> ## Documentation Index
> Fetch the complete documentation index at: https://docs.efference.ai/llms.txt
> Use this file to discover all available pages before exploring further.

# Capture Video and IMU

> Retrieve synchronized frames and inertial samples over USB or WiFi

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

<Tabs>
  <Tab title="Wired">
    ```cpp theme={null}
    #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;
    }
    ```
  </Tab>

  <Tab title="Wireless">
    Provision WiFi first. Set `udp_host` to this Linux host's reachable IP.

    ```cpp theme={null}
    #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;
    }
    ```
  </Tab>
</Tabs>