API¶
API¶
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class API¶
The API class to communicate with MYNT® EYE device.
Public Types
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using stream_callback_t = std::function<void(const api::StreamData &data)>¶
The api::StreamData callback.
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using motion_callback_t = std::function<void(const api::MotionData &data)>¶
The api::MotionData callback.
Public Functions
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bool Supports(const Capabilities &capability) const¶
Supports the capability or not.
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StreamRequest SelectStreamRequest(bool *ok) const¶
Log all stream requests and prompt user to select one.
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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::string GetSDKVersion() const¶
Get the sdk version.
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IntrinsicsPinhole GetIntrinsics(const Stream &stream) const¶
- Deprecated:
Get the intrinsics (pinhole) of stream.
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std::shared_ptr<IntrinsicsBase> GetIntrinsicsBase(const Stream &stream) const¶
Get the intrinsics base 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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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 SetDisparityComputingMethodType(const DisparityComputingMethod &MethodType)¶
Set the disparity computing method.
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void SetRectifyAlpha(const double &alpha)¶
Set the rectify bord cut alpha.
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void setDuplicate(bool isEnable)¶
Set if the duplicate frames is enable.
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void SetStreamCallback(const Stream &stream, stream_callback_t callback)¶
Set the callback of stream.
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void SetMotionCallback(motion_callback_t callback)¶
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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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.
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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.
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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.
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api::StreamData GetStreamData(const Stream &stream)¶
Get the latest data of stream.
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std::vector<api::StreamData> GetStreamDatas(const Stream &stream)¶
Get the datas of stream.
Note
default cache 4 datas at most.
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void EnableMotionDatas(std::size_t max_size = std::numeric_limits<std::size_t>::max())¶
Enable cache motion datas.
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std::vector<api::MotionData> GetMotionDatas()¶
Get the motion datas.
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void EnableImuTimestampCorrespondence(bool is_enable)¶
enable motion datas timestamp correspondence in device.
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void EnableTimestampCorrespondence(const Stream &stream, bool keep_accel_then_gyro = true)¶
Enable motion datas with timestamp correspondence of some stream in api.
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void EnablePlugin(const std::string &path)¶
Enable the plugin.
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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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std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair()¶
Get ROS need camera info struct.
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bool ConfigDisparityFromFile(const std::string &config_file)¶
Load disparity config from file.
Public Static Functions
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static std::shared_ptr<API> Create(int argc, char *argv[])¶
Create 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.
- Returns
the API instance.
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using stream_callback_t = std::function<void(const api::StreamData &data)>¶