get_imu.rst

Get IMU data

You need EnableMotionDatas()to enable caching in order to get IMU data from GetMotionDatas().Otherwise, IMU data is only available through the callback interface, see :ref:`get_from_callbacks`.

Sample code snippet:

auto motion_datas = cam.GetMotionDatas();
if (motion_datas.size() > 0) {
    std::cout << "Imu count: " << motion_datas.size() << std::endl;
    for (auto data : motion_datas) {
        if (data.imu) {
            if (data.imu->flag == MYNTEYE_IMU_ACCEL) {
                counter.IncrAccelCount();
                std::cout << "[accel] stamp: " << data.imu->timestamp
                    << ", x: " << data.imu->accel[0]
                    << ", y: " << data.imu->accel[1]
                    << ", z: " << data.imu->accel[2]
                    << ", temp: " << data.imu->temperature
                    << std::endl;
            } else if (data.imu->flag == MYNTEYE_IMU_GYRO) {
                counter.IncrGyroCount();
                std::cout << "[gyro] stamp: " << data.imu->timestamp
                << ", x: " << data.imu->gyro[0]
                << ", y: " << data.imu->gyro[1]
                << ", z: " << data.imu->gyro[2]
                << ", temp: " << data.imu->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 ESC/Q to exit program.

Complete code examples, see get_imu.cc.