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