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imu_low_pass_filter.rst

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低通滤波

通过 API 的 SetOptionValue() 函数，就可以设定当前打开设备的各类控制值。

设定加速度计低通滤波寄存器值及陀螺仪低通滤波寄存器值，就是设定 Option::ACCELEROMETER_LOW_PASS_FILTER 和 Option::GYROSCOPE_LOW_PASS_FILTER 。

Attention

* s1030不支持此功能

参考代码片段：

auto &&api = API::Create(argc, argv);
if (!api) return 1;

bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);

// ACCELEROMETER_RANGE values: 0, 1, 2
api->SetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER, 2);
// GYROSCOPE_RANGE values: 23, 64
api->SetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER, 64);

LOG(INFO) << "Set ACCELEROMETER_LOW_PASS_FILTER to "
          << api->GetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER);
LOG(INFO) << "Set GYROSCOPE_LOW_PASS_FILTER to "
          << api->GetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER);

参考运行结果，于 Linux 上：

$ ./samples/_output/bin/tutorials/ctrl_imu_low_pass_filter 
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
I/utils.cc:51 Only one MYNT EYE device, select index: 0
I/utils.cc:79 MYNT EYE devices:
I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
I/utils.cc:93 There are 7 stream requests, select index: 
1
I/imu_low_pass_filter.cc:48 Set ACCELEROMETER_LOW_PASS_FILTER to 2
I/imu_low_pass_filter.cc:50 Set GYROSCOPE_LOW_PASS_FILTER to 64
I/imu_low_pass_filter.cc:96 Time beg: 2018-12-29 13:53:42.296299, end: 2018-12-29 14:06:33.295960, cost: 771000ms
I/imu_low_pass_filter.cc:99 Img count: 15412, fps: 19.9896
I/imu_low_pass_filter.cc:101 Imu count: 309891, hz: 401.934

样例程序按 ESC/Q 结束运行后，imu低通滤波设置完成。该结果将固化在硬件内部，不受掉电影响。

完整代码样例，请见 imu_low_pass_filter.cc 。