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Fix the conflict

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kalman
2018-11-24 16:43:38 +08:00
parent 210ddba1ba 0fc1196b52
commit 1811f20a14
264 changed files with 29737 additions and 970 deletions
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297
include/mynteye/api/api.h Normal file
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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.
#ifndef MYNTEYE_API_API_H_
#define MYNTEYE_API_API_H_
#pragma once
#include <limits>
#include <memory>
#include <string>
#include <vector>
#include <opencv2/core/core.hpp>
#include "mynteye/mynteye.h"
#include "mynteye/types.h"
MYNTEYE_BEGIN_NAMESPACE
class Device;
class Synthetic;
namespace device {
class Frame;
} // namespace device
namespace api {
/**
* @ingroup datatypes
* API stream data.
*/
struct MYNTEYE_API StreamData {
/** ImgData. */
std::shared_ptr<ImgData> img;
/** Frame. */
cv::Mat frame;
/** Raw frame. */
std::shared_ptr<device::Frame> frame_raw;
/** Frame ID. */
std::uint16_t frame_id;
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;
}
};
/**
* @ingroup datatypes
* API motion data.
*/
struct MYNTEYE_API MotionData {
/** ImuData. */
std::shared_ptr<ImuData> imu;
bool operator==(const MotionData &other) const {
if (imu && other.imu) {
return imu->timestamp == other.imu->timestamp;
}
return false;
}
};
} // namespace api
/**
* The API class to communicate with MYNT® EYE device.
*/
class MYNTEYE_API API {
public:
/** The api::StreamData callback. */
using stream_callback_t = std::function<void(const api::StreamData &data)>;
/** The api::MotionData callback. */
using motion_callback_t = std::function<void(const api::MotionData &data)>;
explicit API(std::shared_ptr<Device> device);
virtual ~API();
/**
* Create the API instance.
* @return the API instance.
* @note This will call device::select() to select a device.
*/
static std::shared_ptr<API> Create(Resolution res);
/**
* Create the API instance.
* @param device the selected device.
* @return the API instance.
*/
static std::shared_ptr<API> Create(
std::shared_ptr<Device> device, Resolution res);
/**
* Create the API instance.
* @param device the selected device.
* @return the API instance.
*/
static std::shared_ptr<API> Create(std::shared_ptr<Device> device);
/**
* 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.
*/
static std::shared_ptr<API> Create(int argc, char *argv[]);
/**
* 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.
*/
static std::shared_ptr<API> Create(
int argc, char *argv[], std::shared_ptr<Device> device);
/**
* Get the model.
*/
Model GetModel() const;
/**
* Supports the stream or not.
*/
bool Supports(const Stream &stream) const;
/**
* Supports the capability or not.
*/
bool Supports(const Capabilities &capability) const;
/**
* Supports the option or not.
*/
bool Supports(const Option &option) const;
/**
* Supports the addon or not.
*/
bool Supports(const AddOns &addon) const;
/**
* set the stream request.
*/
void SetStreamRequest(const Format &format, const FrameRate &rate);
/**
* Get all stream requests of the capability.
*/
const std::vector<StreamRequest> &GetStreamRequests(
const Capabilities &capability) const;
/**
* Config the stream request to the capability.
*/
void ConfigStreamRequest(
const Capabilities &capability, const StreamRequest &request);
/**
* Get the device info.
*/
std::string GetInfo(const Info &info) const;
/**
* Get the intrinsics of stream.
*/
Intrinsics GetIntrinsics(const Stream &stream) const;
/**
* Get the extrinsics from one stream to another.
*/
Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const;
/**
* Get the intrinsics of motion.
*/
MotionIntrinsics GetMotionIntrinsics() const;
/**
* Get the extrinsics from one stream to motion.
*/
Extrinsics GetMotionExtrinsics(const Stream &from) const;
/**
* Log all option infos.
*/
void LogOptionInfos() const;
/**
* Get the option info.
*/
OptionInfo GetOptionInfo(const Option &option) const;
/**
* Get the option value.
*/
std::int32_t GetOptionValue(const Option &option) const;
/**
* Set the option value.
*/
void SetOptionValue(const Option &option, std::int32_t value);
/**
* Run the option action.
*/
bool RunOptionAction(const Option &option) const;
/**
* Set the callback of stream.
*/
void SetStreamCallback(const Stream &stream, stream_callback_t callback);
/**
* Set the callback of motion.
*/
void SetMotionCallback(motion_callback_t callback);
/**
* Has the callback of stream.
*/
bool HasStreamCallback(const Stream &stream) const;
/**
* Has the callback of motion.
*/
bool HasMotionCallback() const;
/**
* Start capturing the source.
*/
void Start(const Source &source);
/**
* Stop capturing the source.
*/
void Stop(const Source &source);
/**
* Wait the streams are ready.
*/
void WaitForStreams();
/**
* 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.
*/
void EnableStreamData(const Stream &stream);
/**
* Disable the data of stream.
*/
void DisableStreamData(const Stream &stream);
/**
* Get the latest data of stream.
*/
api::StreamData GetStreamData(const Stream &stream);
/**
* Get the datas of stream.
* @note default cache 4 datas at most.
*/
std::vector<api::StreamData> GetStreamDatas(const Stream &stream);
/**
* Enable cache motion datas.
*/
void EnableMotionDatas(
std::size_t max_size = std::numeric_limits<std::size_t>::max());
/**
* Get the motion datas.
*/
std::vector<api::MotionData> GetMotionDatas();
/**
* Enable the plugin.
*/
void EnablePlugin(const std::string &path);
std::shared_ptr<Device> device();
private:
std::shared_ptr<Device> device_;
std::unique_ptr<Synthetic> synthetic_;
void CheckImageParams();
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_API_API_H_

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include/mynteye/api/object.h Normal file
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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.
#ifndef MYNTEYE_API_OBJECT_H_
#define MYNTEYE_API_OBJECT_H_
#pragma once
#include <memory>
#include <opencv2/core/core.hpp>
#include "mynteye/mynteye.h"
MYNTEYE_BEGIN_NAMESPACE
struct ImgData;
/**
* Input & output object.
*/
struct MYNTEYE_API Object {
Object() = default;
virtual ~Object() = default;
virtual Object *Clone() const = 0;
virtual bool DecValidity() const = 0;
/** Cast the obj to T pointer */
template <typename T>
static T *Cast(Object *obj) {
return dynamic_cast<T *>(obj);
}
/** Cast the obj to const T pointer */
template <typename T>
static const T *Cast(const Object *obj) {
return dynamic_cast<const T *>(obj);
}
template <typename T>
static std::shared_ptr<T> Cast(const std::shared_ptr<Object> &obj) {
return std::dynamic_pointer_cast<T>(obj);
}
};
/**
* Input & output object of one cv::Mat.
*/
struct MYNTEYE_API ObjMat : public Object {
ObjMat() = default;
ObjMat(const cv::Mat &value, std::uint16_t id,
const std::shared_ptr<ImgData> &data)
: value(value), id(id), data(data) {}
/** The value */
cv::Mat value;
/** The id **/
std::uint16_t id;
/** The data **/
std::shared_ptr<ImgData> data;
Object *Clone() const {
ObjMat *mat = new ObjMat;
mat->value = value.clone();
mat->id = id;
mat->data = data;
return mat;
}
bool DecValidity() const {
return !value.empty();
}
};
/**
* Input & output object of two cv::Mat.
*/
struct MYNTEYE_API ObjMat2 : public Object {
ObjMat2() = default;
ObjMat2(const cv::Mat &first, std::uint16_t first_id,
const std::shared_ptr<ImgData> &first_data,
const cv::Mat &second, std::uint16_t second_id,
const std::shared_ptr<ImgData> &second_data)
: first(first), first_id(first_id), first_data(first_data),
second(second), second_id(second_id), second_data(second_data) {}
/** The first value */
cv::Mat first;
/** The first id **/
std::uint16_t first_id;
/** The first data **/
std::shared_ptr<ImgData> first_data;
/** The second value */
cv::Mat second;
/** The second id **/
std::uint16_t second_id;
/** The second data **/
std::shared_ptr<ImgData> second_data;
Object *Clone() const {
ObjMat2 *mat2 = new ObjMat2;
mat2->first = first.clone();
mat2->first_id = first_id;
mat2->first_data = first_data;
mat2->second = second.clone();
mat2->second_id = second_id;
mat2->second_data = second_data;
return mat2;
}
bool DecValidity() const {
return !first.empty() && !second.empty();
}
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_API_OBJECT_H_

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include/mynteye/api/plugin.h Normal file
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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.
#ifndef MYNTEYE_API_PLUGIN_H_
#define MYNTEYE_API_PLUGIN_H_
#pragma once
#include <cstdint>
#include <opencv2/core/core.hpp>
#include "mynteye/mynteye.h"
#ifndef MYNTEYE_PLUGIN_VERSION_CODE
#define MYNTEYE_PLUGIN_VERSION_CODE 0
#endif
MYNTEYE_BEGIN_NAMESPACE
class API;
struct Object;
/**
* The plugin which could implement processing by yourself.
*/
class MYNTEYE_API Plugin {
public:
Plugin() = default;
virtual ~Plugin() = 0;
/**
* Called when plugin created.
* @param api the API instacne.
*/
virtual void OnCreate(API *api) {
api_ = api;
}
/**
* Called when process rectify.
* @param in input object.
* @param out output object.
* @return `true` if you process rectify.
*/
virtual bool OnRectifyProcess(Object *const in, Object *const out) {
MYNTEYE_UNUSED(in)
MYNTEYE_UNUSED(out)
return false;
}
/**
* Called when process disparity.
* @param in input object.
* @param out output object.
* @return `true` if you process disparity.
*/
virtual bool OnDisparityProcess(Object *const in, Object *const out) {
MYNTEYE_UNUSED(in)
MYNTEYE_UNUSED(out)
return false;
}
/**
* Called when process normalized disparity.
* @param in input object.
* @param out output object.
* @return `true` if you process normalized disparity.
*/
virtual bool OnDisparityNormalizedProcess(
Object *const in, Object *const out) {
MYNTEYE_UNUSED(in)
MYNTEYE_UNUSED(out)
return false;
}
/**
* Called when process points.
* @param in input object.
* @param out output object.
* @return `true` if you process points.
*/
virtual bool OnPointsProcess(Object *const in, Object *const out) {
MYNTEYE_UNUSED(in)
MYNTEYE_UNUSED(out)
return false;
}
/**
* Called when process depth.
* @param in input object.
* @param out output object.
* @return `true` if you process depth.
*/
virtual bool OnDepthProcess(Object *const in, Object *const out) {
MYNTEYE_UNUSED(in)
MYNTEYE_UNUSED(out)
return false;
}
protected:
API *api_;
};
inline Plugin::~Plugin() = default;
using plugin_version_code_t = std::uint32_t();
using plugin_create_t = Plugin *();
using plugin_destroy_t = void(Plugin *);
MYNTEYE_END_NAMESPACE
extern "C" {
/**
* Get the plugin version code.
*/
MYNTEYE_API std::uint32_t plugin_version_code();
/**
* Create the plugin.
*/
MYNTEYE_API mynteye::Plugin *plugin_create();
/**
* Destroy the plugin.
*/
MYNTEYE_API void plugin_destroy(mynteye::Plugin *plugin);
}
#endif // MYNTEYE_API_PLUGIN_H_