API

API

class API

The API class to communicate with MYNT® EYE device.

Public Types

using stream_callback_t = std::function<void(const api::StreamData &data)>

The api::StreamData callback.

using motion_callback_t = std::function<void(const api::MotionData &data)>

The api::MotionData callback.

using stream_switch_callback_t = std::function<void(const Stream &stream)>

The enable/disable switch callback.

Public Functions

Model GetModel() const

Get the model.

bool Supports(const Stream &stream) const

Supports the stream or not.

bool Supports(const Capabilities &capability) const

Supports the capability or not.

bool Supports(const Option &option) const

Supports the option or not.

bool Supports(const AddOns &addon) const

Supports the addon or not.

StreamRequest SelectStreamRequest(bool *ok) const

Log all stream requests and prompt user to select one.

const std::vector<StreamRequest> &GetStreamRequests(const Capabilities &capability) const

Get all stream requests of the capability.

void ConfigStreamRequest(const Capabilities &capability, const StreamRequest &request)

Config the stream request to the capability.

const StreamRequest &GetStreamRequest(const Capabilities &capability) const

Get the config stream requests of the capability.

const std::vector<StreamRequest> &GetStreamRequests() const

Get all stream requests of the key stream capability.

void ConfigStreamRequest(const StreamRequest &request)

Config the stream request to the key stream capability.

const StreamRequest &GetStreamRequest() const

Get the config stream requests of the key stream capability.

std::shared_ptr<DeviceInfo> GetInfo() const

Get the device info.

std::string GetInfo(const Info &info) const

Get the device info.

std::string GetSDKVersion() const

Get the sdk version.

IntrinsicsPinhole GetIntrinsics(const Stream &stream) const

template<typename T>
T GetIntrinsics(const Stream &stream) const

Get the intrinsics of stream.

std::shared_ptr<IntrinsicsBase> GetIntrinsicsBase(const Stream &stream) const

Get the intrinsics base of stream.

Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const

Get the extrinsics from one stream to another.

MotionIntrinsics GetMotionIntrinsics() const

Get the intrinsics of motion.

Extrinsics GetMotionExtrinsics(const Stream &from) const

Get the extrinsics from one stream to motion.

void LogOptionInfos() const

Log all option infos.

OptionInfo GetOptionInfo(const Option &option) const

Get the option info.

std::int32_t GetOptionValue(const Option &option) const

Get the option value.

void SetDisparityComputingMethodType(const DisparityComputingMethod &MethodType)

Set the disparity computing method.

void SetRectifyAlpha(const double &alpha)

Set the rectify bord cut alpha.

void setDuplicate(bool isEnable)

Set if the duplicate frames is enable.

void SetOptionValue(const Option &option, std::int32_t value)

Set the option value.

bool SetOptionValue(const Option &option, std::uint64_t value)

Set the option value.

bool RunOptionAction(const Option &option) const

Run the option action.

void SetStreamCallback(const Stream &stream, stream_callback_t callback)

Set the callback of stream.

void SetMotionCallback(motion_callback_t callback)

Set the callback of motion.

bool HasStreamCallback(const Stream &stream) const

Has the callback of stream.

bool HasMotionCallback() const

Has the callback of motion.

void Start(const Source &source)

Start capturing the source.

void Stop(const Source &source)

Stop capturing the source.

void WaitForStreams()

Wait the streams are ready.

void EnableStreamData(const Stream &stream)

Enable the data of stream.

Note

must enable the stream if it’s a synthetic one. This means the stream in not native, the device has the capability to provide this stream, but still support this stream.

void EnableStreamData(const Stream &stream, stream_switch_callback_t callback, bool try_tag = false)

Enable the data of stream.

callback function will call before the father processor enable. when try_tag is true, the function will do nothing except callback.

void DisableStreamData(const Stream &stream)

Disable the data of stream.

void DisableStreamData(const Stream &stream, stream_switch_callback_t callback, bool try_tag = false)

Disable the data of stream.

callback function will call before the children processor disable. when try_tag is true, the function will do nothing except callback.

api::StreamData GetStreamData(const Stream &stream)

Get the latest data of stream.

std::vector<api::StreamData> GetStreamDatas(const Stream &stream)

Get the datas of stream.

Note

default cache 4 datas at most.

void EnableMotionDatas(std::size_t max_size = std::numeric_limits<std::size_t>::max())

Enable cache motion datas.

std::vector<api::MotionData> GetMotionDatas()

Get the motion datas.

void EnableImuTimestampCorrespondence(bool is_enable)

enable motion datas timestamp correspondence in device.

void EnableTimestampCorrespondence(const Stream &stream, bool keep_accel_then_gyro = true)

Enable motion datas with timestamp correspondence of some stream in api.

void EnablePlugin(const std::string &path)

Enable the plugin.

void EnableProcessMode(const ProcessMode &mode)

Enable process mode, e.g.

imu assembly, temp_drift

void EnableProcessMode(const std::int32_t &mode)

Enable process mode, e.g.

imu assembly, temp_drift

std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair()

Get ROS need camera info struct.

bool ConfigDisparityFromFile(const std::string &config_file)

Load disparity config from file.

Public Static Functions

static std::shared_ptr<API> Create(int argc, char *argv[])

Create the API instance.

Return

the API instance.

Note

This will init glog with args and call device::select() to select a device.

Parameters

• argc: the arg count.

• argv: the arg values.

static std::shared_ptr<API> Create(int argc, char *argv[], const std::shared_ptr<Device> &device)

Create the API instance.

Return

the API instance.

Note

This will init glog with args.

Parameters

• argc: the arg count.

• argv: the arg values.

• device: the selected device.

static std::shared_ptr<API> Create(const std::shared_ptr<Device> &device)

Create the API instance.

Return

the API instance.

Parameters

• device: the selected device.

api::StreamData

struct StreamData

API stream data.

Public Members

std::shared_ptr<ImgData> img

ImgData.

cv::Mat frame

Frame.

std::shared_ptr<device::Frame> frame_raw

Raw frame.

std::uint16_t frame_id

Frame ID.

api::MotionData

struct MotionData

API motion data.

Public Members

std::shared_ptr<ImuData> imu

ImuData.