Device¶
Device¶
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class Device¶
The Device class to communicate with MYNT® EYE device.
Public Types
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using stream_callback_t = device::StreamCallback¶
The device::StreamData callback.
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using motion_callback_t = device::MotionCallback¶
The device::MotionData callback.
Public Functions
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bool Supports(const Capabilities &capability) const¶
Supports the capability or not.
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const std::vector<StreamRequest> &GetStreamRequests(const Capabilities &capability) const¶
Get all stream requests of the capability.
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void ConfigStreamRequest(const Capabilities &capability, const StreamRequest &request)¶
Config the stream request to the capability.
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const StreamRequest &GetStreamRequest(const Capabilities &capability) const¶
Get the config stream requests of the capability.
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const std::vector<StreamRequest> &GetStreamRequests() const¶
Get all stream requests of the key stream capability.
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void ConfigStreamRequest(const StreamRequest &request)¶
Config the stream request to the key stream capability.
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const StreamRequest &GetStreamRequest() const¶
Get the config stream requests of the key stream capability.
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std::shared_ptr<DeviceInfo> GetInfo() const¶
Get the device info.
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std::shared_ptr<IntrinsicsBase> GetIntrinsics(const Stream &stream) const¶
Get the intrinsics of stream.
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Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const¶
Get the extrinsics from one stream to another.
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MotionIntrinsics GetMotionIntrinsics() const¶
Get the intrinsics of motion.
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Extrinsics GetMotionExtrinsics(const Stream &from) const¶
Get the extrinsics from one stream to motion.
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std::shared_ptr<IntrinsicsBase> GetIntrinsics(const Stream &stream, bool *ok) const¶
Get the intrinsics of stream.
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Extrinsics GetExtrinsics(const Stream &from, const Stream &to, bool *ok) const¶
Get the extrinsics from one stream to another.
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MotionIntrinsics GetMotionIntrinsics(bool *ok) const¶
Get the intrinsics of motion.
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Extrinsics GetMotionExtrinsics(const Stream &from, bool *ok) const¶
Get the extrinsics from one stream to motion.
Set the intrinsics of stream.
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void SetExtrinsics(const Stream &from, const Stream &to, const Extrinsics &ex)¶
Set the extrinsics from one stream to another.
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void SetMotionIntrinsics(const MotionIntrinsics &in)¶
Set the intrinsics of motion.
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void SetMotionExtrinsics(const Stream &from, const Extrinsics &ex)¶
Set the extrinsics from one stream to motion.
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void LogOptionInfos() const¶
Log all option infos.
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OptionInfo GetOptionInfo(const Option &option) const¶
Get the option info.
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void SetStreamCallback(const Stream &stream, stream_callback_t callback, bool async = false)¶
Set the callback of stream.
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void SetMotionCallback(motion_callback_t callback, bool async = false)¶
Set the callback of motion.
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bool HasMotionCallback() const¶
Has the callback of motion.
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void WaitForStreams()¶
Wait the streams are ready.
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device::StreamData GetStreamData(const Stream &stream)¶
Get the latest data of stream.
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device::StreamData GetLatestStreamData(const Stream &stream)¶
- Deprecated:
Replaced by GetStreamData(const Stream &stream)
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std::vector<device::StreamData> GetStreamDatas(const Stream &stream)¶
Get the datas of stream.
Note
default cache 4 datas at most.
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void DisableMotionDatas()¶
Disable cache motion datas.
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void EnableMotionDatas()¶
Enable cache motion datas.
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void EnableImuCorrespondence(bool is_enable)¶
Enable motion datas timestamp correspondence.
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void EnableMotionDatas(std::size_t max_size)¶
Enable cache motion datas.
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std::vector<device::MotionData> GetMotionDatas()¶
Get the motion datas.
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void EnableProcessMode(const ProcessMode &mode)¶
Enable process mode, e.g.
imu assembly, temp_drift
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void EnableProcessMode(const std::int32_t &mode)¶
Enable process mode, e.g.
imu assembly, temp_drift
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using stream_callback_t = device::StreamCallback¶
device::Frame¶
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class Frame¶
Frame with raw data.
Public Functions
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inline Frame(const StreamRequest &request, const void *data)¶
Construct the frame with StreamRequest and raw data.
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inline Frame(std::uint16_t width, std::uint16_t height, Format format, const void *data)¶
Construct the frame with stream info and raw data.
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inline std::uint16_t width() const¶
Get the width.
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inline std::uint16_t height() const¶
Get the height.
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inline std::uint8_t *data()¶
Get the data.
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inline const std::uint8_t *data() const¶
Get the const data.
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inline std::size_t size() const¶
Get the size of data.
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inline Frame(const StreamRequest &request, const void *data)¶