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C++ Sample IMU Reader
Orbbec Gemini 330 Series Documentation

C++ Sample IMU Reader

Update on 2025-07-25 07:20:46

Function description: Demonstration of obtaining IMU data

| This example is based on the C++low level API for demonstration, outputting imu data and exiting the program using the ESC_KEY key

Get device

// Create a Context.
ob::Context ctx;

// Query the list of connected devices
auto devList = ctx.queryDeviceList();

if(devList->deviceCount() == 0) {
    std::cerr << "Device not found!" << std::endl;
    return -1;
}

// Create a device, 0 represents the index of the first device
auto dev = devList->getDevice(0);

Get gyroscope data

// Get Gyroscope Sensor
gyroSensor = dev->getSensorList()->getSensor(OB_SENSOR_GYRO);
if(gyroSensor) {
    // Get configuration list
    auto profiles = gyroSensor->getStreamProfileList();
    // Select the first profile to open stream
    auto profile = profiles->getProfile(OB_PROFILE_DEFAULT);
    gyroSensor->start(profile, [](std::shared_ptr<ob::Frame> frame) {
        std::unique_lock<std::mutex> lk(printerMutex);
        auto                         timeStamp = frame->timeStamp();
        auto                         index     = frame->index();
        auto                         gyroFrame = frame->as<ob::GyroFrame>();
        if(gyroFrame != nullptr && (index % 50) == 2) {  //( timeStamp % 500 ) < 2: Reduce printing frequency
            auto value = gyroFrame->value();
            std::cout << "Gyro Frame: \n\r{\n\r"
                        << "  tsp = " << timeStamp << "\n\r"
                        << "  temperature = " << gyroFrame->temperature() << "\n\r"
                        << "  gyro.x = " << value.x << " rad/s"
                        << "\n\r"
                        << "  gyro.y = " << value.y << " rad/s"
                        << "\n\r"
                        << "  gyro.z = " << value.z << " rad/s"
                        << "\n\r"
                        << "}\n\r" << std::endl;
        }
    });
}

Get accelerometer

accelSensor = dev->getSensorList()->getSensor(OB_SENSOR_ACCEL);
if(accelSensor) {
    // Get configuration list
    auto profiles = accelSensor->getStreamProfileList();
    // Select the first profile to open stream
    auto profile = profiles->getProfile(OB_PROFILE_DEFAULT);
    accelSensor->start(profile, [](std::shared_ptr<ob::Frame> frame) {
        std::unique_lock<std::mutex> lk(printerMutex);
        auto                         timeStamp  = frame->timeStamp();
        auto                         index      = frame->index();
        auto                         accelFrame = frame->as<ob::AccelFrame>();
        if(accelFrame != nullptr && (index % 50) == 0) {
            auto value = accelFrame->value();
            std::cout << "Accel Frame: \n\r{\n\r"
                        << "  tsp = " << timeStamp << "\n\r"
                        << "  temperature = " << accelFrame->temperature() << "\n\r"
                        << "  accel.x = " << value.x << " m/s^2"
                        << "\n\r"
                        << "  accel.y = " << value.y << " m/s^2"
                        << "\n\r"
                        << "  accel.z = " << value.z << " m/s^2"
                        << "\n\r"
                        << "}\n\r" << std::endl;
        }
    });
}

// turn off the stream
if(gyroSensor) {
    gyroSensor->stop();
}
if(accelSensor) {
    accelSensor->stop();
}

Expected Output

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