Capture Video and IMU

Call grab() to start the data plane, then retrieve video and queued IMU samples.

Wired
Wireless

#include <iostream>
#include <ef/Device.hpp>

int main() {
    ef::Device device;
    if (device.open() != ef::ERROR_CODE::SUCCESS) {
        return 1;
    }

    ef::Mat frame;
    ef::SensorsData imu;

    for (int count = 0; count < 150;) {
        ef::ERROR_CODE status = device.grab();
        if (status == ef::ERROR_CODE::GRAB_TIMEOUT) {
            continue;
        }
        if (status != ef::ERROR_CODE::SUCCESS) {
            break;
        }

        device.retrieve_image(frame, ef::VIEW::NV12);
        device.retrieve_imu(imu);
        ++count;

        std::cout << "frame " << frame.getFrameId()
                  << ", imu samples " << imu.samples.size() << "\n";
    }

    device.close();
    return 0;
}

Provision WiFi first. Set udp_host to this Linux host’s reachable IP.

#include <iostream>
#include <ef/Device.hpp>

int main() {
    ef::InitParameters init;
    init.input_type = ef::INPUT_TYPE::STREAM;
    init.ble_address = "AA:BB:CC:DD:EE:FF";
    init.ble_password = "123456";
    init.udp_host = "192.168.1.50";
    init.udp_port = 5005;

    ef::Device device;
    if (device.open(init) != ef::ERROR_CODE::SUCCESS) {
        return 1;
    }

    ef::Mat frame;
    ef::SensorsData imu;

    for (int count = 0; count < 150;) {
        ef::ERROR_CODE status = device.grab();
        if (status == ef::ERROR_CODE::GRAB_TIMEOUT) {
            continue;
        }
        if (status != ef::ERROR_CODE::SUCCESS) {
            break;
        }

        device.retrieve_image(frame, ef::VIEW::NV12);
        device.retrieve_imu(imu);
        ++count;

        std::cout << "frame " << frame.getFrameId()
                  << ", imu samples " << imu.samples.size() << "\n";
    }

    device.close();
    return 0;
}