Camera IMU

Introduction

These functions are responsible for configuring and retrieving motion data from the IMU sensor.

warning

• These IMU APIs are supported only on VCM and TEVM cameras. Ensure your device hardware is compatible before calling these functions.
• Frame-sync IMU data requires an active camera stream and flash mode enabled. Set ISP_IMAGE_FLASH_MODE to VX_FLASH_MODE::ENABLE (value 0), start streaming, then read acceleration or gyroscope data with VX_IMU_SELF_TEST_MODE::NONE.

VxEnableIMUMode

Function:

C++

int VxEnableIMUMode(std::shared_ptr<VxCamera> vxcam, VX_IMU_MODE mode)

Python

def VxEnableIMUMode(vxcam, mode)

C#

int VxEnableIMUMode(VxCamera vxcam, VX_IMU_MODE mode)

C

int vx_enable_imu_mode(vx_camera vxcam, vx_imu_mode mode)

Function Description:

• This function is used to activate the IMU sensor on the VxCamera.

warning

This is a required initialization step before the SDK can access IMU data.

Parameter Description:

• vxcam : A pointer shared ownership of a camera obtained from VxInitialCameraDevice().

• mode : A VX_IMU_MODE format variable which stored the mode value.

• VX_IMU_MODE format:

  C++

  enum class VX_IMU_MODE{
      DISABLE,
      ISPU,
      SELF_TEST,
      FRAME_SYNC
  }

  Python

  class VX_IMU_MODE(Enum):
      DISABLE = 0
      ISPU = 1
      SELF_TEST = 2
      FRAME_SYNC = 3

  C#

  public enum VX_IMU_MODE {
      DISABLE,
      ISPU,
      SELF_TEST,
      FRAME_SYNC
  }

  C

  typedef enum vx_imu_mode {
      DISABLE,
      ISPU,
      SELF_TEST,
      FRAME_SYNC
  } vx_imu_mode;

Return Values:

• return 0 = PASS, return -1 = FAIL

Example:

C++

VX_IMU_MODE mode = VX_IMU_MODE::ISPU;
// enable the imu mode
VxEnableIMUMode(vxcam, mode);

Python

from pyvizionsdk import VX_IMU_MODE
# enable the imu mode
ret = pyvizionsdk.VxEnableIMUMode(vxcam, VX_IMU_MODE.ISPU)

C#

VX_IMU_MODE mode = VX_IMU_MODE.ISPU;
// enable the imu mode
CSVizionSDK.VxEnableIMUMode(vxcam, mode);

C

vx_imu_mode mode = ISPU;
// enable the imu mode
vx_enable_imu_mode(vxcam, mode);

VxRebootIMUMode

Function:

C++

int VxRebootIMUMode(std::shared_ptr<VxCamera> vxcam, VX_IMU_MODE mode)

Python

def VxRebootIMUMode(vxcam, mode)

C#

int VxRebootIMUMode(VxCamera vxcam, VX_IMU_MODE mode)

C

int vx_reboot_imu_mode(vx_camera vxcam, vx_imu_mode mode)

Function Description:

• This function reboots the IMU mode and enables it as part of the same operation.

warning

This function also enables the IMU mode. A separate call to enable the IMU mode is not required.

Parameter Description:

• vxcam : A pointer shared ownership of a camera obtained from VxInitialCameraDevice().

• mode : A VX_IMU_MODE format variable which stored the mode value.

• VX_IMU_MODE format:

  C++

  enum class VX_IMU_MODE{
      DISABLE,
      ISPU,
      SELF_TEST,
      FRAME_SYNC
  }

  Python

  class VX_IMU_MODE(Enum):
      DISABLE = 0
      ISPU = 1
      SELF_TEST = 2
      FRAME_SYNC = 3

  C#

  public enum VX_IMU_MODE {
      DISABLE,
      ISPU,
      SELF_TEST,
      FRAME_SYNC
  }

  C

  typedef enum vx_imu_mode {
      DISABLE,
      ISPU,
      SELF_TEST,
      FRAME_SYNC
  } vx_imu_mode;

Return Values:

• return 0 = PASS, return -1 = FAIL

Example:

C++

VX_IMU_MODE mode = VX_IMU_MODE::ISPU;
// reboot the imu mode
VxRebootIMUMode(vxcam, mode);

Python

from pyvizionsdk import VX_IMU_MODE
# reboot the imu mode
ret = pyvizionsdk.VxRebootIMUMode(vxcam, VX_IMU_MODE.ISPU)

C#

VX_IMU_MODE mode = VX_IMU_MODE.ISPU;
// reboot the imu mode
CSVizionSDK.VxRebootIMUMode(vxcam, mode);

C

vx_imu_mode mode = ISPU;
// reboot the imu mode
vx_reboot_imu_mode(vxcam, mode);

VxGetIMUAccData

Function:

C++

int VxGetIMUAccData(std::shared_ptr<VxCamera> vxcam, std::vector<float>& accArr, VX_IMU_SELF_TEST_MODE mode)

Python

def VxGetIMUAccData(vxcam, mode)

C#

int VxGetIMUAccData(VxCamera vxcam, FloatVector accArr, VX_IMU_SELF_TEST_MODE mode)

C

int vx_get_imu_acc_data(vx_camera vxcam, float** accArr, vx_imu_self_test_mode mode)

Function Description:

• This function retrieves a list of 3-axis IMU acceleration data (x, y, z) from the VxCamera device.

info

• Enable IMU SELF_TEST mode for self-test measurements, or FRAME_SYNC mode for acceleration data without changing self-test settings.
• C# : The caller must create a FloatVector instance before calling this function.
• C : The float list need to release by vx_release_imu_data function.

Parameter Description:

• vxcam : A pointer shared ownership of a camera obtained from VxInitialCameraDevice().

• accArr : A vector of float type. The function will populate this vector with 3-axis IMU acceleration data.

• mode : Use NONE (IMU_SELF_TEST_NONE in C) to read sensor data without writing IMU_SELF_TEST_CTRL. Other values select a self-test setting.

• Return:

  • return 0 = PASS, return -1 = FAIL
  • Python : tuple(return_code, accArr)

    return_code : return 0 = PASS, return -1 = FAIL

• VX_IMU_SELF_TEST_MODE format:

  C++

  enum class VX_IMU_SELF_TEST_MODE {
      NORMAL,
      POSITIVE,
      NEGATIVE,
      NOT_ALLOWED,
      NONE
  }

  Python

  class VX_IMU_SELF_TEST_MODE(Enum):
      NORMAL = 0
      POSITIVE = 1
      NEGATIVE = 2
      NOT_ALLOWED = 3
      NONE = 4

  C#

  public enum VX_IMU_SELF_TEST_MODE {
      NORMAL,
      POSITIVE,
      NEGATIVE,
      NOT_ALLOWED,
      NONE
  }

  C

  typedef enum vx_imu_self_test_mode {
      NORMAL,
      POSITIVE,
      NEGATIVE,
      NOT_ALLOWED,
      IMU_SELF_TEST_NONE,
  } vx_imu_self_test_mode;

Example:

C++

// enable IMU mode
VxEnableIMUMode(vxcam, VX_IMU_MODE::SELF_TEST);
std::vector<float> accArr;
// get IMU acceleration data
VxGetIMUAccData(vxcam, accArr, VX_IMU_SELF_TEST_MODE::POSITIVE);

Python

from pyvizionsdk import VX_IMU_SELF_TEST_MODE, VX_IMU_MODE
# enable IMU mode
pyvizionsdk.VxEnableIMUMode(vxcam, VX_IMU_MODE.SELF_TEST)
# get IMU acceleration data
result, accArr = pyvizionsdk.VxGetIMUAccData(vxcam, VX_IMU_SELF_TEST_MODE.POSITIVE)

C#

// enable IMU mode
CSVizionSDK.VxEnableIMUMode(vxcam, VX_IMU_MODE.SELF_TEST);
FloatVector accArr = new FloatVector();
// get IMU acceleration data
CSVizionSDK.VxGetIMUAccData(vxcam, accArr, VX_IMU_SELF_TEST_MODE.POSITIVE);

C

// enable IMU mode
vx_enable_imu_mode(vxcam, SELF_TEST);
float* accArr;
// get IMU acceleration data
vx_get_imu_acc_data(cam, &accArr, POSITIVE);

// release data
vx_release_imu_data(accArr);

VxGetIMUGyrData

Function:

C++

int VxGetIMUGyrData(std::shared_ptr<VxCamera> vxcam, std::vector<float>& gyrArr, VX_IMU_SELF_TEST_MODE mode)

Python

def VxGetIMUGyrData(vxcam, mode)

C#

int VxGetIMUGyrData(VxCamera vxcam, FloatVector gyrArr, VX_IMU_SELF_TEST_MODE mode)

C

int vx_get_imu_gyr_data(vx_camera vxcam, float** gyrArr, vx_imu_self_test_mode mode)

Function Description:

• This function retrieves a list of 3-axis IMU gyroscope data (x, y, z) from the VxCamera device.

info

• Enable IMU SELF_TEST mode for self-test measurements, or FRAME_SYNC mode for gyroscope data without changing self-test settings.
• C# : The caller must create a FloatVector instance before calling this function.
• C : The float list need to release by vx_release_imu_data function.

Parameter Description:

• vxcam : A pointer shared ownership of a camera obtained from VxInitialCameraDevice().

• gyrArr : A vector of float type. The function will populate this vector with 3-axis IMU gyroscope data.

• mode : Use NONE (IMU_SELF_TEST_NONE in C) to read sensor data without writing IMU_SELF_TEST_CTRL. Other values select a self-test setting.

• Return:

  • return 0 = PASS, return -1 = FAIL
  • Python : tuple(return_code, gyrArr)

    return_code : return 0 = PASS, return -1 = FAIL

• VX_IMU_SELF_TEST_MODE format:

  C++

  enum class VX_IMU_SELF_TEST_MODE {
      NORMAL,
      POSITIVE,
      NEGATIVE,
      NOT_ALLOWED,
      NONE
  }

  Python

  class VX_IMU_SELF_TEST_MODE(Enum):
      NORMAL = 0
      POSITIVE = 1
      NEGATIVE = 2
      NOT_ALLOWED = 3
      NONE = 4

  C#

  public enum VX_IMU_SELF_TEST_MODE {
      NORMAL,
      POSITIVE,
      NEGATIVE,
      NOT_ALLOWED,
      NONE
  }

  C

  typedef enum vx_imu_self_test_mode {
      NORMAL,
      POSITIVE,
      NEGATIVE,
      NOT_ALLOWED,
      IMU_SELF_TEST_NONE,
  } vx_imu_self_test_mode;

Example:

C++

// enable IMU mode
VxEnableIMUMode(vxcam, VX_IMU_MODE::SELF_TEST);
std::vector<float> gyrArr;
// get IMU gyroscope data
VxGetIMUGyrData(vxcam, gyrArr, VX_IMU_SELF_TEST_MODE::POSITIVE);

Python

from pyvizionsdk import VX_IMU_SELF_TEST_MODE, VX_IMU_MODE
# enable IMU mode
pyvizionsdk.VxEnableIMUMode(vxcam, VX_IMU_MODE.SELF_TEST)
# get IMU gyroscope data
result, gyrArr = pyvizionsdk.VxGetIMUGyrData(vxcam, VX_IMU_SELF_TEST_MODE.POSITIVE)

C#

// enable IMU mode
CSVizionSDK.VxEnableIMUMode(vxcam, VX_IMU_MODE.SELF_TEST);
FloatVector gyrArr = new FloatVector();
// get IMU gyroscope data
CSVizionSDK.VxGetIMUGyrData(vxcam, gyrArr, VX_IMU_SELF_TEST_MODE.POSITIVE);

C

// enable IMU mode
vx_enable_imu_mode(vxcam, SELF_TEST);
float* gyrArr;
// get IMU gyroscope data
vx_get_imu_gyr_data(cam, &gyrArr, POSITIVE);

// release data
vx_release_imu_data(gyrArr);

vx_release_imu_data

warning

This function is only supported in C.

Function:

C

void vx_release_imu_data(float* imu_data)

Function Description:

• This function release IMU list retrieved from vx_get_imu_acc_data() and vx_get_imu_gyr_data().

Parameter Description:

• format_list : A float type IMU data list.

Example:

C

float* accArr;
vx_get_imu_acc_data(cam, &accArr, POSITIVE);
vx_release_imu_data(accArr);

VxGetISPUData

Function:

C++

int VxGetISPUData(std::shared_ptr<VxCamera> vxcam, VxImuIspu& ispuData)

Python

def VxGetISPUData(vxcam)

C#

int VxGetISPUData(VxCamera vxcam, VxImuIspu ispuData)

C

int vx_get_ispu_data(vx_camera vxcam, vx_imu_ispu* ispuData)

Function Description:

• This function retrieves a structure containing IMU ISPU data from the VxCamera device.

info

• Ensure that the IMU ISPU mode is enabled before calling this function.

Parameter Description:

• vxcam : A pointer shared ownership of a camera obtained from VxInitialCameraDevice().

• ispuData : A VxImuIspu structure that is populated by the function with IMU ISPU data.

• Return:

  • return 0 = PASS, return -1 = FAIL
  • Python : tuple(return_code, ispuData)

    return_code : return 0 = PASS, return -1 = FAIL

• VxImuIspu structures:

  C++

  struct VxImuIspu{
      float x;
      float y;
      float z;
      float w;
      float yaw;
      float pitch;
      float roll;
  }

  Python

  class VxImuIspu:
  def __init__(self, x, y, z, w, yaw, pitch, roll):
      self.x = x
      self.y = y
      self.z = z
      self.w = w
      self.yaw = yaw
      self.pitch = pitch
      self.roll = roll

  C#

  public struct VxImuIspu {
      public float x;
      public float y;
      public float z;
      public float w;
      public float yaw;
      public float pitch;
      public float roll;
  }

  C

  typedef struct vx_imu_ispu{
      float x;
      float y;
      float z;
      float w;
      float yaw;
      float pitch;
      float roll;
  } vx_imu_ispu;

Example:

C++

// enable imu ISPU mode
VxEnableIMUMode(vxcam, VX_IMU_MODE::ISPU);
VxImuIspu ispuData;
// get IMU ISPU data
VxGetISPUData(vxcam, ispuData);

Python

from pyvizionsdk import VX_IMU_MODE
# enable IMU ISPU mode
pyvizionsdk.VxEnableIMUMode(vxcam, VX_IMU_MODE.ISPU)
# get IMU ISPU data
result, ispuData = pyvizionsdk.VxGetISPUData(vxcam)

C#

// enable IMU ISPU mode
CSVizionSDK.VxEnableIMUMode(vxcam, VX_IMU_MODE.ISPU);
VxImuIspu ispuData = new VxImuIspu();
// get IMU ISPU data
CSVizionSDK.VxGetISPUData(vxcam, ispuData);

C

// enable IMU ISPU mode
vx_enable_imu_mode(vxcam, ISPU);
vx_imu_ispu ispuData;
// get IMU ISPU data
vx_get_ispu_data(cam, &ispuData);

VxGetIMUTemperature

Function:

C++

int VxGetIMUTemperature(std::shared_ptr<VxCamera> vxcam, float& temperature)

Python

def VxGetIMUTemperature(vxcam)

C#

int VxGetIMUTemperature(VxCamera vxcam, out float temperature)

C

int vx_get_imu_temperature(vx_camera vxcam, float* temperature)

Function Description:

• This function retrieves the temperature from the camera IMU sensor.

Parameter Description:

• vxcam : A pointer shared ownership of a camera obtained from VxInitialCameraDevice().
• temperature : A float variable that will be populated by the function with temperature data.
• Return:
  • return 0 = PASS, return -1 = FAIL
  • Python : tuple(return_code, temperature)

    return_code : return 0 = PASS, return -1 = FAIL

Example:

C++

float temperature;
// get IMU temperature
VxGetIMUTemperature(vxcam, temperature);

Python

# get IMU temperature
ret, temperature = pyvizionsdk.VxGetIMUTemperature(vxcam)

C#

float temperature;
// get IMU temperature
CSVizionSDK.VxGetIMUTemperature(vxcam, out temperature);

C

float temperature;
// get IMU temperature
vx_get_imu_temperature(vxcam, &temperature);

VxGetIMUSensorTime

Function:

C++

int VxGetIMUSensorTime(std::shared_ptr<VxCamera> vxcam, float& sensorTime)

Python

def VxGetIMUSensorTime(vxcam)

C#

int VxGetIMUSensorTime(VxCamera vxcam, out float sensorTime)

C

int vx_get_imu_sensor_time(vx_camera vxcam, float* sensorTime)

Function Description:

• This function retrieves the sensor time from the camera IMU sensor.

Parameter Description:

• vxcam : A pointer shared ownership of a camera obtained from VxInitialCameraDevice().
• sensorTime : A float variable that will be populated by the function with IMU sensor time data.
• Return:
  • return 0 = PASS, return -1 = FAIL
  • Python : tuple(return_code, sensorTime)

    return_code : return 0 = PASS, return -1 = FAIL

Example:

C++

float sensorTime;
// get IMU sensor time
VxGetIMUSensorTime(vxcam, sensorTime);

Python

# get IMU sensor time
ret, sensorTime = pyvizionsdk.VxGetIMUSensorTime(vxcam)

C#

float sensorTime;
// get IMU sensor time
CSVizionSDK.VxGetIMUSensorTime(vxcam, out sensorTime);

C

float sensorTime;
// get IMU sensor time
vx_get_imu_sensor_time(vxcam, &sensorTime);