MYNT-EYE-S-SDK/include/mynteye/device/device.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_DEVICE_DEVICE_H_
#define MYNTEYE_DEVICE_DEVICE_H_
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#pragma once
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#include <map>
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#include <memory>
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#include <mutex>
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#include <string>
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#include <vector>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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#include "mynteye/device/callbacks.h"
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MYNTEYE_BEGIN_NAMESPACE
namespace uvc {
struct device;
} // namespace uvc
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namespace tools {
class DeviceWriter;
} // namespace tools
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struct DeviceInfo;
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class API;
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class Channels;
class ChannelsAdapter;
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class Motions;
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class Streams;
class StreamsAdapter;
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template <class Data>
class AsyncCallback;
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/**
* The Device class to communicate with MYNT® EYE device.
*/
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class MYNTEYE_API Device {
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public:
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/** The device::StreamData callback. */
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using stream_callback_t = device::StreamCallback;
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/** The device::MotionData callback. */
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using motion_callback_t = device::MotionCallback;
using stream_callbacks_t = std::map<Stream, stream_callback_t>;
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using stream_async_callback_t = AsyncCallback<device::StreamData>;
using motion_async_callback_t = AsyncCallback<device::MotionData>;
using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;
using img_params_t = device::img_params_t;
using imu_params_t = device::imu_params_t;
protected:
Device(const Model &model,
const std::shared_ptr<uvc::device> &device,
const std::shared_ptr<StreamsAdapter> &streams_adapter,
const std::shared_ptr<ChannelsAdapter> &channels_adapter);
public:
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virtual ~Device();
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/**
* Create the Device instance.
* @param name the device name.
* @param device the device from uvc.
* @return the Device instance.
*/
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static std::shared_ptr<Device> Create(
const std::string &name, std::shared_ptr<uvc::device> device);
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/**
* Get the model.
*/
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Model GetModel() const {
return model_;
}
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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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/**
* 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.
*/
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std::shared_ptr<DeviceInfo> GetInfo() const;
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/**
* Get the device info of a field.
*/
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std::string GetInfo(const Info &info) const;
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/**
* Get the intrinsics of stream.
*/
Intrinsics GetIntrinsics(const Stream &stream) const;
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/**
* Get the extrinsics from one stream to another.
*/
Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const;
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/**
* Get the intrinsics of motion.
*/
MotionIntrinsics GetMotionIntrinsics() const;
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/**
* Get the extrinsics from one stream to motion.
*/
Extrinsics GetMotionExtrinsics(const Stream &from) const;
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/**
* Get the intrinsics of stream.
*/
Intrinsics GetIntrinsics(const Stream &stream, bool *ok) const;
/**
* Get the extrinsics from one stream to another.
*/
Extrinsics GetExtrinsics(
const Stream &from, const Stream &to, bool *ok) const;
/**
* Get the intrinsics of motion.
*/
MotionIntrinsics GetMotionIntrinsics(bool *ok) const;
/**
* Get the extrinsics from one stream to motion.
*/
Extrinsics GetMotionExtrinsics(const Stream &from, bool *ok) const;
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/**
* Set the intrinsics of stream.
*/
void SetIntrinsics(const Stream &stream, const Intrinsics &in);
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/**
* Set the extrinsics from one stream to another.
*/
void SetExtrinsics(
const Stream &from, const Stream &to, const Extrinsics &ex);
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/**
* Set the intrinsics of motion.
*/
void SetMotionIntrinsics(const MotionIntrinsics &in);
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/**
* Set the extrinsics from one stream to motion.
*/
void SetMotionExtrinsics(const Stream &from, const Extrinsics &ex);
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/**
* Get the intrinsics of stream.
*/
template<typename T>
T GetIntrinsics(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;
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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, bool async = false);
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/**
* Set the callback of motion.
*/
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void SetMotionCallback(motion_callback_t callback, bool async = false);
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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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virtual void Start(const Source &source);
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/**
* Stop capturing the source.
*/
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virtual void Stop(const Source &source);
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/**
* Wait the streams are ready.
*/
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void WaitForStreams();
/**
* Get the latest data of stream.
*/
device::StreamData GetStreamData(const Stream &stream);
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/**
* Get the datas of stream.
* @note default cache 4 datas at most.
*/
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std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
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/**
* Enable cache motion datas.
*/
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void EnableMotionDatas();
/**
* Enable cache motion datas.
*/
void EnableMotionDatas(std::size_t max_size);
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/**
* Get the motion datas.
*/
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std::vector<device::MotionData> GetMotionDatas();
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protected:
std::shared_ptr<uvc::device> device() const {
return device_;
}
std::shared_ptr<Streams> streams() const {
return streams_;
}
std::shared_ptr<Channels> channels() const {
return channels_;
}
std::shared_ptr<Motions> motions() const {
return motions_;
}
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virtual void StartVideoStreaming();
virtual void StopVideoStreaming();
virtual void StartMotionTracking();
virtual void StopMotionTracking();
virtual void OnStereoStreamUpdate();
virtual Capabilities GetKeyStreamCapability() const = 0;
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std::map<Resolution, device::img_params_t> GetImgParams() const {
return all_img_params_;
}
device::imu_params_t GetImuParams() const {
return imu_params_;
}
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bool video_streaming_;
bool motion_tracking_;
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private:
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Model model_;
std::shared_ptr<uvc::device> device_;
std::shared_ptr<DeviceInfo> device_info_;
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std::map<Resolution, device::img_params_t> all_img_params_;
device::imu_params_t imu_params_;
std::map<Stream, Intrinsics> stream_intrinsics_;
std::map<Stream, std::map<Stream, Extrinsics>> stream_from_extrinsics_;
std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
std::map<Stream, Extrinsics> motion_from_extrinsics_;
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stream_callbacks_t stream_callbacks_;
motion_callback_t motion_callback_;
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std::map<Stream, stream_async_callback_ptr_t> stream_async_callbacks_;
motion_async_callback_ptr_t motion_async_callback_;
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std::shared_ptr<Streams> streams_;
std::map<Capabilities, StreamRequest> stream_config_requests_;
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std::mutex mtx_streams_;
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std::shared_ptr<Channels> channels_;
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std::shared_ptr<Motions> motions_;
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void ReadAllInfos();
void UpdateStreamIntrinsics(
const Capabilities &capability, const StreamRequest &request);
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void CallbackPushedStreamData(const Stream &stream);
void CallbackMotionData(const device::MotionData &data);
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friend API;
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friend tools::DeviceWriter;
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};
MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_DEVICE_DEVICE_H_