MYNT-EYE-S-SDK/include/mynteye/api/api.h

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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
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#ifndef MYNTEYE_API_API_H_
#define MYNTEYE_API_API_H_
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#pragma once
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#include <functional>
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#include <limits>
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#include <memory>
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#include <string>
#include <vector>
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#include <opencv2/core/core.hpp>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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MYNTEYE_BEGIN_NAMESPACE
struct DeviceInfo;
class Correspondence;
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class Device;
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class Synthetic;
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namespace device {
class Frame;
} // namespace device
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namespace api {
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/**
* @ingroup datatypes
* API stream data.
*/
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struct MYNTEYE_API StreamData {
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/** ImgData. */
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std::shared_ptr<ImgData> img;
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/** Frame. */
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cv::Mat frame;
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/** Raw frame. */
std::shared_ptr<device::Frame> frame_raw;
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/** Frame ID. */
std::uint16_t frame_id;
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bool operator==(const StreamData &other) const {
if (img && other.img) {
return img->frame_id == other.img->frame_id &&
img->timestamp == other.img->timestamp;
}
return false;
}
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};
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/**
* @ingroup datatypes
* API motion data.
*/
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struct MYNTEYE_API MotionData {
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/** ImuData. */
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std::shared_ptr<ImuData> imu;
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bool operator==(const MotionData &other) const {
if (imu && other.imu) {
return imu->timestamp == other.imu->timestamp;
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}
return false;
}
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};
} // namespace api
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/**
* The API class to communicate with MYNT® EYE device.
*/
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class MYNTEYE_API API {
public:
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/** The api::StreamData callback. */
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using stream_callback_t = std::function<void(const api::StreamData &data)>;
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/** The api::MotionData callback. */
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using motion_callback_t = std::function<void(const api::MotionData &data)>;
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/** The enable/disable switch callback. */
using stream_switch_callback_t = std::function<void(const Stream &stream)>;
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explicit API(std::shared_ptr<Device> device, CalibrationModel calib_model);
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virtual ~API();
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/**
* Create the API instance.
* @param argc the arg count.
* @param argv the arg values.
* @return the API instance.
* @note This will init glog with args and call device::select() to select a
* device.
*/
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static std::shared_ptr<API> Create(int argc, char *argv[]);
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/**
* Create the API instance.
* @param argc the arg count.
* @param argv the arg values.
* @param device the selected device.
* @return the API instance.
* @note This will init glog with args.
*/
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static std::shared_ptr<API> Create(
int argc, char *argv[], const std::shared_ptr<Device> &device);
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/**
* Create the API instance.
* @param device the selected device.
* @return the API instance.
*/
static std::shared_ptr<API> Create(const std::shared_ptr<Device> &device);
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/**
* Get the model.
*/
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Model GetModel() const;
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/**
* Supports the stream or not.
*/
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bool Supports(const Stream &stream) const;
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/**
* Supports the capability or not.
*/
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bool Supports(const Capabilities &capability) const;
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/**
* Supports the option or not.
*/
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bool Supports(const Option &option) const;
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/**
* Supports the addon or not.
*/
bool Supports(const AddOns &addon) const;
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/**
* Log all stream requests and prompt user to select one.
*/
StreamRequest SelectStreamRequest(bool *ok) const;
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/**
* Get all stream requests of the capability.
*/
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const std::vector<StreamRequest> &GetStreamRequests(
const Capabilities &capability) const;
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/**
* Config the stream request to the capability.
*/
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void ConfigStreamRequest(
const Capabilities &capability, const StreamRequest &request);
/**
* Get the config stream requests of the capability.
*/
const StreamRequest &GetStreamRequest(const Capabilities &capability) const;
/**
* Get all stream requests of the key stream capability.
*/
const std::vector<StreamRequest> &GetStreamRequests() const;
/**
* Config the stream request to the key stream capability.
*/
void ConfigStreamRequest(const StreamRequest &request);
/**
* Get the config stream requests of the key stream capability.
*/
const StreamRequest &GetStreamRequest() const;
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/**
* Get the device info.
*/
std::shared_ptr<DeviceInfo> GetInfo() const;
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/**
* Get the device info.
*/
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std::string GetInfo(const Info &info) const;
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/**
* Get the sdk version.
*/
std::string GetSDKVersion() const;
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/**
* @deprecated Get the intrinsics (pinhole) of stream.
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*/
IntrinsicsPinhole GetIntrinsics(const Stream &stream) const;
/**
* Get the intrinsics of stream.
*/
template <typename T>
T GetIntrinsics(const Stream &stream) const;
/**
* Get the intrinsics base of stream.
*/
std::shared_ptr<IntrinsicsBase> GetIntrinsicsBase(const Stream &stream) const;
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/**
* Get the extrinsics from one stream to another.
*/
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Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const;
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/**
* Get the intrinsics of motion.
*/
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MotionIntrinsics GetMotionIntrinsics() const;
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/**
* Get the extrinsics from one stream to motion.
*/
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Extrinsics GetMotionExtrinsics(const Stream &from) const;
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/**
* Log all option infos.
*/
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void LogOptionInfos() const;
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/**
* Get the option info.
*/
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OptionInfo GetOptionInfo(const Option &option) const;
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/**
* Get the option value.
*/
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std::int32_t GetOptionValue(const Option &option) const;
/**
* Set the disparity computing method.
*/
void SetDisparityComputingMethodType(
const DisparityComputingMethod &MethodType);
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/**
* Set the rectify bord cut alpha.
*/
void SetRectifyAlpha(const double &alpha);
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/**
* Set if the duplicate frames is enable.
*/
void setDuplicate(bool isEnable);
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/**
* Set the option value.
*/
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void SetOptionValue(const Option &option, std::int32_t value);
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/**
* Run the option action.
*/
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bool RunOptionAction(const Option &option) const;
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/**
* Set the callback of stream.
*/
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void SetStreamCallback(const Stream &stream, stream_callback_t callback);
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/**
* Set the callback of motion.
*/
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void SetMotionCallback(motion_callback_t callback);
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/**
* Has the callback of stream.
*/
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bool HasStreamCallback(const Stream &stream) const;
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/**
* Has the callback of motion.
*/
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bool HasMotionCallback() const;
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/**
* Start capturing the source.
*/
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void Start(const Source &source);
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/**
* Stop capturing the source.
*/
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void Stop(const Source &source);
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/**
* Wait the streams are ready.
*/
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void WaitForStreams();
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/**
* Enable the data of stream.
* @note must enable the stream if it's a synthetic one. This means the stream
* in not native, the device has the capability to provide this stream, but
* still support this stream.
*/
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void EnableStreamData(const Stream &stream);
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/**
* Enable the data of stream.
* callback function will call before the father processor enable.
* when try_tag is true, the function will do nothing except callback.
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*/
void EnableStreamData(
const Stream &stream,
stream_switch_callback_t callback,
bool try_tag = false);
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/**
* Disable the data of stream.
*/
void DisableStreamData(const Stream &stream);
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/**
* Disable the data of stream.
* callback function will call before the children processor disable.
* when try_tag is true, the function will do nothing except callback.
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*/
void DisableStreamData(
const Stream &stream,
stream_switch_callback_t callback,
bool try_tag = false);
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/**
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* Get the latest data of stream.
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*/
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api::StreamData GetStreamData(const Stream &stream);
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/**
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* Get the datas of stream.
* @note default cache 4 datas at most.
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*/
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std::vector<api::StreamData> GetStreamDatas(const Stream &stream);
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/**
* Enable cache motion datas.
*/
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void EnableMotionDatas(
std::size_t max_size = std::numeric_limits<std::size_t>::max());
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/**
* Get the motion datas.
*/
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std::vector<api::MotionData> GetMotionDatas();
/**
* Enable motion datas with timestamp correspondence of some stream.
*/
void EnableTimestampCorrespondence(const Stream &stream,
bool keep_accel_then_gyro = true);
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/**
* Enable the plugin.
*/
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void EnablePlugin(const std::string &path);
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std::shared_ptr<Device> device();
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/** Enable process mode, e.g. imu assembly, temp_drift */
void EnableProcessMode(const ProcessMode& mode);
/** Enable process mode, e.g. imu assembly, temp_drift */
void EnableProcessMode(const std::int32_t& mode);
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/**
* Get ROS need camera info struct
*/
std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair();
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/**
* Load disparity config from file.
*/
bool ConfigDisparityFromFile(const std::string& config_file);
bool IsDefaultIntrinsics();
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private:
std::shared_ptr<Device> device_;
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std::unique_ptr<Synthetic> synthetic_;
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std::unique_ptr<Correspondence> correspondence_;
motion_callback_t callback_;
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void CheckImageParams();
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};
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template <typename T>
T API::GetIntrinsics(const Stream &stream) const {
auto in = GetIntrinsicsBase(stream);
return *std::dynamic_pointer_cast<T>(in);
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}
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_API_API_H_