Add types & test
This commit is contained in:
John Zhao
parent
a5bdeaf41f
commit
48cf2bf9cb
4
.gitmodules
vendored
4
.gitmodules
vendored
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@ -1,5 +1,5 @@
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[submodule "tests/gtest"]
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[submodule "test/gtest"]
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path = tests/gtest
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path = test/gtest
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url = https://github.com/google/googletest.git
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url = https://github.com/google/googletest.git
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[submodule "third_party/glog"]
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[submodule "third_party/glog"]
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path = third_party/glog
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path = third_party/glog
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@ -71,6 +71,7 @@ set(MYNTEYE_NAME ${PROJECT_NAME})
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set(MYNTEYE_PUBLIC_H
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set(MYNTEYE_PUBLIC_H
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${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
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${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
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${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
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${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
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${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
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)
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)
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if(OS_WIN)
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if(OS_WIN)
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@ -90,6 +91,7 @@ endif()
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set(MYNTEYE_SRCS
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set(MYNTEYE_SRCS
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${UVC_SRC}
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${UVC_SRC}
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src/public/types.cc
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)
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)
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set(MYNTEYE_LINKLIBS
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set(MYNTEYE_LINKLIBS
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11
Makefile
11
Makefile
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@ -62,10 +62,13 @@ build: third_party
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# test
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# test
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test: submodules
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test: install
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@$(call echo,Make $@)
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@$(call echo,Make $@)
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@$(call echo,Make gtest,33)
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@$(call echo,Make gtest,33)
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@$(call cmake_build,./tests/gtest/_build)
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@$(call cmake_build,./test/gtest/_build)
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@$(call echo,Make test,33)
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@$(call cmake_build,./test/_build)
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@./test/_output/bin/mynteye_test
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.PHONY: test
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.PHONY: test
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@ -94,11 +97,13 @@ clean:
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@$(call rm,./_install/)
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@$(call rm,./_install/)
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@$(call rm,./samples/_build/)
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@$(call rm,./samples/_build/)
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@$(call rm,./samples/_output/)
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@$(call rm,./samples/_output/)
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@$(call rm,./test/_build/)
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@$(call rm,./test/_output/)
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@$(MAKE) cleanlog
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@$(MAKE) cleanlog
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cleanall: clean
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cleanall: clean
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@$(call rm,./doc/_output/)
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@$(call rm,./doc/_output/)
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@$(call rm,./tests/gtest/_build/)
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@$(call rm,./test/gtest/_build/)
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@$(call rm,./third_party/glog/_build/)
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@$(call rm,./third_party/glog/_build/)
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@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
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@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
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157
include/mynteye/types.h
Normal file
157
include/mynteye/types.h
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@ -0,0 +1,157 @@
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#ifndef MYNTEYE_TYPES_H_ // NOLINT
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#define MYNTEYE_TYPES_H_
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#pragma once
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#include <cstdint>
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#include <iostream>
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#include <type_traits>
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#include "mynteye/mynteye.h"
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MYNTEYE_BEGIN_NAMESPACE
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/**
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* @ingroup enumerations
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* @brief Streams define different type of data.
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*/
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enum class Stream : std::uint8_t {
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/** Left stream */
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LEFT,
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/** Right stream */
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RIGHT,
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/** Left stream, rectified */
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LEFT_RECTIFIED,
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/** Right stream, rectified */
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RIGHT_RECTIFIED,
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/** Disparity stream */
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DISPARITY,
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/** Disparity stream, normalized */
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DISPARITY_NORMALIZED,
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/** Depth stream */
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DEPTH,
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/** Point cloud stream */
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POINTS,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Capabilities define the full set of functionality that the device
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* might provide.
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*/
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enum class Capabilities : std::uint8_t {
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/** Provices stereo stream */
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STEREO,
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/** Provices color stream */
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COLOR,
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/** Provices depth stream */
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DEPTH,
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/** Provices point cloud stream */
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POINTS,
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/** Provices fisheye stream */
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FISHEYE,
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/** Provices IMU (accelerometer, gyroscope) data */
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IMU,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Camera info fields are read-only strings that can be queried from the
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* device.
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*/
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enum class Info : std::uint8_t {
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/** Device name */
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DEVICE_NAME,
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/** Serial number */
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SERIAL_NUMBER,
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/** Firmware version */
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FIRMWARE_VERSION,
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/** Hardware version */
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HARDWARE_VERSION,
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/** Spec version */
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SPEC_VERSION,
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/** Lens type */
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LENS_TYPE,
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/** IMU type */
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IMU_TYPE,
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/** Nominal baseline */
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NOMINAL_BASELINE,
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/** Last guard */
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LAST,
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};
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/**
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* @ingroup enumerations
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* Camera control options define general configuration controls.
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*/
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enum class Option : std::uint8_t {
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/** Image gain, setting it if manual-exposure */
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GAIN,
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/** Image brightness, setting it if manual-exposure */
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BRIGHTNESS,
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/** Image contrast */
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CONTRAST,
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/** Image frame rate */
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FRAME_RATE,
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/** IMU frequency */
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IMU_FREQUENCY,
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/**
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* Exposure mode
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*
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* 0: enable auto-exposure
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* 1: disable auto-exposure (manual-exposure)
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*/
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EXPOSURE_MODE,
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/** Max gain, setting it if auto-exposure */
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MAX_GAIN,
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/** Max exposure time, setting it if auto-exposure */
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MAX_EXPOSURE_TIME,
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/** Desired brightness */
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DESIRED_BRIGHTNESS,
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/** IR control */
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IR_CONTROL,
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/**
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* HDR mode
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*
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* 0: 10-bit
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* 1: 12-bit
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*/
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HDR_MODE,
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/** Zero drift calibration */
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ZERO_DRIFT_CALIBRATION,
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/** Erase chip */
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ERASE_CHIP,
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/** Last guard */
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LAST,
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};
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#define MYNTEYE_ENUM_HELPERS(TYPE) \
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const char *to_string(const TYPE &value); \
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inline bool is_valid(const TYPE &value) { \
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using utype = std::underlying_type<TYPE>::type; \
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utype val = static_cast<utype>(value); \
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utype max = static_cast<utype>(TYPE::LAST); \
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return /*val >= 0 &&*/ val < max; \
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} \
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inline std::ostream &operator<<(std::ostream &os, const TYPE &value) { \
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using utype = std::underlying_type<TYPE>::type; \
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if (is_valid(value)) \
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return os << to_string(value); \
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else \
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return os << static_cast<utype>(value); \
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}
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MYNTEYE_ENUM_HELPERS(Stream)
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MYNTEYE_ENUM_HELPERS(Capabilities)
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MYNTEYE_ENUM_HELPERS(Info)
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MYNTEYE_ENUM_HELPERS(Option)
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#undef MYNTEYE_ENUM_HELPERS
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_TYPES_H_ NOLINT
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90
src/public/types.cc
Normal file
90
src/public/types.cc
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@ -0,0 +1,90 @@
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#include "mynteye/types.h"
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#include <glog/logging.h>
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MYNTEYE_BEGIN_NAMESPACE
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const char *to_string(const Stream &value) {
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#define CASE(X) \
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case Stream::X: \
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return "Stream::" #X;
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switch (value) {
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CASE(LEFT)
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CASE(RIGHT)
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CASE(LEFT_RECTIFIED)
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CASE(RIGHT_RECTIFIED)
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CASE(DISPARITY)
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CASE(DISPARITY_NORMALIZED)
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CASE(DEPTH)
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CASE(POINTS)
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default:
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CHECK(is_valid(value));
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return "Stream::UNKNOWN";
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}
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#undef CASE
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}
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const char *to_string(const Capabilities &value) {
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#define CASE(X) \
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case Capabilities::X: \
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return "Capabilities::" #X;
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switch (value) {
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CASE(STEREO)
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CASE(COLOR)
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CASE(DEPTH)
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CASE(POINTS)
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CASE(FISHEYE)
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CASE(IMU)
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default:
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CHECK(is_valid(value));
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return "Capabilities::UNKNOWN";
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}
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#undef CASE
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}
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const char *to_string(const Info &value) {
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#define CASE(X) \
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case Info::X: \
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return "Info::" #X;
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switch (value) {
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CASE(DEVICE_NAME)
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CASE(SERIAL_NUMBER)
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CASE(FIRMWARE_VERSION)
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CASE(HARDWARE_VERSION)
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CASE(SPEC_VERSION)
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CASE(LENS_TYPE)
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CASE(IMU_TYPE)
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CASE(NOMINAL_BASELINE)
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default:
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CHECK(is_valid(value));
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return "Info::UNKNOWN";
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}
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#undef CASE
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}
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const char *to_string(const Option &value) {
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#define CASE(X) \
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case Option::X: \
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return "Option::" #X;
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switch (value) {
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CASE(GAIN)
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CASE(BRIGHTNESS)
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CASE(CONTRAST)
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CASE(FRAME_RATE)
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CASE(IMU_FREQUENCY)
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CASE(EXPOSURE_MODE)
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CASE(MAX_GAIN)
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CASE(MAX_EXPOSURE_TIME)
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CASE(DESIRED_BRIGHTNESS)
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CASE(IR_CONTROL)
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CASE(HDR_MODE)
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CASE(ZERO_DRIFT_CALIBRATION)
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CASE(ERASE_CHIP)
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default:
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CHECK(is_valid(value));
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return "Option::UNKNOWN";
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}
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#undef CASE
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}
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MYNTEYE_END_NAMESPACE
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88
test/CMakeLists.txt
Normal file
88
test/CMakeLists.txt
Normal file
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@ -0,0 +1,88 @@
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cmake_minimum_required(VERSION 3.0)
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project(mynteye_test VERSION 2.0.0 LANGUAGES C CXX)
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get_filename_component(PRO_DIR ${PROJECT_SOURCE_DIR} DIRECTORY)
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# flags
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
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include(${PRO_DIR}/cmake/DetectCXX11.cmake)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
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string(STRIP "${CMAKE_C_FLAGS}" CMAKE_C_FLAGS)
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string(STRIP "${CMAKE_CXX_FLAGS}" CMAKE_CXX_FLAGS)
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message(STATUS "C_FLAGS: ${CMAKE_C_FLAGS}")
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message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
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# packages
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LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
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find_package(glog REQUIRED)
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message(STATUS "Found glog: ${glog_VERSION}")
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LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
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find_package(mynteye REQUIRED)
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message(STATUS "Found mynteye: ${mynteye_VERSION}")
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LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
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## gtest
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set(TEST_DIR ${PROJECT_SOURCE_DIR})
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set(GMOCK_DIR ${TEST_DIR}/gtest/googlemock)
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set(GTEST_DIR ${TEST_DIR}/gtest/googletest)
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set(GMOCK_LIB_DIR ${TEST_DIR}/gtest/_build/googlemock)
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set(GTEST_LIB_DIR ${GMOCK_LIB_DIR}/gtest)
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if(OS_WIN AND NOT MINGW)
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set(GTEST_LIB_DIR ${GTEST_LIB_DIR}/Release)
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endif()
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set(GTEST_LIBS
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${GTEST_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
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#${GTEST_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
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)
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message(STATUS "Found gtest libs: ${GTEST_LIBS}")
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# targets
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include(${PRO_DIR}/cmake/Common.cmake)
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set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output")
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|
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set_outdir(
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"${OUT_DIR}/lib"
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"${OUT_DIR}/lib"
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"${OUT_DIR}/bin"
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)
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|
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include_directories(
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${GTEST_DIR}/include
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)
|
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|
|
||||||
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file(GLOB TEST_PUBLIC_SRC "public/*.cc")
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|
|
||||||
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add_executable(${PROJECT_NAME}
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|
gtest_main.cc
|
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|
${TEST_PUBLIC_SRC}
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|
)
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target_link_libraries(${PROJECT_NAME} ${GTEST_LIBS} mynteye)
|
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|
|
||||||
|
if(OS_WIN)
|
||||||
|
target_compile_definitions(${PROJECT_NAME}
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|
PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES
|
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|
)
|
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|
endif()
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|
||||||
|
#find_package(Threads REQUIRED)
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||||||
|
#if(THREADS_HAVE_PTHREAD_ARG)
|
||||||
|
# target_compile_options(PUBLIC ${PROJECT_NAME} "-pthread")
|
||||||
|
#endif()
|
||||||
|
#if(CMAKE_THREAD_LIBS_INIT)
|
||||||
|
# target_link_libraries(${PROJECT_NAME} "${CMAKE_THREAD_LIBS_INIT}")
|
||||||
|
#endif()
|
||||||
1
test/gtest
Submodule
1
test/gtest
Submodule
|
|
@ -0,0 +1 @@
|
||||||
|
Subproject commit 7888184f28509dba839e3683409443e0b5bb8948
|
||||||
34
test/gtest_main.cc
Normal file
34
test/gtest_main.cc
Normal file
|
|
@ -0,0 +1,34 @@
|
||||||
|
#include "gtest/gtest.h"
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "glog/logging.h"
|
||||||
|
|
||||||
|
struct glog_init {
|
||||||
|
glog_init(int /*argc*/, char *argv[]) {
|
||||||
|
// FLAGS_logtostderr = true;
|
||||||
|
FLAGS_alsologtostderr = true;
|
||||||
|
FLAGS_colorlogtostderr = true;
|
||||||
|
|
||||||
|
FLAGS_log_dir = ".";
|
||||||
|
FLAGS_max_log_size = 1024;
|
||||||
|
FLAGS_stop_logging_if_full_disk = true;
|
||||||
|
|
||||||
|
// FLAGS_v = 2;
|
||||||
|
|
||||||
|
google::InitGoogleLogging(argv[0]);
|
||||||
|
|
||||||
|
VLOG(2) << __func__;
|
||||||
|
}
|
||||||
|
|
||||||
|
~glog_init() {
|
||||||
|
VLOG(2) << __func__;
|
||||||
|
google::ShutdownGoogleLogging();
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
GTEST_API_ int main(int argc, char **argv) {
|
||||||
|
glog_init _(argc, argv);
|
||||||
|
|
||||||
|
printf("Running main() from gtest_main.cc\n");
|
||||||
|
testing::InitGoogleTest(&argc, argv);
|
||||||
|
return RUN_ALL_TESTS();
|
||||||
|
}
|
||||||
57
test/public/types_test.cc
Normal file
57
test/public/types_test.cc
Normal file
|
|
@ -0,0 +1,57 @@
|
||||||
|
#include "gtest/gtest.h"
|
||||||
|
|
||||||
|
#include "mynteye/types.h"
|
||||||
|
|
||||||
|
MYNTEYE_USE_NAMESPACE
|
||||||
|
|
||||||
|
TEST(Stream, VerifyToString) {
|
||||||
|
EXPECT_STREQ("Stream::LEFT", to_string(Stream::LEFT));
|
||||||
|
EXPECT_STREQ("Stream::RIGHT", to_string(Stream::RIGHT));
|
||||||
|
EXPECT_STREQ("Stream::LEFT_RECTIFIED", to_string(Stream::LEFT_RECTIFIED));
|
||||||
|
EXPECT_STREQ("Stream::RIGHT_RECTIFIED", to_string(Stream::RIGHT_RECTIFIED));
|
||||||
|
EXPECT_STREQ("Stream::DISPARITY", to_string(Stream::DISPARITY));
|
||||||
|
EXPECT_STREQ(
|
||||||
|
"Stream::DISPARITY_NORMALIZED", to_string(Stream::DISPARITY_NORMALIZED));
|
||||||
|
EXPECT_STREQ("Stream::DEPTH", to_string(Stream::DEPTH));
|
||||||
|
EXPECT_STREQ("Stream::POINTS", to_string(Stream::POINTS));
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(Capabilities, VerifyToString) {
|
||||||
|
EXPECT_STREQ("Capabilities::STEREO", to_string(Capabilities::STEREO));
|
||||||
|
EXPECT_STREQ("Capabilities::COLOR", to_string(Capabilities::COLOR));
|
||||||
|
EXPECT_STREQ("Capabilities::DEPTH", to_string(Capabilities::DEPTH));
|
||||||
|
EXPECT_STREQ("Capabilities::POINTS", to_string(Capabilities::POINTS));
|
||||||
|
EXPECT_STREQ("Capabilities::FISHEYE", to_string(Capabilities::FISHEYE));
|
||||||
|
EXPECT_STREQ("Capabilities::IMU", to_string(Capabilities::IMU));
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(Info, VerifyToString) {
|
||||||
|
EXPECT_STREQ("Info::DEVICE_NAME", to_string(Info::DEVICE_NAME));
|
||||||
|
EXPECT_STREQ("Info::SERIAL_NUMBER", to_string(Info::SERIAL_NUMBER));
|
||||||
|
EXPECT_STREQ("Info::FIRMWARE_VERSION", to_string(Info::FIRMWARE_VERSION));
|
||||||
|
EXPECT_STREQ("Info::HARDWARE_VERSION", to_string(Info::HARDWARE_VERSION));
|
||||||
|
EXPECT_STREQ("Info::SPEC_VERSION", to_string(Info::SPEC_VERSION));
|
||||||
|
EXPECT_STREQ("Info::LENS_TYPE", to_string(Info::LENS_TYPE));
|
||||||
|
EXPECT_STREQ("Info::IMU_TYPE", to_string(Info::IMU_TYPE));
|
||||||
|
EXPECT_STREQ("Info::NOMINAL_BASELINE", to_string(Info::NOMINAL_BASELINE));
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(Option, VerifyToString) {
|
||||||
|
EXPECT_STREQ("Option::GAIN", to_string(Option::GAIN));
|
||||||
|
EXPECT_STREQ("Option::BRIGHTNESS", to_string(Option::BRIGHTNESS));
|
||||||
|
EXPECT_STREQ("Option::CONTRAST", to_string(Option::CONTRAST));
|
||||||
|
EXPECT_STREQ("Option::FRAME_RATE", to_string(Option::FRAME_RATE));
|
||||||
|
EXPECT_STREQ("Option::IMU_FREQUENCY", to_string(Option::IMU_FREQUENCY));
|
||||||
|
EXPECT_STREQ("Option::EXPOSURE_MODE", to_string(Option::EXPOSURE_MODE));
|
||||||
|
EXPECT_STREQ("Option::MAX_GAIN", to_string(Option::MAX_GAIN));
|
||||||
|
EXPECT_STREQ(
|
||||||
|
"Option::MAX_EXPOSURE_TIME", to_string(Option::MAX_EXPOSURE_TIME));
|
||||||
|
EXPECT_STREQ(
|
||||||
|
"Option::DESIRED_BRIGHTNESS", to_string(Option::DESIRED_BRIGHTNESS));
|
||||||
|
EXPECT_STREQ("Option::IR_CONTROL", to_string(Option::IR_CONTROL));
|
||||||
|
EXPECT_STREQ("Option::HDR_MODE", to_string(Option::HDR_MODE));
|
||||||
|
EXPECT_STREQ(
|
||||||
|
"Option::ZERO_DRIFT_CALIBRATION",
|
||||||
|
to_string(Option::ZERO_DRIFT_CALIBRATION));
|
||||||
|
EXPECT_STREQ("Option::ERASE_CHIP", to_string(Option::ERASE_CHIP));
|
||||||
|
}
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
Subproject commit 9bda90b7e5e08c4c37a832d0cea218aed6af6470
|
|
||||||
Loading…
Reference in New Issue
Block a user