg sudo apt key add sudo add apt repository deb arch amd64 https download docker com linux ubuntu lsb_release cs stable sudo apt get update sudo apt get install docker ce docker ce cli conta...

Страница 79: ...ON Sample docker local path of MYNT EYE VINS FUSION Sample run sh mynteye d mynt_mono_config yaml mono imu fusion run sh mynteye d mynt_stereo_config yaml Stereo fusion run sh mynteye d mynt_stereo_im...

Страница 80: ...MYNT EYE D SDK Documentation Release 1 8 0 76 Chapter 6 OPEN SOURCE SUPPORT...

Страница 81: ...s params Open camera with params bool IsOpened const Whethor camera is opened or not OpenParams GetOpenParams const Get open params std shared_ptr device Descriptors GetDescriptors const Get all devic...

Страница 82: ...sc device ImuParams imu_params Version spec_version nullptr Write device flash void EnableProcessMode const ProcessMode mode Enable process mode e g imu assembly temp_drift void EnableProcessMode cons...

Страница 83: ...an also get them from callback void SetImgInfoCallback img_info_callback_t callback bool async true Set image info callback void SetStreamCallback const ImageType type stream_callback_t callback bool...

Страница 84: ...location data callback bool IsDistanceDatasSupported const Whethor distance datas supported or not void EnableDistanceDatas std size_t max_size std numeric_limits std size_t max Enable distance datas...

Страница 85: ...type The device type std uint16_t pid The product id std uint16_t vid The vendor id std uint16_t chip_id The chip id std string fw_version The firmware version std string sn The serial number 7 2 2 Im...

Страница 86: ...de ColorMode color_mode Color mode default COLOR_RAW DepthMode depth_mode Depth mode default DEPTH_COLORFUL StreamMode stream_mode Stream mode of color depth default STREAM_1280x720 StreamFormat color...

Страница 87: ...r ERROR_FILE_OPEN_FAILED File cannot be opened for not exist not a regular file or any other reason ERROR_CAMERA_OPEN_FAILED Camera cannot be opened for not plugged or any other reason ERROR_CAMERA_NO...

Страница 88: ...ssMode Process modes Values PROC_NONE 0 PROC_IMU_ASSEMBLY 1 PROC_IMU_TEMP_DRIFT 2 PROC_IMU_ALL PROC_IMU_ASSEMBLY PROC_IMU_TEMP_DRIFT 7 3 4 DeviceMode enum mynteyed DeviceMode List device modes Control...

Страница 89: ...Values DEPTH_RAW 0 ImageFormat DEPTH_RAW DEPTH_GRAY 1 ImageFormat DEPTH_GRAY_24 DEPTH_COLORFUL 2 ImageFormat DEPTH_RGB DEPTH_MODE_LAST 7 3 7 StreamMode enum mynteyed StreamMode List stream modes Valu...

Страница 90: ...IMAGE_RIGHT_COLOR RIGHT Color IMAGE_DEPTH Depth IMAGE_ALL All 7 3 10 ImageFormat enum mynteyed ImageFormat List image formats Values IMAGE_BGR_24 8UC3 IMAGE_RGB_24 8UC3 IMAGE_GRAY_8 8UC1 IMAGE_GRAY_16...

Страница 91: ...um mynteyed SensorType SensorType types Values SENSOR_TYPE_H22 0 SENSOR_TYPE_OV7740 SENSOR_TYPE_AR0134 SENSOR_TYPE_AR0135 SENSOR_TYPE_OV9714 7 3 12 SensorMode enum mynteyed SensorMode SensorMode modes...

Страница 92: ...mp Imu gyroscope or accelerometer or frame timestamp double temperature temperature double accel 3 Imu accelerometer data for 3 axis X Y X double gyro 3 Imu gyroscope data for 3 axis X Y Z StreamData...

Страница 93: ...principal point of the image double cy The vertical coordinate of the principal point of the image double coeffs 5 The distortion coefficients k1 k2 p1 p2 k3 double p 12 3x4 projection matrix in the...

Страница 94: ...ccelerometer and gyroscope Public Members ImuIntrinsics accel Accelerometer intrinsics ImuIntrinsics gyro Gyroscope intrinsics Extrinsics struct Extrinsics Extrinsics represent how the different datas...

Страница 95: ...mynteyed util select const Camera cam DeviceInfo info 7 5 2 print_stream_infos void mynteyed util print_stream_infos const Camera cam const std int32_t dev_index 7 5 3 is_right_color_supported bool my...

Страница 96: ...MYNT EYE D SDK Documentation Release 1 8 0 92 Chapter 7 API DOCS...

Страница 97: ...ogout listener public void unregister 8 1 3 Release listener public void destroy 8 2 MYNTCamera 8 2 1 Whethor camera is connected or not public boolean isConnected 8 2 2 Whether preview function is st...

Страница 98: ...ber 8 2 7 Get device s name public String getName 8 2 8 Get device s type public int getCameraType 8 2 9 Set callback of camera s connection public void setCameraListener ICameraListener callback 8 2...

Страница 99: ...of camera 8bit 11bit public void setDepthType short depthType 8 2 18 Get the type of camera s depth public short getDepthType 8 2 19 Set preview resolution 480 720 public void setPreviewSize int heig...

Страница 100: ...supported or not public boolean isIRSupported 8 2 27 Set value of IR public int setIRCurrentValue int value 8 2 28 Set the color mode of preview public void setColorMode ColorFrame colorFrame 8 2 29 G...

Страница 101: ...Whether AE is enable or not public boolean getAEStatusEnabled 8 2 36 Enable AE function public void setEnableAE 8 2 37 Disable AE function public void setDisableAE 8 2 38 Whether AWB is enable or not...

Страница 102: ...ing filePath Boolean hasColor int distance 8 3 ImuData Device with Imu 8 3 1 Data Type Data type 1 accelerometer 2 gyroscope public int flag 8 3 2 Timestamp public long timestamp 8 3 3 Temperature pub...

Страница 103: ...t width 8 4 4 Image height public int height 8 4 5 Color frame typeLeft Left Right public ColorFrame colorMode 8 4 6 Frame format MYNTCamera FRAME_FORMAT_YUYV MYNTCamera FRAME_FORMAT_MJPEG MYNTCamera...

Страница 104: ...lag is DEPTH public int getDistanceInts 8 4 12 Get distance arrayonly the flag is DEPTH get distance tableint param max Max mm if more than max go to be 0 public int getDistanceInts int max 8 4 13 Get...

Страница 105: ...anceShorts int max 8 4 16 Get distance arrayonly the flag is DEPTH get distance tableint param min Min mm param max Max mm if more than max go to be 0 public byte getDistanceShorts int min int max 8 4...

Страница 106: ...MYNT EYE D SDK Documentation Release 1 8 0 102 Chapter 8 Android API DOCS...

Страница 107: ...FAQ If you have problems using MYNT EYE please first check the following docs http support myntai com hc 9 2 Contact Us If you continue to encounter problems please contact customer service http supp...

Страница 108: ...MYNT EYE D SDK Documentation Release 1 8 0 104 Chapter 9 TECHNICAL SUPPORT...

Страница 109: ...ion 80 mynteyed Camera GetExposureTime C function 79 mynteyed Camera GetGlobalGain C function 79 mynteyed Camera GetLocationDatas C function 80 mynteyed Camera GetMotionDatas C function 79 mynteyed Ca...

Страница 110: ...GB C enumerator 86 mynteyed COLOR_YUYV C enumerator 86 mynteyed ColorMode C enum 85 mynteyed DEPTH_BGR C enumerator 87 mynteyed DEPTH_COLORFUL C enumerator 85 mynteyed DEPTH_GRAY C enumerator 85 86 my...

Страница 111: ...s bias C mem ber 90 mynteyed ImuIntrinsics noise C mem ber 90 mynteyed ImuIntrinsics scale C mem ber 89 mynteyed ImuIntrinsics x C member 90 mynteyed LEFT C enumerator 87 mynteyed LENS_TYPE C enumerat...

Страница 112: ...T C enumer ator 86 mynteyed STREAM_MJPG C enumerator 86 mynteyed STREAM_MODE_LAST C enumera tor 85 mynteyed STREAM_YUYV C enumerator 86 mynteyed StreamData C class 88 mynteyed StreamData img C member...

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