获取imu数据

获取imu前，需要初始化SDK,然后直接通过回调获取。

参考代码片段：

auto m_pSDK = new CIMRSDK();
MRCONFIG config = {0};
config.bSlam = false;
config.imgResolution = IMG_640;
config.imgFrequency = 50;
config.imuFrequency = 1000;

m_pSDK->Init(config);

std::queue<cv::Mat> image_queue;

int img_count = 0;
m_pSDK->RegistImgCallback(
    [&img_count, &image_queue](double time, cv::Mat left, cv::Mat right) {
      if (!left.empty() && !right.empty()) {
        cv::Mat img;
        cv::hconcat(left, right, img);
        image_queue.push(img);
        ++img_count;
      }
    });
int imu_count = 0;
m_pSDK->RegistModuleIMUCallback([&imu_count](ImuData imu) {
  if (imu_count % 100 == 0) {
    LOG(INFO) << "imu timestamp: " << imu.timestamp
              << ", accel x: " << imu.accel[0]
              << ", accel y: " << imu.accel[1]
              << ", accel z: " << imu.accel[2] << ", gyro x: " << imu.gyro[0]
              << ", gyro y: " << imu.gyro[1] << ", gyro z: " << imu.gyro[2];
  }
  ++imu_count;
});
auto &&time_beg = times::now();
while (true) {
  if (!image_queue.empty()) {
    cv::imshow("image", image_queue.front());
    image_queue.pop();
  }
  char key = static_cast<char>(cv::waitKey(1));
  if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
    break;
  }
}
delete m_pSDK;
return 0;

上述代码，用了 OpenCV 来显示图像。选中显示窗口时，按 ESC/Q 就会结束程序。

完整代码样例，请见 _get_imu.cpp 。