The main class to use the MYNT EYE camera. More...

Public Member Functions
	Camera ()
	Constructor. More...

	~Camera ()
	Destructor. More...

void	SetMode (const Mode &mode)
	Sets mode. More...

void	SetScale (float scale)
	Sets scale factor to the grabbed images. More...

ErrorCode	Open (const InitParameters &params)
	Opens the MYNE EYE camera. More...

bool	IsOpened ()
	Tests if the camera is opened. More...

ErrorCode	SetRate (const Rate &rate)
	Sets framerate & IMU frequency. More...

std::string	GetHardWareVersion ()
	Gets hard ware version. More...

std::int32_t	GetControlProperty (const ControlProperty &prop)
	Gets control property value. More...

ErrorCode	SetControlProperty (const ControlProperty &prop, std::int32_t value)
	Sets control property value. More...

ErrorCode	RequestEraseChip ()
	Requests erase chip. More...

ErrorCode	RequestZeroDriftCalibration ()
	Requests zero drift calibration. More...

void	ActivateAsyncGrabFeature (bool keep_imu_frequency=false)
	Activates async grap feature. More...

void	DeactivateAsyncGrabFeature ()
	Deactivates async grap feature.

bool	IsAsyncGrabFeatureActivated ()
	Tests if the async grap feature is activated. More...

void	ActivateDepthMapFeature ()
	Activates depth map feature.

void	DeactivateDepthMapFeature ()
	Deactivates depth map feature.

bool	IsDepthMapFeatureActivated ()
	Tests if the depth map feature is activated. More...

void	ActivatePointCloudFeature ()
	Activates point cloud feature.

void	DeactivatePointCloudFeature ()
	Deactivates point cloud feature.

bool	IsPointCloudFeatureActivated ()
	Tests if the point cloud feature is activated. More...

void	SetGrabErrorCallback (GrabErrorCallback callback)
	Sets grab error callback.

void	SetGrabProcessCallbacks (GrabPreProcessCallback pre_callback, GrabPostProcessCallback post_callback)
	Sets process grab callbacks.

void	SetRectifyProcessCallbacks (RectifyPreProcessCallback pre_callback, RectifyPostProcessCallback post_callback)
	Sets process rectification callbacks.

void	SetDepthMapProcessCallbacks (DepthMapPreProcessCallback pre_callback, DepthMapPostProcessCallback post_callback)
	Sets process depth map callbacks.

void	SetPointCloudProcessCallbacks (PointCloudPreProcessCallback pre_callback, PointCloudPostProcessCallback post_callback)
	Sets process point cloud callbacks.

ErrorCode	Grab ()
	Grabs the new image, and process it. More...

ErrorCode	RetrieveImage (cv::Mat &mat, const View &view=View::VIEW_LEFT)
	Retrieves a image of wanted type. More...

ErrorCode	RetrieveIMUData (std::vector< IMUData > &imudatas)
	Retrieves the IMU datas. More...

ErrorCode	RetrieveIMUData (std::vector< IMUData > &imudatas, std::uint32_t &timestamp)
	Retrieves the IMU datas. More...

std::uint32_t	GetTimestamp ()
	Returns the lastest hardware timestamp which indicates when retrieved. More...

std::uint16_t	GetExposureTime ()
	Returns the exposure time. More...

Resolution	GetResolution ()
	Returns the current image size. More...

CameraInformation	GetCameraInformation ()
	Returns the camera informations. More...

CalibrationParameters	GetCalibrationParameters ()
	Returns the calibration parameters. More...

std::uint64_t	GetDroppedCount (const Process &proc)
	Returns the dropped count in some process. More...

void	Close ()
	Closes the camera and free the memory.

void	ActivatePlugin (const std::string &libpath)
	Activates plugin. More...

void	DeactivatePlugin ()
	Deactivates plugin.

bool	IsPluginActivated ()
	Tests if plugin is activated. More...

bool	IsFirmwareLatest ()
	Tests if firmware is latest. More...

Static Public Member Functions
static std::string	GetSDKRoot ()
	Returns the SDK root directory. More...

static std::string	GetSDKVersion ()
	Returns the SDK version. More...

Detailed Description

The main class to use the MYNT EYE camera.

Constructor & Destructor Documentation

◆ Camera()

mynteye::Camera::Camera ( )

Constructor.

◆ ~Camera()

mynteye::Camera::~Camera ( )

Destructor.

Member Function Documentation

◆ ActivateAsyncGrabFeature()

void mynteye::Camera::ActivateAsyncGrabFeature ( bool keep_imu_frequency = false )

Activates async grap feature.

Parameters

keep_imu_frequency whether keep imu frequency or not.

◆ ActivatePlugin()

void mynteye::Camera::ActivatePlugin ( const std::string & libpath )

Activates plugin.

Parameters

libpath the plugin library path.

◆ GetCalibrationParameters()

CalibrationParameters mynteye::Camera::GetCalibrationParameters ( )

Returns the calibration parameters.

Returns: the calibration parameters.

◆ GetCameraInformation()

CameraInformation mynteye::Camera::GetCameraInformation ( )

Returns the camera informations.

Returns: the camera informations.

◆ GetControlProperty()

std::int32_t mynteye::Camera::GetControlProperty ( const ControlProperty & prop )

Gets control property value.

Parameters

prop	the control property, see ControlProperty.

Returns: the control property value, -1 means failed.

Note: Only supported on Linux now.

◆ GetDroppedCount()

std::uint64_t mynteye::Camera::GetDroppedCount ( const Process & proc )

Returns the dropped count in some process.

Returns: the dropped count in some process.

◆ GetExposureTime()

std::uint16_t mynteye::Camera::GetExposureTime ( )

Returns the exposure time.

Note

The value range is [1,480]. It means the [min,max] of different frame rates.

rate	max	the exposure time
10 fps	14.99 ms	GetExposureTime() * 14.99 / 480 ms
25 fps	18.03 ms	GetExposureTime() * 18.03 / 480 ms
50 fps	17.81 ms	GetExposureTime() * 17.81 / 480 ms

Returns: the exposure time.

◆ GetHardWareVersion()

std::string mynteye::Camera::GetHardWareVersion ( )

Gets hard ware version.

Returns: ::hard ware version.

Note: Only supported on Linux now.

◆ GetResolution()

Resolution mynteye::Camera::GetResolution ( )

Returns the current image size.

Returns: the current image size.

◆ GetSDKRoot()

static std::string mynteye::Camera::GetSDKRoot ( )

static

Returns the SDK root directory.

Returns: the SDK root directory.

◆ GetSDKVersion()

static std::string mynteye::Camera::GetSDKVersion ( )

static

Returns the SDK version.

Returns: the SDK version.

◆ GetTimestamp()

std::uint32_t mynteye::Camera::GetTimestamp ( )

Returns the lastest hardware timestamp which indicates when retrieved.

the raw images and imu datas. It's the elapsed time after camera working, in unit 0.1ms.

Returns: the hardware timestamp.

◆ Grab()

ErrorCode mynteye::Camera::Grab ( )

Grabs the new image, and process it.

Note: The grabbing function is typically called in the main loop.; If ActivateAsyncGrabFeature(), you should SetGrabErrorCallback() to listen the grab error. And this method only return ERROR_CAMERA_GRAB_FAILED if there is not a new frame (it will block a moment to wait for grabbing).

Returns: SUCCESS if ok, otherwise error.

◆ IsAsyncGrabFeatureActivated()

bool mynteye::Camera::IsAsyncGrabFeatureActivated ( )

Tests if the async grap feature is activated.

Returns: true if activated.

◆ IsDepthMapFeatureActivated()

bool mynteye::Camera::IsDepthMapFeatureActivated ( )

Tests if the depth map feature is activated.

Returns: true if activated.

◆ IsFirmwareLatest()

bool mynteye::Camera::IsFirmwareLatest ( )

Tests if firmware is latest.

Returns: true if latest.

◆ IsOpened()

bool mynteye::Camera::IsOpened ( )

Tests if the camera is opened.

Returns: true if opened.

◆ IsPluginActivated()

bool mynteye::Camera::IsPluginActivated ( )

Tests if plugin is activated.

Returns: true if activated.

◆ IsPointCloudFeatureActivated()

bool mynteye::Camera::IsPointCloudFeatureActivated ( )

Tests if the point cloud feature is activated.

Returns: true if activated.

◆ Open()

ErrorCode mynteye::Camera::Open ( const InitParameters & params )

Opens the MYNE EYE camera.

Returns: SUCCESS if ok, otherwise error.

◆ RequestEraseChip()

ErrorCode mynteye::Camera::RequestEraseChip ( )

Requests erase chip.

Returns: SUCCESS if ok, otherwise failed.

Note: Only supported on Linux now.

◆ RequestZeroDriftCalibration()

ErrorCode mynteye::Camera::RequestZeroDriftCalibration ( )

Requests zero drift calibration.

Returns: SUCCESS if ok, otherwise failed.

Note: Only supported on Linux now.

◆ RetrieveImage()

ErrorCode mynteye::Camera::RetrieveImage	(	cv::Mat &	mat,
		const View &	view = `View::VIEW_LEFT`
	)

Retrieves a image of wanted type.

Parameters

mat	the Mat to store the image.
view	defines the image type wanted, see View.

Returns: SUCCESS if ok, otherwise error.

Note: The retrieve function should be called after the function Camera::Grab.

◆ RetrieveIMUData() [1/2]

ErrorCode mynteye::Camera::RetrieveIMUData ( std::vector< IMUData > & imudatas )

Retrieves the IMU datas.

Parameters

imudatas the given IMU datas.

Returns: SUCCESS if ok, otherwise error.

◆ RetrieveIMUData() [2/2]

ErrorCode mynteye::Camera::RetrieveIMUData	(	std::vector< IMUData > &	imudatas,
		std::uint32_t &	timestamp
	)

Retrieves the IMU datas.

Parameters

imudatas	the given IMU datas.
timestamp	the hardware timestamp which elapsed after camera working, in unit 0.1ms.

Returns: SUCCESS if ok, otherwise error.

Deprecated:

◆ SetControlProperty()

ErrorCode mynteye::Camera::SetControlProperty	(	const ControlProperty &	prop,
		std::int32_t	value
	)

Sets control property value.

Parameters

prop	the control property, see ControlProperty.
value	the control property value.

Returns: SUCCESS if ok, otherwise failed.

Note: Only supported on Linux now.

◆ SetMode()

void mynteye::Camera::SetMode ( const Mode & mode )

Sets mode.

default: MODE_AUTO_DETECT

Parameters

mode	the compute mode.

See also: Mode

◆ SetRate()

ErrorCode mynteye::Camera::SetRate ( const Rate & rate )

Sets framerate & IMU frequency.

Returns: SUCCESS if ok, otherwise failed.

Note: Only supported on Linux now.

◆ SetScale()

void mynteye::Camera::SetScale ( float scale )

Sets scale factor to the grabbed images.

Parameters

scale the scale factor.

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Camera()

◆ ~Camera()

Member Function Documentation

◆ ActivateAsyncGrabFeature()

◆ ActivatePlugin()

◆ GetCalibrationParameters()

◆ GetCameraInformation()

◆ GetControlProperty()

◆ GetDroppedCount()

◆ GetExposureTime()

◆ GetHardWareVersion()

◆ GetResolution()

◆ GetSDKRoot()

◆ GetSDKVersion()

◆ GetTimestamp()

◆ Grab()

◆ IsAsyncGrabFeatureActivated()

◆ IsDepthMapFeatureActivated()

◆ IsFirmwareLatest()

◆ IsOpened()

◆ IsPluginActivated()

◆ IsPointCloudFeatureActivated()

◆ Open()

◆ RequestEraseChip()

◆ RequestZeroDriftCalibration()

◆ RetrieveImage()

◆ RetrieveIMUData() [1/2]

◆ RetrieveIMUData() [2/2]

◆ SetControlProperty()

◆ SetMode()

◆ SetRate()

◆ SetScale()