Open camera

Set the Camera connection callback

mCamera?.setCameraListener(object : MYNTCamera.ICameraListener {

    override fun didConnectedCamera(camera: MYNTCamera?) {

    }

    override fun didDisconnectedCamera(camera: MYNTCamera?) {

    }
})

Connect the camera (the permission dialog box will pop up)

mCamera?.connect()

After the connection is successful, the data is retrieved

//Open equipment
mCamera?.open()
// Set IR value
mCamera?.irCurrentValue = IR_DEFAULT_VALUE

backgroundHandler?.post {
    if (mCamera == null) return@post
    // Color image previews related objects
    mColorSurface = Surface(colorTextureView.surfaceTexture)
    // Depth image previews related objects
    mDepthSurface = Surface(depthTextureView.surfaceTexture)

    mCamera?.setPreviewDisplay(mDepthSurface, MYNTCamera.Frame.DEPTH)
    mCamera?.setPreviewDisplay(mColorSurface, MYNTCamera.Frame.COLOR)
    // Set preview size (480 / 720)
    mCamera?.setPreviewSize(previewSize.height)
    // Set depth type( 8bit / 11bit)
    mCamera?.setDepthType(depthType)
    // Set the image callback
    mCamera?.setFrameCallback { data ->
        if (data.flag == FrameData.DEPTH) {
            // Depth map
        }
        if (data.flag == FrameData.COLOR) {
            // Color map
        }
    }
    // To preview
    mCamera?.start(MYNTCamera.Source.ALL, MYNTCamera.Frame.ALL)
}