2019-01-05 20:02:08 +08:00
|
|
|
// 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.
|
|
|
|
#ifndef MYNTEYE_DEVICE_CHANNEL_BYTES_H_
|
|
|
|
#define MYNTEYE_DEVICE_CHANNEL_BYTES_H_
|
|
|
|
#pragma once
|
|
|
|
|
|
|
|
#include <algorithm>
|
|
|
|
#include <string>
|
|
|
|
|
|
|
|
#include "mynteye/mynteye.h"
|
|
|
|
#include "mynteye/types.h"
|
|
|
|
#include "mynteye/device/channel/def.h"
|
|
|
|
#include "mynteye/device/types.h"
|
|
|
|
|
|
|
|
MYNTEYE_BEGIN_NAMESPACE
|
|
|
|
|
|
|
|
namespace bytes {
|
|
|
|
|
|
|
|
// from
|
|
|
|
|
|
|
|
template <typename T>
|
|
|
|
T _from_data(const std::uint8_t *data) {
|
|
|
|
std::size_t size = sizeof(T) / sizeof(std::uint8_t);
|
|
|
|
T value = 0;
|
|
|
|
for (std::size_t i = 0; i < size; i++) {
|
|
|
|
value |= data[i] << (8 * (size - i - 1));
|
|
|
|
}
|
|
|
|
return value;
|
|
|
|
}
|
|
|
|
|
|
|
|
template <>
|
|
|
|
inline double _from_data(const std::uint8_t *data) {
|
|
|
|
return *(reinterpret_cast<const double *>(data));
|
|
|
|
}
|
|
|
|
|
|
|
|
std::string _from_data(const std::uint8_t *data, std::size_t count);
|
|
|
|
|
|
|
|
// from types
|
|
|
|
|
2019-01-05 22:04:59 +08:00
|
|
|
std::size_t from_data(IntrinsicsBase *in, const std::uint8_t *data,
|
|
|
|
bool get_size);
|
|
|
|
std::size_t from_data(IntrinsicsPinhole *in, const std::uint8_t *data,
|
|
|
|
bool get_size);
|
|
|
|
std::size_t from_data(IntrinsicsEquidistant *in, const std::uint8_t *data,
|
|
|
|
bool get_size);
|
2019-01-05 20:02:08 +08:00
|
|
|
|
|
|
|
std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data);
|
|
|
|
|
|
|
|
std::size_t from_data(Extrinsics *ex, const std::uint8_t *data);
|
|
|
|
|
|
|
|
// to
|
|
|
|
|
|
|
|
template <typename T>
|
|
|
|
std::size_t _to_data(T value, std::uint8_t *data) {
|
|
|
|
std::size_t size = sizeof(T) / sizeof(std::uint8_t);
|
|
|
|
for (std::size_t i = 0; i < size; i++) {
|
|
|
|
data[i] = static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) & 0xFF);
|
|
|
|
}
|
|
|
|
return size;
|
|
|
|
}
|
|
|
|
|
|
|
|
template <>
|
|
|
|
inline std::size_t _to_data(double value, std::uint8_t *data) {
|
|
|
|
std::uint8_t *val = reinterpret_cast<std::uint8_t *>(&value);
|
|
|
|
std::copy(val, val + 8, data);
|
|
|
|
return 8;
|
|
|
|
}
|
|
|
|
|
|
|
|
std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count);
|
|
|
|
|
|
|
|
// to types
|
|
|
|
|
2019-01-05 22:04:59 +08:00
|
|
|
std::size_t to_data(const IntrinsicsBase *in, std::uint8_t *data,
|
|
|
|
bool set_size);
|
|
|
|
std::size_t to_data(const IntrinsicsPinhole *in, std::uint8_t *data,
|
|
|
|
bool set_size);
|
|
|
|
std::size_t to_data(const IntrinsicsEquidistant *in, std::uint8_t *data,
|
|
|
|
bool set_size);
|
2019-01-05 20:02:08 +08:00
|
|
|
|
|
|
|
std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data);
|
|
|
|
|
|
|
|
std::size_t to_data(const Extrinsics *ex, std::uint8_t *data);
|
|
|
|
|
|
|
|
} // namespace bytes
|
|
|
|
|
|
|
|
MYNTEYE_END_NAMESPACE
|
|
|
|
|
|
|
|
#endif // MYNTEYE_DEVICE_CHANNEL_BYTES_H_
|