109 lines
3.0 KiB
C
109 lines
3.0 KiB
C
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/** \file IMU.h
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* Copyright (c) Microsoft Corporation. All rights reserved.
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* Licensed under the MIT License.
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* Kinect For Azure SDK.
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*/
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#ifndef IMU_H
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#define IMU_H
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#include <k4a/k4atypes.h>
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#include <k4ainternal/handle.h>
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#include <k4ainternal/color_mcu.h>
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#include <k4ainternal/calibration.h>
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#include <azure_c_shared_utility/tickcounter.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** Handle to the imu device.
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*
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* Handles are created with \ref imu_create and closed
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* with \ref imu_destroy.
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* Invalid handles are set to 0.
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*/
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K4A_DECLARE_HANDLE(imu_t);
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/** Open a handle to the IMU device.
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*
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* \param tick_handle [IN]
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* Handle to access the system tick
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*
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* \param color_mcu [IN]
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* Handle to entity owning the device handle
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*
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* \param calibration_handle [IN]
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* Handle to the calibration module.
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*
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* \param p_imu_handle [OUT]
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* A pointer to write the opened imu device handle to
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*
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* \return K4A_RESULT_SUCCEEDED if the device was opened, otherwise K4A_RESULT_FAILED
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*
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* If successful, \ref imu_create will return a IMU device handle in the IMU
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* parameter. This handle grants exclusive access to the device and may be used in
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* the other k4a API calls.
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*
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* When done with the device, close the handle with \ref imu_destroy
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*/
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k4a_result_t imu_create(TICK_COUNTER_HANDLE tick_handle,
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colormcu_t color_mcu,
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calibration_t calibration_handle,
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imu_t *p_imu_handle);
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/** Closes the imu module and free's it resources
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* */
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void imu_destroy(imu_t imu_handle);
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k4a_wait_result_t imu_get_sample(imu_t imu_handle, k4a_imu_sample_t *imu_sample, int32_t timeout_in_ms);
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/** Starts the IMU sensor streaming
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*
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* \param imu_handle [IN]
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* The IMU device handle.
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*
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* \param color_camera_start_tick [IN]
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* This is the system tick recorded when the color camera was started. Zero means the color camera was not started.
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*
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* \return ::K4A_RESULT_SUCCEEDED if the IMU sensor was successfully started. ::K4A_RESULT_FAILED if an error was
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* encountered.
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*
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* call /ref imu_stop when the sensor no longer needs to stream.
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*/
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k4a_result_t imu_start(imu_t imu_handle, tickcounter_ms_t color_camera_start_tick);
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/** Stops the IMU sensor when it has been streaming
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*
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* \param imu_handle [IN]
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* The IMU device handle.
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*
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* Stops IMU sensor when it has been running. /ref imu_destroy implicitly calls this API if the sensor is in a
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* running state.
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*/
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void imu_stop(imu_t imu_handle);
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/** Get the gyro extrinsic calibration data
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*
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* \param imu_handle [IN]
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* The IMU device handle.
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*
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* Returns a pointer to gyro extrinsic data that will remain valid until /ref imu_destroy is called.
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*/
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k4a_calibration_extrinsics_t *imu_get_gyro_extrinsics(imu_t imu_handle);
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/** Get the accelerometer extrinsic calibration data
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*
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* \param imu_handle [IN]
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* The IMU device handle.
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*
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* Returns a pointer to accelerometer extrinsic data that will remain valid until /ref imu_destroy is called.
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*/
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k4a_calibration_extrinsics_t *imu_get_accel_extrinsics(imu_t imu_handle);
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#ifdef __cplusplus
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}
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#endif
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#endif /* IMU_H */
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