tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat(android): add more interfaces

Browse Source
This commit is contained in:
John Zhao 2019-02-27 16:33:13 +08:00
parent 01abf3d346
commit 6a0ce86594
49 changed files with 2708 additions and 126 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/MyApplication.java
View File

@ -1,9 +1,10 @@
package com.slightech.mynteye.demo; package com.slightech.mynteye.demo;
import android.app.Application; import android.app.Application;
//import com.stericson.RootShell.RootShell;
import timber.log.Timber; import timber.log.Timber;
//import com.stericson.RootShell.RootShell;
public class MyApplication extends Application { public class MyApplication extends Application {
static { static {

99
wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/camera/Mynteye.java
View File

@ -4,12 +4,17 @@ import android.os.Handler;
import android.os.HandlerThread; import android.os.HandlerThread;
import com.slightech.mynteye.Device; import com.slightech.mynteye.Device;
import com.slightech.mynteye.DeviceUsbInfo; import com.slightech.mynteye.DeviceUsbInfo;
import com.slightech.mynteye.Info;
import com.slightech.mynteye.MotionData; import com.slightech.mynteye.MotionData;
import com.slightech.mynteye.MotionIntrinsics;
import com.slightech.mynteye.Option;
import com.slightech.mynteye.Source; import com.slightech.mynteye.Source;
import com.slightech.mynteye.Stream; import com.slightech.mynteye.Stream;
import com.slightech.mynteye.StreamData; import com.slightech.mynteye.StreamData;
import com.slightech.mynteye.StreamRequest; import com.slightech.mynteye.StreamRequest;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.Map;
import timber.log.Timber;
public final class Mynteye implements Runnable { public final class Mynteye implements Runnable {
@ -19,6 +24,7 @@ public final class Mynteye implements Runnable {
private Handler mBackgroundHandler; private Handler mBackgroundHandler;
private boolean mOpened; private boolean mOpened;
private boolean mImuEnabled;
public interface OnStreamDataReceiveListener { public interface OnStreamDataReceiveListener {
void onStreamDataReceive(Stream stream, StreamData data, Handler handler); void onStreamDataReceive(Stream stream, StreamData data, Handler handler);
@ -33,9 +39,12 @@ public final class Mynteye implements Runnable {
private OnStreamDataReceiveListener mOnStreamDataReceiveListener; private OnStreamDataReceiveListener mOnStreamDataReceiveListener;
private OnMotionDataReceiveListener mOnMotionDataReceiveListener; private OnMotionDataReceiveListener mOnMotionDataReceiveListener;
private StreamRequest mStreamRequest;
public Mynteye(DeviceUsbInfo info) { public Mynteye(DeviceUsbInfo info) {
mDevice = Device.create(info); mDevice = Device.create(info);
mOpened = false; mOpened = false;
mImuEnabled = false;
} }
public void setOnStreamDataReceiveListener(OnStreamDataReceiveListener l) { public void setOnStreamDataReceiveListener(OnStreamDataReceiveListener l) {
@ -50,15 +59,95 @@ public final class Mynteye implements Runnable {
return mDevice.getStreamRequests(); return mDevice.getStreamRequests();
} }
public String getDeviceInfos() {
StringBuffer sb = new StringBuffer();
for (Info info : Info.values()) {
sb.append(info.toString());
sb.append(": ");
sb.append(mDevice.getInfo(info));
sb.append('\n');
}
return sb.toString();
}
public String getImageParams() {
StringBuffer sb = new StringBuffer();
sb.append(Stream.LEFT).append('\n').append(mDevice.getIntrinsics(Stream.LEFT));
sb.append("\n\n");
sb.append(Stream.RIGHT).append('\n').append(mDevice.getIntrinsics(Stream.RIGHT));
sb.append("\n\n");
sb.append(Stream.LEFT).append(" > ").append(Stream.RIGHT);
sb.append('\n');
sb.append(mDevice.getExtrinsics(Stream.LEFT, Stream.RIGHT));
return sb.toString();
}
public String getImuParams() {
StringBuffer sb = new StringBuffer();
MotionIntrinsics in = mDevice.getMotionIntrinsics();
sb.append("Accel\n").append(in.getAccel());
sb.append("\n\n");
sb.append("Gyro\n").append(in.getGyro());
sb.append("\n\n");
sb.append("Imu > ").append(Stream.LEFT).append('\n')
.append(mDevice.getMotionExtrinsics(Stream.LEFT));
return sb.toString();
}
public String getOptionInfos() {
StringBuffer sb = new StringBuffer();
for (Option op : Option.values()) {
if (!mDevice.supportsOption(op)) {
continue;
}
sb.append(op.toString());
sb.append(": ");
sb.append(mDevice.getOptionValue(op));
sb.append("\n ");
sb.append(mDevice.getOptionInfo(op));
sb.append('\n');
}
return sb.toString();
}
public boolean isOpened() {
return mOpened;
}
public boolean isImuEnabled() {
return mImuEnabled;
}
public void setImuEnabled(boolean enabled) {
mImuEnabled = enabled;
if (mOpened) {
Timber.w("Will enable imu when open next time");
}
}
public void open() {
if (mOpened) return;
if (mStreamRequest == null) {
Timber.w("Should open with stream request");
return;
}
open(mStreamRequest);
}
public void open(StreamRequest request) { public void open(StreamRequest request) {
if (mOpened) return; if (mOpened) return;
mOpened = true; mOpened = true;
mStreamRequest = request;
startBackgroundThread(); startBackgroundThread();
mDevice.configStreamRequest(request); mDevice.configStreamRequest(request);
//mDevice.enableMotionDatas(Integer.MAX_VALUE); if (mImuEnabled) {
//mDevice.start(Source.ALL); mDevice.enableMotionDatas(Integer.MAX_VALUE);
mDevice.start(Source.VIDEO_STREAMING); mDevice.start(Source.ALL);
} else {
mDevice.start(Source.VIDEO_STREAMING);
}
mBackgroundHandler.post(this); mBackgroundHandler.post(this);
} }
@ -92,14 +181,12 @@ public final class Mynteye implements Runnable {
} }
//Timber.i("get motions"); //Timber.i("get motions");
/* if (mImuEnabled) {
{
ArrayList<MotionData> datas = mDevice.getMotionDatas(); ArrayList<MotionData> datas = mDevice.getMotionDatas();
if (mOnMotionDataReceiveListener != null) { if (mOnMotionDataReceiveListener != null) {
mOnMotionDataReceiveListener.onMotionDataReceive(datas, mBackgroundHandler); mOnMotionDataReceiveListener.onMotionDataReceive(datas, mBackgroundHandler);
} }
} }
*/
if (mOpened) mBackgroundHandler.post(this); if (mOpened) mBackgroundHandler.post(this);
} }

89
wrappers/android/mynteye/app/src/main/java/com/slightech/mynteye/demo/ui/MainActivity.java
View File

@ -1,12 +1,10 @@
package com.slightech.mynteye.demo.ui; package com.slightech.mynteye.demo.ui;
import android.graphics.Bitmap; import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.hardware.usb.UsbDevice; import android.hardware.usb.UsbDevice;
import android.os.Bundle; import android.os.Bundle;
import android.os.Handler; import android.os.Handler;
import android.text.TextUtils; import android.text.TextUtils;
import android.util.Log;
import android.view.Menu; import android.view.Menu;
import android.view.MenuItem; import android.view.MenuItem;
import android.widget.ArrayAdapter; import android.widget.ArrayAdapter;
@ -15,10 +13,8 @@ import android.widget.ListView;
import android.widget.TextView; import android.widget.TextView;
import android.widget.Toast; import android.widget.Toast;
import androidx.appcompat.app.AlertDialog; import androidx.appcompat.app.AlertDialog;
import androidx.fragment.app.FragmentActivity;
import butterknife.BindView; import butterknife.BindView;
import butterknife.ButterKnife; import butterknife.ButterKnife;
import com.slightech.mynteye.Device;
import com.slightech.mynteye.DeviceUsbInfo; import com.slightech.mynteye.DeviceUsbInfo;
import com.slightech.mynteye.Frame; import com.slightech.mynteye.Frame;
import com.slightech.mynteye.MotionData; import com.slightech.mynteye.MotionData;
@ -27,13 +23,11 @@ import com.slightech.mynteye.StreamData;
import com.slightech.mynteye.StreamRequest; import com.slightech.mynteye.StreamRequest;
import com.slightech.mynteye.demo.R; import com.slightech.mynteye.demo.R;
import com.slightech.mynteye.demo.camera.Mynteye; import com.slightech.mynteye.demo.camera.Mynteye;
import com.slightech.mynteye.demo.util.RootUtils;
import com.slightech.mynteye.usb.CameraDialog; import com.slightech.mynteye.usb.CameraDialog;
import com.slightech.mynteye.usb.USBMonitor; import com.slightech.mynteye.usb.USBMonitor;
import com.slightech.mynteye.usb.USBMonitor.OnDeviceConnectListener; import com.slightech.mynteye.usb.USBMonitor.OnDeviceConnectListener;
import com.slightech.mynteye.usb.USBMonitor.UsbControlBlock; import com.slightech.mynteye.usb.USBMonitor.UsbControlBlock;
import com.slightech.mynteye.util.BitmapUtils; import com.slightech.mynteye.util.BitmapUtils;
import java.nio.ByteBuffer;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.Locale; import java.util.Locale;
import timber.log.Timber; import timber.log.Timber;
@ -50,12 +44,13 @@ public class MainActivity extends BaseActivity implements CameraDialog.CameraDia
private Mynteye mMynteye; private Mynteye mMynteye;
private Bitmap mLeftBitmap, mRightBitmap; private Bitmap mLeftBitmap, mRightBitmap;
private boolean mImuEnabled;
@Override @Override
protected void onCreate(Bundle savedInstanceState) { protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState); super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main); setContentView(R.layout.activity_main);
ButterKnife.bind(this); ButterKnife.bind(this);
mUSBMonitor = new USBMonitor(this, mOnDeviceConnectListener); mUSBMonitor = new USBMonitor(this, mOnDeviceConnectListener);
} }
@ -63,6 +58,9 @@ public class MainActivity extends BaseActivity implements CameraDialog.CameraDia
protected void onStart() { protected void onStart() {
super.onStart(); super.onStart();
mUSBMonitor.register(); mUSBMonitor.register();
if (mMynteye == null) {
//actionOpen();
}
} }
@Override @Override
@ -144,29 +142,72 @@ public class MainActivity extends BaseActivity implements CameraDialog.CameraDia
@Override @Override
public boolean onCreateOptionsMenu(Menu menu) { public boolean onCreateOptionsMenu(Menu menu) {
getMenuInflater().inflate(R.menu.menu_main, menu); getMenuInflater().inflate(R.menu.menu_main, menu);
MenuItem item = menu.findItem(R.id.action_open);
if (item != null) {
item.setEnabled(false);
actionOpen(() -> item.setEnabled(true));
}
return true; return true;
} }
@Override
public boolean onPrepareOptionsMenu(Menu menu) {
if (mMynteye == null) {
menu.findItem(R.id.action_open).setVisible(true);
menu.findItem(R.id.action_close).setVisible(false);
} else {
menu.findItem(R.id.action_open).setVisible(!mMynteye.isOpened());
menu.findItem(R.id.action_close).setVisible(mMynteye.isOpened());
}
menu.findItem(R.id.check_imu_data).setChecked(mImuEnabled);
boolean featuresUsable = mMynteye != null && mMynteye.isOpened();
menu.findItem(R.id.show_device_infos).setVisible(featuresUsable);
menu.findItem(R.id.show_image_params).setVisible(featuresUsable);
menu.findItem(R.id.show_imu_params).setVisible(featuresUsable);
menu.findItem(R.id.show_option_infos).setVisible(featuresUsable);
return super.onPrepareOptionsMenu(menu);
}
@Override @Override
public boolean onOptionsItemSelected(MenuItem item) { public boolean onOptionsItemSelected(MenuItem item) {
switch (item.getItemId()) { switch (item.getItemId()) {
case R.id.action_open: case R.id.action_open:
item.setEnabled(false); actionOpen();
actionOpen(() -> item.setEnabled(true)); return true;
case R.id.action_close:
actionClose();
return true;
case R.id.check_imu_data:
mImuEnabled = !item.isChecked();
item.setChecked(mImuEnabled);
return true;
case R.id.show_device_infos:
alert(R.string.device_infos, mMynteye.getDeviceInfos());
return true;
case R.id.show_image_params:
alert(R.string.image_params, mMynteye.getImageParams());
return true;
case R.id.show_imu_params:
alert(R.string.imu_params, mMynteye.getImuParams());
return true;
case R.id.show_option_infos:
alert(R.string.option_infos, mMynteye.getOptionInfos());
return true; return true;
default: default:
return super.onOptionsItemSelected(item); return super.onOptionsItemSelected(item);
} }
} }
private void actionOpen(final Runnable completeEvent) { private void actionOpen() {
if (completeEvent != null) completeEvent.run(); if (mMynteye == null) {
CameraDialog.showDialog(this); CameraDialog.showDialog(this);
} else {
mMynteye.setImuEnabled(mImuEnabled);
mMynteye.open();
}
}
private void actionClose() {
if (mMynteye != null) {
mMynteye.close();
mMynteye = null;
}
invalidateOptionsMenu();
} }
private void openDevice(DeviceUsbInfo info) { private void openDevice(DeviceUsbInfo info) {
@ -174,6 +215,7 @@ public class MainActivity extends BaseActivity implements CameraDialog.CameraDia
ArrayList<StreamRequest> requests = mMynteye.getStreamRequests(); ArrayList<StreamRequest> requests = mMynteye.getStreamRequests();
if (requests.isEmpty()) { if (requests.isEmpty()) {
alert("Warning", "There are no streams to request :("); alert("Warning", "There are no streams to request :(");
mMynteye = null;
} else { } else {
ArrayList<String> items = new ArrayList<>(); ArrayList<String> items = new ArrayList<>();
for (StreamRequest req : requests) { for (StreamRequest req : requests) {
@ -189,7 +231,12 @@ public class MainActivity extends BaseActivity implements CameraDialog.CameraDia
dialog.dismiss(); dialog.dismiss();
mMynteye.setOnStreamDataReceiveListener(this); mMynteye.setOnStreamDataReceiveListener(this);
mMynteye.setOnMotionDataReceiveListener(this); mMynteye.setOnMotionDataReceiveListener(this);
mMynteye.setImuEnabled(mImuEnabled);
mMynteye.open(requests.get(position)); mMynteye.open(requests.get(position));
invalidateOptionsMenu();
});
dialog.setOnCancelListener(dlg -> {
mMynteye = null;
}); });
dialog.setView(listView); dialog.setView(listView);
dialog.show(); dialog.show();
@ -237,10 +284,18 @@ public class MainActivity extends BaseActivity implements CameraDialog.CameraDia
mTextView.post(() -> mTextView.setText(datas.get(0).imu().toString())); mTextView.post(() -> mTextView.setText(datas.get(0).imu().toString()));
} }
private void toast(int textId) {
toast(getString(textId));
}
private void toast(CharSequence text) { private void toast(CharSequence text) {
Toast.makeText(this, text, Toast.LENGTH_LONG).show(); Toast.makeText(this, text, Toast.LENGTH_LONG).show();
} }
private void alert(int titleId, CharSequence message) {
alert(getString(titleId), message);
}
private void alert(CharSequence title, CharSequence message) { private void alert(CharSequence title, CharSequence message) {
new AlertDialog.Builder(this) new AlertDialog.Builder(this)
.setTitle(title) .setTitle(title)

32
wrappers/android/mynteye/app/src/main/res/menu/menu_main.xml
View File

@ -3,7 +3,37 @@
xmlns:app="http://schemas.android.com/apk/res-auto"> xmlns:app="http://schemas.android.com/apk/res-auto">
<item <item
android:id="@+id/action_open" android:id="@+id/action_open"
android:orderInCategory="0"
android:title="@string/open" android:title="@string/open"
app:showAsAction="ifRoom|withText" /> app:showAsAction="ifRoom|withText" />
<item
android:id="@+id/action_close"
android:title="@string/close"
app:showAsAction="ifRoom|withText" />
<item android:title="Features"
android:enabled="false" />
<item
android:id="@+id/check_imu_data"
android:title="@string/imu_data"
android:checkable="true"
android:checked="false"
app:showAsAction="never" />
<item
android:id="@+id/show_device_infos"
android:title="@string/device_infos"
app:showAsAction="never" />
<item
android:id="@+id/show_image_params"
android:title="@string/image_params"
app:showAsAction="never" />
<item
android:id="@+id/show_imu_params"
android:title="@string/imu_params"
app:showAsAction="never" />
<item
android:id="@+id/show_option_infos"
android:title="@string/option_infos"
app:showAsAction="never" />
</menu> </menu>

8
wrappers/android/mynteye/app/src/main/res/values/strings.xml
View File

@ -2,4 +2,12 @@
<string name="app_name">mynteye</string> <string name="app_name">mynteye</string>
<string name="open">Open</string> <string name="open">Open</string>
<string name="close">Close</string>
<string name="imu_data">Imu Data</string>
<string name="device_infos">Device Infos</string>
<string name="image_params">Image Params</string>
<string name="imu_params">Imu Params</string>
<string name="option_infos">Option Infos</string>
</resources> </resources>

2
wrappers/android/mynteye/build.gradle
View File

@ -8,7 +8,7 @@ buildscript {
jcenter() jcenter()
} }
dependencies { dependencies {
classpath 'com.android.tools.build:gradle:3.3.0' classpath 'com.android.tools.build:gradle:3.3.1'
// NOTE: Do not place your application dependencies here; they belong // NOTE: Do not place your application dependencies here; they belong
// in the individual module build.gradle files // in the individual module build.gradle files

28
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/addon.hpp Normal file
View File

@ -0,0 +1,28 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include <functional>
namespace mynteye_jni {
enum class Addon : int {
/** Infrared */
INFRARED,
/** Second infrared */
INFRARED2,
};
} // namespace mynteye_jni
namespace std {
template <>
struct hash<::mynteye_jni::Addon> {
size_t operator()(::mynteye_jni::Addon type) const {
return std::hash<int>()(static_cast<int>(type));
}
};
} // namespace std

30
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/calibration_model.hpp Normal file
View File

@ -0,0 +1,30 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include <functional>
namespace mynteye_jni {
enum class CalibrationModel : int {
/** Pinhole */
PINHOLE,
/** Equidistant: KANNALA_BRANDT */
KANNALA_BRANDT,
/** Unknow */
UNKNOW,
};
} // namespace mynteye_jni
namespace std {
template <>
struct hash<::mynteye_jni::CalibrationModel> {
size_t operator()(::mynteye_jni::CalibrationModel type) const {
return std::hash<int>()(static_cast<int>(type));
}
};
} // namespace std

42
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/capability.hpp Normal file
View File

@ -0,0 +1,42 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include <functional>
namespace mynteye_jni {
enum class Capability : int {
/** Provides stereo stream */
STEREO,
/** Provide stereo color stream */
STEREO_COLOR,
/** Provides color stream */
COLOR,
/** Provides depth stream */
DEPTH,
/** Provides point cloud stream */
POINTS,
/** Provides fisheye stream */
FISHEYE,
/** Provides infrared stream */
INFRARED,
/** Provides second infrared stream */
INFRARED2,
/** Provides IMU (accelerometer, gyroscope) data */
IMU,
};
} // namespace mynteye_jni
namespace std {
template <>
struct hash<::mynteye_jni::Capability> {
size_t operator()(::mynteye_jni::Capability type) const {
return std::hash<int>()(static_cast<int>(type));
}
};
} // namespace std

52
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/device.hpp
View File

@ -3,14 +3,24 @@
#pragma once #pragma once
#include "addon.hpp"
#include "capability.hpp"
#include "device_usb_info.hpp" #include "device_usb_info.hpp"
#include "extrinsics.hpp"
#include "info.hpp"
#include "intrinsics.hpp"
#include "model.hpp"
#include "motion_data.hpp" #include "motion_data.hpp"
#include "motion_intrinsics.hpp"
#include "option.hpp"
#include "option_info.hpp"
#include "source.hpp" #include "source.hpp"
#include "stream.hpp" #include "stream.hpp"
#include "stream_data.hpp" #include "stream_data.hpp"
#include "stream_request.hpp" #include "stream_request.hpp"
#include <cstdint> #include <cstdint>
#include <memory> #include <memory>
#include <string>
#include <vector> #include <vector>
namespace mynteye_jni { namespace mynteye_jni {
@ -23,12 +33,54 @@ public:
/** Create the device instance */ /** Create the device instance */
static std::shared_ptr<Device> Create(const ::mynteye_jni::DeviceUsbInfo & info); static std::shared_ptr<Device> Create(const ::mynteye_jni::DeviceUsbInfo & info);
/** Get the model */
virtual ::mynteye_jni::Model GetModel() = 0;
/** Supports the stream or not */
virtual bool SupportsStream(::mynteye_jni::Stream stream) = 0;
/** Supports the capability or not */
virtual bool SupportsCapability(::mynteye_jni::Capability capabilities) = 0;
/** Supports the option or not */
virtual bool SupportsOption(::mynteye_jni::Option option) = 0;
/** Supports the addon or not */
virtual bool SupportsAddon(::mynteye_jni::Addon addon) = 0;
/** Get all stream requests */ /** Get all stream requests */
virtual std::vector<::mynteye_jni::StreamRequest> GetStreamRequests() = 0; virtual std::vector<::mynteye_jni::StreamRequest> GetStreamRequests() = 0;
/** Config the stream request */ /** Config the stream request */
virtual void ConfigStreamRequest(const ::mynteye_jni::StreamRequest & request) = 0; virtual void ConfigStreamRequest(const ::mynteye_jni::StreamRequest & request) = 0;
/** Get the device info */
virtual std::string GetInfo(::mynteye_jni::Info info) = 0;
/** Get the intrinsics of stream */
virtual ::mynteye_jni::Intrinsics GetIntrinsics(::mynteye_jni::Stream stream) = 0;
/** Get the extrinsics of stream */
virtual ::mynteye_jni::Extrinsics GetExtrinsics(::mynteye_jni::Stream from, ::mynteye_jni::Stream to) = 0;
/** Get the intrinsics of motion */
virtual ::mynteye_jni::MotionIntrinsics GetMotionIntrinsics() = 0;
/** Get the extrinsics from one stream to motion */
virtual ::mynteye_jni::Extrinsics GetMotionExtrinsics(::mynteye_jni::Stream from) = 0;
/** Get the option info */
virtual ::mynteye_jni::OptionInfo GetOptionInfo(::mynteye_jni::Option option) = 0;
/** Get the option value */
virtual int32_t GetOptionValue(::mynteye_jni::Option option) = 0;
/** Set the option value */
virtual void SetOptionValue(::mynteye_jni::Option option, int32_t value) = 0;
/** Run the option value */
virtual bool RunOptionAction(::mynteye_jni::Option option) = 0;
/** Start capturing the source */ /** Start capturing the source */
virtual void Start(::mynteye_jni::Source source) = 0; virtual void Start(::mynteye_jni::Source source) = 0;

25
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/extrinsics.hpp Normal file
View File

@ -0,0 +1,25 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include <utility>
#include <vector>
namespace mynteye_jni {
/** Extrinsics, represent how the different datas are connected */
struct Extrinsics final {
/** Rotation matrix, 3x3 */
std::vector<double> rotation;
/** Translation vector, 1x3 */
std::vector<double> translation;
Extrinsics(std::vector<double> rotation_,
std::vector<double> translation_)
: rotation(std::move(rotation_))
, translation(std::move(translation_))
{}
};
} // namespace mynteye_jni

38
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/imu_intrinsics.hpp Normal file
View File

@ -0,0 +1,38 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include <utility>
#include <vector>
namespace mynteye_jni {
/** IMU intrinsics: scale, drift and variances */
struct ImuIntrinsics final {
/**
* Scale matrix 3x3
* Scale X cross axis cross axis
* cross axis Scale Y cross axis
* cross axis cross axis Scale Z
*/
std::vector<double> scale;
/** Zero-drift: X, Y, Z 1x3 */
std::vector<double> drift;
/** Noise density variances 1x3 */
std::vector<double> noise;
/** Random walk variances 1x3 */
std::vector<double> bias;
ImuIntrinsics(std::vector<double> scale_,
std::vector<double> drift_,
std::vector<double> noise_,
std::vector<double> bias_)
: scale(std::move(scale_))
, drift(std::move(drift_))
, noise(std::move(noise_))
, bias(std::move(bias_))
{}
};
} // namespace mynteye_jni

40
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/info.hpp Normal file
View File

@ -0,0 +1,40 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include <functional>
namespace mynteye_jni {
enum class Info : int {
/** Device name */
DEVICE_NAME,
/** Serial number */
SERIAL_NUMBER,
/** Firmware version */
FIRMWARE_VERSION,
/** Hardware version */
HARDWARE_VERSION,
/** Spec version */
SPEC_VERSION,
/** Lens type */
LENS_TYPE,
/** IMU type */
IMU_TYPE,
/** Nominal baseline */
NOMINAL_BASELINE,
};
} // namespace mynteye_jni
namespace std {
template <>
struct hash<::mynteye_jni::Info> {
size_t operator()(::mynteye_jni::Info type) const {
return std::hash<int>()(static_cast<int>(type));
}
};
} // namespace std

55
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/intrinsics.hpp Normal file
View File

@ -0,0 +1,55 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "calibration_model.hpp"
#include <cstdint>
#include <utility>
#include <vector>
namespace mynteye_jni {
/** Stream intrinsics */
struct Intrinsics final {
/** The calibration model */
CalibrationModel calib_model;
/** The width of the image in pixels */
int32_t width;
/** The height of the image in pixels */
int32_t height;
/** The focal length of the image plane, as a multiple of pixel width (pinhole) */
double fx;
/** The focal length of the image plane, as a multiple of pixel height (pinhole) */
double fy;
/** The horizontal coordinate of the principal point of the image (pinhole) */
double cx;
/** The vertical coordinate of the principal point of the image (pinhole) */
double cy;
/**
* The distortion coefficients
* pinhole: k1,k2,p1,p2,k3
* kannala_brandt: k2,k3,k4,k5,mu,mv,u0,v0
*/
std::vector<double> coeffs;
Intrinsics(CalibrationModel calib_model_,
int32_t width_,
int32_t height_,
double fx_,
double fy_,
double cx_,
double cy_,
std::vector<double> coeffs_)
: calib_model(std::move(calib_model_))
, width(std::move(width_))
, height(std::move(height_))
, fx(std::move(fx_))
, fy(std::move(fy_))
, cx(std::move(cx_))
, cy(std::move(cy_))
, coeffs(std::move(coeffs_))
{}
};
} // namespace mynteye_jni

25
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/motion_intrinsics.hpp Normal file
View File

@ -0,0 +1,25 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "imu_intrinsics.hpp"
#include <utility>
namespace mynteye_jni {
/** Motion intrinsics, including accelerometer and gyroscope */
struct MotionIntrinsics final {
/** Accelerometer intrinsics */
ImuIntrinsics accel;
/** Gyroscope intrinsics */
ImuIntrinsics gyro;
MotionIntrinsics(ImuIntrinsics accel_,
ImuIntrinsics gyro_)
: accel(std::move(accel_))
, gyro(std::move(gyro_))
{}
};
} // namespace mynteye_jni

115
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option.hpp Normal file
View File

@ -0,0 +1,115 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include <functional>
namespace mynteye_jni {
enum class Option : int {
/**
* Image gain, valid if manual-exposure
* range: [0,48], default: 24
*/
GAIN,
/**
* Image brightness, valid if manual-exposure
* range: [0,240], default: 120
*/
BRIGHTNESS,
/**
* Image contrast, valid if manual-exposure
* range: [0,255], default: 127
*/
CONTRAST,
/**
* Image frame rate, must set IMU_FREQUENCY together
* values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
*/
FRAME_RATE,
/**
* IMU frequency, must set FRAME_RATE together
* values: {100,200,250,333,500}, default: 200
*/
IMU_FREQUENCY,
/**
* Exposure mode
* 0: enable auto-exposure
* 1: disable auto-exposure (manual-exposure)
*/
EXPOSURE_MODE,
/**
* Max gain, valid if auto-exposure
* range of standard 1: [0,48], default: 48
* range of standard 2: [0,255], default: 8
*/
MAX_GAIN,
/**
* Max exposure time, valid if auto-exposure
* range of standard 1: [0,240], default: 240
* range of standard 2: [0,1000], default: 333
*/
MAX_EXPOSURE_TIME,
/**
* min exposure time, valid if auto-exposure
* range: [0,1000], default: 0
*/
MIN_EXPOSURE_TIME,
/**
* Desired brightness, valid if auto-exposure
* range of standard 1: [0,255], default: 192
* range of standard 2: [1,255], default: 122
*/
DESIRED_BRIGHTNESS,
/**
* IR control
* range: [0,160], default: 0
*/
IR_CONTROL,
/**
* HDR mode
* 0: 10-bit
* 1: 12-bit
*/
HDR_MODE,
/**
* The range of accelerometer
* value of standard 1: {4,8,16,32}, default: 8
* value of standard 2: {6,12,24,48}, default: 12
*/
ACCELEROMETER_RANGE,
/**
* The range of gyroscope
* value of standard 1: {500,1000,2000,4000}, default: 1000
* value of standard 2: {250,500,1000,2000,4000}, default: 1000
*/
GYROSCOPE_RANGE,
/**
* The parameter of accelerometer low pass filter
* values: {0,1,2}, default: 2
*/
ACCELEROMETER_LOW_PASS_FILTER,
/**
* The parameter of gyroscope low pass filter
* values: {23,64}, default: 64
*/
GYROSCOPE_LOW_PASS_FILTER,
/** Zero drift calibration */
ZERO_DRIFT_CALIBRATION,
/** Erase chip */
ERASE_CHIP,
};
} // namespace mynteye_jni
namespace std {
template <>
struct hash<::mynteye_jni::Option> {
size_t operator()(::mynteye_jni::Option type) const {
return std::hash<int>()(static_cast<int>(type));
}
};
} // namespace std

29
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option_info.hpp Normal file
View File

@ -0,0 +1,29 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include <cstdint>
#include <utility>
namespace mynteye_jni {
/** Option info */
struct OptionInfo final {
/** Minimum value */
int32_t min;
/** Maximum value */
int32_t max;
/** Default value */
int32_t def;
OptionInfo(int32_t min_,
int32_t max_,
int32_t def_)
: min(std::move(min_))
, max(std::move(max_))
, def(std::move(def_))
{}
};
} // namespace mynteye_jni

82
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/device_impl.cpp
View File

@ -70,6 +70,26 @@ DeviceImpl::~DeviceImpl() {
VLOG(2) << __func__; VLOG(2) << __func__;
} }
::mynteye_jni::Model DeviceImpl::GetModel() {
return to_jni(device_->GetModel());
}
bool DeviceImpl::SupportsStream(::mynteye_jni::Stream stream) {
return device_->Supports(from_jni(stream));
}
bool DeviceImpl::SupportsCapability(::mynteye_jni::Capability capabilities) {
return device_->Supports(from_jni(capabilities));
}
bool DeviceImpl::SupportsOption(::mynteye_jni::Option option) {
return device_->Supports(from_jni(option));
}
bool DeviceImpl::SupportsAddon(::mynteye_jni::Addon addon) {
return device_->Supports(from_jni(addon));
}
std::vector<::mynteye_jni::StreamRequest> DeviceImpl::GetStreamRequests() { std::vector<::mynteye_jni::StreamRequest> DeviceImpl::GetStreamRequests() {
VLOG(2) << __func__; VLOG(2) << __func__;
std::vector<::mynteye_jni::StreamRequest> requests; std::vector<::mynteye_jni::StreamRequest> requests;
@ -97,6 +117,68 @@ void DeviceImpl::ConfigStreamRequest(
} }
} }
std::string DeviceImpl::GetInfo(::mynteye_jni::Info info) {
return device_->GetInfo(from_jni(info));
}
::mynteye_jni::Intrinsics DeviceImpl::GetIntrinsics(
::mynteye_jni::Stream stream) {
auto in = device_->GetIntrinsics(from_jni(stream));
if (in->calib_model() == MYNTEYE_NAMESPACE::CalibrationModel::PINHOLE) {
auto in_p = std::dynamic_pointer_cast<IntrinsicsPinhole>(in);
return {CalibrationModel::PINHOLE, in_p->width, in_p->height,
in_p->fx, in_p->fy, in_p->cx, in_p->cy,
to_vector<5>(in_p->coeffs)};
} else if (in->calib_model() == MYNTEYE_NAMESPACE::CalibrationModel::KANNALA_BRANDT) {
auto in_k = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in);
return {CalibrationModel::KANNALA_BRANDT, in_k->width, in_k->height,
0, 0, 0, 0, to_vector<8>(in_k->coeffs)};
} else {
LOG(WARNING) << "Unknown calibration model";
return {CalibrationModel::UNKNOW, 0, 0, 0, 0, 0, 0, {}};
}
}
::mynteye_jni::Extrinsics DeviceImpl::GetExtrinsics(
::mynteye_jni::Stream from, ::mynteye_jni::Stream to) {
auto ex = device_->GetExtrinsics(from_jni(from), from_jni(to));
return {to_vector<3, 3>(ex.rotation), to_vector<3>(ex.translation)};
}
::mynteye_jni::MotionIntrinsics DeviceImpl::GetMotionIntrinsics() {
auto in = device_->GetMotionIntrinsics();
auto in_to_jni = [](MYNTEYE_NAMESPACE::ImuIntrinsics& in) {
return ImuIntrinsics{
to_vector<3, 3>(in.scale), to_vector<3>(in.drift),
to_vector<3>(in.noise), to_vector<3>(in.bias)
};
};
return {in_to_jni(in.accel), in_to_jni(in.gyro)};
}
::mynteye_jni::Extrinsics DeviceImpl::GetMotionExtrinsics(
::mynteye_jni::Stream from) {
auto ex = device_->GetMotionExtrinsics(from_jni(from));
return {to_vector<3, 3>(ex.rotation), to_vector<3>(ex.translation)};
}
::mynteye_jni::OptionInfo DeviceImpl::GetOptionInfo(::mynteye_jni::Option option) {
auto info = device_->GetOptionInfo(from_jni(option));
return {info.min, info.max, info.def};
}
int32_t DeviceImpl::GetOptionValue(::mynteye_jni::Option option) {
return device_->GetOptionValue(from_jni(option));
}
void DeviceImpl::SetOptionValue(::mynteye_jni::Option option, int32_t value) {
return device_->SetOptionValue(from_jni(option), value);
}
bool DeviceImpl::RunOptionAction(::mynteye_jni::Option option) {
return device_->RunOptionAction(from_jni(option));
}
void DeviceImpl::Start(::mynteye_jni::Source source) { void DeviceImpl::Start(::mynteye_jni::Source source) {
device_->Start(from_jni(source)); device_->Start(from_jni(source));
} }

44
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/device_impl.hpp
View File

@ -16,12 +16,54 @@ class DeviceImpl : public Device {
explicit DeviceImpl(const device_t & device); explicit DeviceImpl(const device_t & device);
~DeviceImpl(); ~DeviceImpl();
/** Get the model */
::mynteye_jni::Model GetModel() override;
/** Supports the stream or not */
bool SupportsStream(::mynteye_jni::Stream stream) override;
/** Supports the capability or not */
bool SupportsCapability(::mynteye_jni::Capability capabilities) override;
/** Supports the option or not */
bool SupportsOption(::mynteye_jni::Option option) override;
/** Supports the addon or not */
bool SupportsAddon(::mynteye_jni::Addon addon) override;
/** Get all stream requests */ /** Get all stream requests */
std::vector<::mynteye_jni::StreamRequest> GetStreamRequests() override; std::vector<::mynteye_jni::StreamRequest> GetStreamRequests() override;
/** Config the stream request */ /** Config the stream request */
void ConfigStreamRequest(const ::mynteye_jni::StreamRequest & request) override; void ConfigStreamRequest(const ::mynteye_jni::StreamRequest & request) override;
/** Get the device info */
std::string GetInfo(::mynteye_jni::Info info) override;
/** Get the intrinsics of stream */
::mynteye_jni::Intrinsics GetIntrinsics(::mynteye_jni::Stream stream) override;
/** Get the extrinsics of stream */
::mynteye_jni::Extrinsics GetExtrinsics(::mynteye_jni::Stream from, ::mynteye_jni::Stream to) override;
/** Get the intrinsics of motion */
::mynteye_jni::MotionIntrinsics GetMotionIntrinsics() override;
/** Get the extrinsics from one stream to motion */
::mynteye_jni::Extrinsics GetMotionExtrinsics(::mynteye_jni::Stream from) override;
/** Get the option info */
::mynteye_jni::OptionInfo GetOptionInfo(::mynteye_jni::Option option) override;
/** Get the option value */
int32_t GetOptionValue(::mynteye_jni::Option option) override;
/** Set the option value */
void SetOptionValue(::mynteye_jni::Option option, int32_t value) override;
/** Run the option value */
bool RunOptionAction(::mynteye_jni::Option option) override;
/** Start capturing the source */ /** Start capturing the source */
void Start(::mynteye_jni::Source source) override; void Start(::mynteye_jni::Source source) override;
@ -37,7 +79,7 @@ class DeviceImpl : public Device {
/** Get the datas of stream */ /** Get the datas of stream */
std::vector<std::shared_ptr<::mynteye_jni::StreamData>> GetStreamDatas(::mynteye_jni::Stream stream) override; std::vector<std::shared_ptr<::mynteye_jni::StreamData>> GetStreamDatas(::mynteye_jni::Stream stream) override;
/** Enable cache motion datas until get them, otherwise using callback instead */ /** Enable cache motion datas until get them, otherwise using callback instead */
void EnableMotionDatas(int32_t max_size) override; void EnableMotionDatas(int32_t max_size) override;
/** Get the motion datas */ /** Get the motion datas */

462
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/type_conversion.hpp
View File

@ -5,9 +5,14 @@
#include "mynteye/logger.h" #include "mynteye/logger.h"
#include "mynteye/types.h" #include "mynteye/types.h"
#include "addon.hpp"
#include "calibration_model.hpp"
#include "capability.hpp"
#include "device_usb_info.hpp" #include "device_usb_info.hpp"
#include "format.hpp" #include "format.hpp"
#include "info.hpp"
#include "model.hpp" #include "model.hpp"
#include "option.hpp"
#include "source.hpp" #include "source.hpp"
#include "stream.hpp" #include "stream.hpp"
@ -15,105 +20,7 @@
namespace mynteye_jni { namespace mynteye_jni {
using RawModel = MYNTEYE_NAMESPACE::Model; // device_usb_info
using JniModel = mynteye_jni::Model;
inline
RawModel from_jni(const JniModel& model) {
switch (model) {
case JniModel::STANDARD: return RawModel::STANDARD;
case JniModel::STANDARD2: return RawModel::STANDARD2;
case JniModel::STANDARD210A: return RawModel::STANDARD210A;
default:
LOG(FATAL) << "Model is unknown";
}
}
inline
JniModel to_jni(const RawModel& model) {
switch (model) {
case RawModel::STANDARD: return JniModel::STANDARD;
case RawModel::STANDARD2: return JniModel::STANDARD2;
case RawModel::STANDARD210A: return JniModel::STANDARD210A;
default:
LOG(FATAL) << "Model is unknown";
}
}
using RawFormat = MYNTEYE_NAMESPACE::Format;
using JniFormat = mynteye_jni::Format;
inline
RawFormat from_jni(const JniFormat& format) {
switch (format) {
case JniFormat::GREY: return RawFormat::GREY;
case JniFormat::YUYV: return RawFormat::YUYV;
case JniFormat::BGR888: return RawFormat::BGR888;
case JniFormat::RGB888: return RawFormat::RGB888;
default:
LOG(FATAL) << "Format is unknown";
}
}
inline
JniFormat to_jni(const RawFormat& format) {
switch (format) {
case RawFormat::GREY: return JniFormat::GREY;
case RawFormat::YUYV: return JniFormat::YUYV;
case RawFormat::BGR888: return JniFormat::BGR888;
case RawFormat::RGB888: return JniFormat::RGB888;
default:
LOG(FATAL) << "Format is unknown";
}
}
using RawSource = MYNTEYE_NAMESPACE::Source;
using JniSource = mynteye_jni::Source;
inline
RawSource from_jni(const JniSource& source) {
switch (source) {
case JniSource::VIDEO_STREAMING: return RawSource::VIDEO_STREAMING;
case JniSource::MOTION_TRACKING: return RawSource::MOTION_TRACKING;
case JniSource::ALL: return RawSource::ALL;
default:
LOG(FATAL) << "Source is unknown";
}
}
inline
JniSource to_jni(const RawSource& source) {
switch (source) {
case RawSource::VIDEO_STREAMING: return JniSource::VIDEO_STREAMING;
case RawSource::MOTION_TRACKING: return JniSource::MOTION_TRACKING;
case RawSource::ALL: return JniSource::ALL;
default:
LOG(FATAL) << "Source is unknown";
}
}
using RawStream = MYNTEYE_NAMESPACE::Stream;
using JniStream = mynteye_jni::Stream;
inline
RawStream from_jni(const JniStream& stream) {
switch (stream) {
case JniStream::LEFT: return RawStream::LEFT;
case JniStream::RIGHT: return RawStream::RIGHT;
default:
LOG(FATAL) << "Stream is unknown";
}
}
inline
JniStream to_jni(const RawStream& stream) {
switch (stream) {
case RawStream::LEFT: return JniStream::LEFT;
case RawStream::RIGHT: return JniStream::RIGHT;
default:
LOG(FATAL) << "Stream is unknown";
}
}
using RawUsbInfo = MYNTEYE_NAMESPACE::UsbInfo; using RawUsbInfo = MYNTEYE_NAMESPACE::UsbInfo;
using JniUsbInfo = mynteye_jni::DeviceUsbInfo; using JniUsbInfo = mynteye_jni::DeviceUsbInfo;
@ -146,4 +53,361 @@ JniUsbInfo to_jni(const RawUsbInfo& info) {
}; };
} }
// model
using RawModel = MYNTEYE_NAMESPACE::Model;
using JniModel = mynteye_jni::Model;
inline
RawModel from_jni(const JniModel& model) {
switch (model) {
case JniModel::STANDARD: return RawModel::STANDARD;
case JniModel::STANDARD2: return RawModel::STANDARD2;
case JniModel::STANDARD210A: return RawModel::STANDARD210A;
default:
LOG(FATAL) << "Model is unknown";
}
}
inline
JniModel to_jni(const RawModel& model) {
switch (model) {
case RawModel::STANDARD: return JniModel::STANDARD;
case RawModel::STANDARD2: return JniModel::STANDARD2;
case RawModel::STANDARD210A: return JniModel::STANDARD210A;
default:
LOG(FATAL) << "Model is unknown";
}
}
// format
using RawFormat = MYNTEYE_NAMESPACE::Format;
using JniFormat = mynteye_jni::Format;
inline
RawFormat from_jni(const JniFormat& format) {
switch (format) {
case JniFormat::GREY: return RawFormat::GREY;
case JniFormat::YUYV: return RawFormat::YUYV;
case JniFormat::BGR888: return RawFormat::BGR888;
case JniFormat::RGB888: return RawFormat::RGB888;
default:
LOG(FATAL) << "Format is unknown";
}
}
inline
JniFormat to_jni(const RawFormat& format) {
switch (format) {
case RawFormat::GREY: return JniFormat::GREY;
case RawFormat::YUYV: return JniFormat::YUYV;
case RawFormat::BGR888: return JniFormat::BGR888;
case RawFormat::RGB888: return JniFormat::RGB888;
default:
LOG(FATAL) << "Format is unknown";
}
}
// source
using RawSource = MYNTEYE_NAMESPACE::Source;
using JniSource = mynteye_jni::Source;
inline
RawSource from_jni(const JniSource& source) {
switch (source) {
case JniSource::VIDEO_STREAMING: return RawSource::VIDEO_STREAMING;
case JniSource::MOTION_TRACKING: return RawSource::MOTION_TRACKING;
case JniSource::ALL: return RawSource::ALL;
default:
LOG(FATAL) << "Source is unknown";
}
}
inline
JniSource to_jni(const RawSource& source) {
switch (source) {
case RawSource::VIDEO_STREAMING: return JniSource::VIDEO_STREAMING;
case RawSource::MOTION_TRACKING: return JniSource::MOTION_TRACKING;
case RawSource::ALL: return JniSource::ALL;
default:
LOG(FATAL) << "Source is unknown";
}
}
// stream
using RawStream = MYNTEYE_NAMESPACE::Stream;
using JniStream = mynteye_jni::Stream;
inline
RawStream from_jni(const JniStream& stream) {
switch (stream) {
case JniStream::LEFT: return RawStream::LEFT;
case JniStream::RIGHT: return RawStream::RIGHT;
default:
LOG(FATAL) << "Stream is unknown";
}
}
inline
JniStream to_jni(const RawStream& stream) {
switch (stream) {
case RawStream::LEFT: return JniStream::LEFT;
case RawStream::RIGHT: return JniStream::RIGHT;
default:
LOG(FATAL) << "Stream is unknown";
}
}
// capability
using RawCapability = MYNTEYE_NAMESPACE::Capabilities;
using JniCapability = mynteye_jni::Capability;
inline
RawCapability from_jni(const JniCapability& Capability) {
switch (Capability) {
case JniCapability::STEREO: return RawCapability::STEREO;
case JniCapability::STEREO_COLOR: return RawCapability::STEREO_COLOR;
case JniCapability::COLOR: return RawCapability::COLOR;
case JniCapability::DEPTH: return RawCapability::DEPTH;
case JniCapability::POINTS: return RawCapability::POINTS;
case JniCapability::FISHEYE: return RawCapability::FISHEYE;
case JniCapability::INFRARED: return RawCapability::INFRARED;
case JniCapability::INFRARED2: return RawCapability::INFRARED2;
case JniCapability::IMU: return RawCapability::IMU;
default:
LOG(FATAL) << "Capability is unknown";
}
}
inline
JniCapability to_jni(const RawCapability& Capability) {
switch (Capability) {
case RawCapability::STEREO: return JniCapability::STEREO;
case RawCapability::STEREO_COLOR: return JniCapability::STEREO_COLOR;
case RawCapability::COLOR: return JniCapability::COLOR;
case RawCapability::DEPTH: return JniCapability::DEPTH;
case RawCapability::POINTS: return JniCapability::POINTS;
case RawCapability::FISHEYE: return JniCapability::FISHEYE;
case RawCapability::INFRARED: return JniCapability::INFRARED;
case RawCapability::INFRARED2: return JniCapability::INFRARED2;
case RawCapability::IMU: return JniCapability::IMU;
default:
LOG(FATAL) << "Capability is unknown";
}
}
// info
using RawInfo = MYNTEYE_NAMESPACE::Info;
using JniInfo = mynteye_jni::Info;
inline
RawInfo from_jni(const JniInfo& Info) {
switch (Info) {
case JniInfo::DEVICE_NAME: return RawInfo::DEVICE_NAME;
case JniInfo::SERIAL_NUMBER: return RawInfo::SERIAL_NUMBER;
case JniInfo::FIRMWARE_VERSION: return RawInfo::FIRMWARE_VERSION;
case JniInfo::HARDWARE_VERSION: return RawInfo::HARDWARE_VERSION;
case JniInfo::SPEC_VERSION: return RawInfo::SPEC_VERSION;
case JniInfo::LENS_TYPE: return RawInfo::LENS_TYPE;
case JniInfo::IMU_TYPE: return RawInfo::IMU_TYPE;
case JniInfo::NOMINAL_BASELINE: return RawInfo::NOMINAL_BASELINE;
default:
LOG(FATAL) << "Info is unknown";
}
}
inline
JniInfo to_jni(const RawInfo& Info) {
switch (Info) {
case RawInfo::DEVICE_NAME: return JniInfo::DEVICE_NAME;
case RawInfo::SERIAL_NUMBER: return JniInfo::SERIAL_NUMBER;
case RawInfo::FIRMWARE_VERSION: return JniInfo::FIRMWARE_VERSION;
case RawInfo::HARDWARE_VERSION: return JniInfo::HARDWARE_VERSION;
case RawInfo::SPEC_VERSION: return JniInfo::SPEC_VERSION;
case RawInfo::LENS_TYPE: return JniInfo::LENS_TYPE;
case RawInfo::IMU_TYPE: return JniInfo::IMU_TYPE;
case RawInfo::NOMINAL_BASELINE: return JniInfo::NOMINAL_BASELINE;
default:
LOG(FATAL) << "Info is unknown";
}
}
// option
using RawOption = MYNTEYE_NAMESPACE::Option;
using JniOption = mynteye_jni::Option;
inline
RawOption from_jni(const JniOption& Option) {
switch (Option) {
case JniOption::GAIN:
return RawOption::GAIN;
case JniOption::BRIGHTNESS:
return RawOption::BRIGHTNESS;
case JniOption::CONTRAST:
return RawOption::CONTRAST;
case JniOption::FRAME_RATE:
return RawOption::FRAME_RATE;
case JniOption::IMU_FREQUENCY:
return RawOption::IMU_FREQUENCY;
case JniOption::EXPOSURE_MODE:
return RawOption::EXPOSURE_MODE;
case JniOption::MAX_GAIN:
return RawOption::MAX_GAIN;
case JniOption::MAX_EXPOSURE_TIME:
return RawOption::MAX_EXPOSURE_TIME;
case JniOption::MIN_EXPOSURE_TIME:
return RawOption::MIN_EXPOSURE_TIME;
case JniOption::DESIRED_BRIGHTNESS:
return RawOption::DESIRED_BRIGHTNESS;
case JniOption::IR_CONTROL:
return RawOption::IR_CONTROL;
case JniOption::HDR_MODE:
return RawOption::HDR_MODE;
case JniOption::ACCELEROMETER_RANGE:
return RawOption::ACCELEROMETER_RANGE;
case JniOption::GYROSCOPE_RANGE:
return RawOption::GYROSCOPE_RANGE;
case JniOption::ACCELEROMETER_LOW_PASS_FILTER:
return RawOption::ACCELEROMETER_LOW_PASS_FILTER;
case JniOption::GYROSCOPE_LOW_PASS_FILTER:
return RawOption::GYROSCOPE_LOW_PASS_FILTER;
case JniOption::ZERO_DRIFT_CALIBRATION:
return RawOption::ZERO_DRIFT_CALIBRATION;
case JniOption::ERASE_CHIP:
return RawOption::ERASE_CHIP;
default:
LOG(FATAL) << "Option is unknown";
}
}
inline
JniOption to_jni(const RawOption& Option) {
switch (Option) {
case RawOption::GAIN:
return JniOption::GAIN;
case RawOption::BRIGHTNESS:
return JniOption::BRIGHTNESS;
case RawOption::CONTRAST:
return JniOption::CONTRAST;
case RawOption::FRAME_RATE:
return JniOption::FRAME_RATE;
case RawOption::IMU_FREQUENCY:
return JniOption::IMU_FREQUENCY;
case RawOption::EXPOSURE_MODE:
return JniOption::EXPOSURE_MODE;
case RawOption::MAX_GAIN:
return JniOption::MAX_GAIN;
case RawOption::MAX_EXPOSURE_TIME:
return JniOption::MAX_EXPOSURE_TIME;
case RawOption::MIN_EXPOSURE_TIME:
return JniOption::MIN_EXPOSURE_TIME;
case RawOption::DESIRED_BRIGHTNESS:
return JniOption::DESIRED_BRIGHTNESS;
case RawOption::IR_CONTROL:
return JniOption::IR_CONTROL;
case RawOption::HDR_MODE:
return JniOption::HDR_MODE;
case RawOption::ACCELEROMETER_RANGE:
return JniOption::ACCELEROMETER_RANGE;
case RawOption::GYROSCOPE_RANGE:
return JniOption::GYROSCOPE_RANGE;
case RawOption::ACCELEROMETER_LOW_PASS_FILTER:
return JniOption::ACCELEROMETER_LOW_PASS_FILTER;
case RawOption::GYROSCOPE_LOW_PASS_FILTER:
return JniOption::GYROSCOPE_LOW_PASS_FILTER;
case RawOption::ZERO_DRIFT_CALIBRATION:
return JniOption::ZERO_DRIFT_CALIBRATION;
case RawOption::ERASE_CHIP:
return JniOption::ERASE_CHIP;
default:
LOG(FATAL) << "Option is unknown";
}
}
// addon
using RawAddon = MYNTEYE_NAMESPACE::AddOns;
using JniAddon = mynteye_jni::Addon;
inline
RawAddon from_jni(const JniAddon& Addon) {
switch (Addon) {
case JniAddon::INFRARED: return RawAddon::INFRARED;
case JniAddon::INFRARED2: return RawAddon::INFRARED2;
default:
LOG(FATAL) << "Addon is unknown";
}
}
inline
JniAddon to_jni(const RawAddon& Addon) {
switch (Addon) {
case RawAddon::INFRARED: return JniAddon::INFRARED;
case RawAddon::INFRARED2: return JniAddon::INFRARED2;
default:
LOG(FATAL) << "Addon is unknown";
}
}
// calibration_model
using RawCalibrationModel = MYNTEYE_NAMESPACE::CalibrationModel;
using JniCalibrationModel = mynteye_jni::CalibrationModel;
inline
RawCalibrationModel from_jni(const JniCalibrationModel& CalibrationModel) {
switch (CalibrationModel) {
case JniCalibrationModel::PINHOLE:
return RawCalibrationModel::PINHOLE;
case JniCalibrationModel::KANNALA_BRANDT:
return RawCalibrationModel::KANNALA_BRANDT;
case JniCalibrationModel::UNKNOW:
return RawCalibrationModel::UNKNOW;
default:
LOG(FATAL) << "CalibrationModel is unknown";
}
}
inline
JniCalibrationModel to_jni(const RawCalibrationModel& CalibrationModel) {
switch (CalibrationModel) {
case RawCalibrationModel::PINHOLE:
return JniCalibrationModel::PINHOLE;
case RawCalibrationModel::KANNALA_BRANDT:
return JniCalibrationModel::KANNALA_BRANDT;
case RawCalibrationModel::UNKNOW:
return JniCalibrationModel::UNKNOW;
default:
LOG(FATAL) << "CalibrationModel is unknown";
}
}
// others
template<int n>
std::vector<double> to_vector(double (&vector)[n]) {
std::vector<double> datas;
for (int i = 0; i < n; i++) {
datas.push_back(vector[i]);
}
return datas;
}
template<int rows, int cols>
std::vector<double> to_vector(double (&matrix)[rows][cols]) {
std::vector<double> datas;
for (int i = 0; i < rows; i++) {
for (int j = 0; j < cols; j++) {
datas.push_back(matrix[i][j]);
}
}
return datas;
}
} // namespace mynteye_jni } // namespace mynteye_jni

26
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeAddon.hpp Normal file
View File

@ -0,0 +1,26 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "addon.hpp"
#include "djinni_support.hpp"
namespace djinni_generated {
class NativeAddon final : ::djinni::JniEnum {
public:
using CppType = ::mynteye_jni::Addon;
using JniType = jobject;
using Boxed = NativeAddon;
static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeAddon>::get().ordinal(jniEnv, j)); }
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeAddon>::get().create(jniEnv, static_cast<jint>(c)); }
private:
NativeAddon() : JniEnum("com/slightech/mynteye/Addon") {}
friend ::djinni::JniClass<NativeAddon>;
};
} // namespace djinni_generated

26
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeCalibrationModel.hpp Normal file
View File

@ -0,0 +1,26 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "calibration_model.hpp"
#include "djinni_support.hpp"
namespace djinni_generated {
class NativeCalibrationModel final : ::djinni::JniEnum {
public:
using CppType = ::mynteye_jni::CalibrationModel;
using JniType = jobject;
using Boxed = NativeCalibrationModel;
static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeCalibrationModel>::get().ordinal(jniEnv, j)); }
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeCalibrationModel>::get().create(jniEnv, static_cast<jint>(c)); }
private:
NativeCalibrationModel() : JniEnum("com/slightech/mynteye/CalibrationModel") {}
friend ::djinni::JniClass<NativeCalibrationModel>;
};
} // namespace djinni_generated

26
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeCapability.hpp Normal file
View File

@ -0,0 +1,26 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "capability.hpp"
#include "djinni_support.hpp"
namespace djinni_generated {
class NativeCapability final : ::djinni::JniEnum {
public:
using CppType = ::mynteye_jni::Capability;
using JniType = jobject;
using Boxed = NativeCapability;
static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeCapability>::get().ordinal(jniEnv, j)); }
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeCapability>::get().create(jniEnv, static_cast<jint>(c)); }
private:
NativeCapability() : JniEnum("com/slightech/mynteye/Capability") {}
friend ::djinni::JniClass<NativeCapability>;
};
} // namespace djinni_generated

150
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeDevice.cpp
View File

@ -3,8 +3,17 @@
#include "NativeDevice.hpp" // my header #include "NativeDevice.hpp" // my header
#include "Marshal.hpp" #include "Marshal.hpp"
#include "NativeAddon.hpp"
#include "NativeCapability.hpp"
#include "NativeDeviceUsbInfo.hpp" #include "NativeDeviceUsbInfo.hpp"
#include "NativeExtrinsics.hpp"
#include "NativeInfo.hpp"
#include "NativeIntrinsics.hpp"
#include "NativeModel.hpp"
#include "NativeMotionData.hpp" #include "NativeMotionData.hpp"
#include "NativeMotionIntrinsics.hpp"
#include "NativeOption.hpp"
#include "NativeOptionInfo.hpp"
#include "NativeSource.hpp" #include "NativeSource.hpp"
#include "NativeStream.hpp" #include "NativeStream.hpp"
#include "NativeStreamData.hpp" #include "NativeStreamData.hpp"
@ -34,6 +43,56 @@ CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_creat
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */) } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
} }
CJNIEXPORT ::djinni_generated::NativeModel::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getModel(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->GetModel();
return ::djinni::release(::djinni_generated::NativeModel::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1supportsStream(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_stream)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->SupportsStream(::djinni_generated::NativeStream::toCpp(jniEnv, j_stream));
return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1supportsCapability(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeCapability::JniType j_capabilities)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->SupportsCapability(::djinni_generated::NativeCapability::toCpp(jniEnv, j_capabilities));
return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1supportsOption(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->SupportsOption(::djinni_generated::NativeOption::toCpp(jniEnv, j_option));
return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1supportsAddon(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeAddon::JniType j_addon)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->SupportsAddon(::djinni_generated::NativeAddon::toCpp(jniEnv, j_addon));
return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getStreamRequests(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef) CJNIEXPORT jobject JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getStreamRequests(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
{ {
try { try {
@ -53,6 +112,97 @@ CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, ) } JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
} }
CJNIEXPORT jstring JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getInfo(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeInfo::JniType j_info)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->GetInfo(::djinni_generated::NativeInfo::toCpp(jniEnv, j_info));
return ::djinni::release(::djinni::String::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT ::djinni_generated::NativeIntrinsics::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getIntrinsics(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_stream)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->GetIntrinsics(::djinni_generated::NativeStream::toCpp(jniEnv, j_stream));
return ::djinni::release(::djinni_generated::NativeIntrinsics::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT ::djinni_generated::NativeExtrinsics::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getExtrinsics(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_from, ::djinni_generated::NativeStream::JniType j_to)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->GetExtrinsics(::djinni_generated::NativeStream::toCpp(jniEnv, j_from),
::djinni_generated::NativeStream::toCpp(jniEnv, j_to));
return ::djinni::release(::djinni_generated::NativeExtrinsics::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT ::djinni_generated::NativeMotionIntrinsics::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getMotionIntrinsics(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->GetMotionIntrinsics();
return ::djinni::release(::djinni_generated::NativeMotionIntrinsics::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT ::djinni_generated::NativeExtrinsics::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getMotionExtrinsics(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeStream::JniType j_from)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->GetMotionExtrinsics(::djinni_generated::NativeStream::toCpp(jniEnv, j_from));
return ::djinni::release(::djinni_generated::NativeExtrinsics::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT ::djinni_generated::NativeOptionInfo::JniType JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getOptionInfo(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->GetOptionInfo(::djinni_generated::NativeOption::toCpp(jniEnv, j_option));
return ::djinni::release(::djinni_generated::NativeOptionInfo::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT jint JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1getOptionValue(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->GetOptionValue(::djinni_generated::NativeOption::toCpp(jniEnv, j_option));
return ::djinni::release(::djinni::I32::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1setOptionValue(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option, jint j_value)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
ref->SetOptionValue(::djinni_generated::NativeOption::toCpp(jniEnv, j_option),
::djinni::I32::toCpp(jniEnv, j_value));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, )
}
CJNIEXPORT jboolean JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1runOptionAction(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeOption::JniType j_option)
{
try {
DJINNI_FUNCTION_PROLOGUE1(jniEnv, nativeRef);
const auto& ref = ::djinni::objectFromHandleAddress<::mynteye_jni::Device>(nativeRef);
auto r = ref->RunOptionAction(::djinni_generated::NativeOption::toCpp(jniEnv, j_option));
return ::djinni::release(::djinni::Bool::fromCpp(jniEnv, r));
} JNI_TRANSLATE_EXCEPTIONS_RETURN(jniEnv, 0 /* value doesn't matter */)
}
CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1start(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeSource::JniType j_source) CJNIEXPORT void JNICALL Java_com_slightech_mynteye_Device_00024CppProxy_native_1start(JNIEnv* jniEnv, jobject /*this*/, jlong nativeRef, ::djinni_generated::NativeSource::JniType j_source)
{ {
try { try {

30
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeExtrinsics.cpp Normal file
View File

@ -0,0 +1,30 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#include "NativeExtrinsics.hpp" // my header
#include "Marshal.hpp"
namespace djinni_generated {
NativeExtrinsics::NativeExtrinsics() = default;
NativeExtrinsics::~NativeExtrinsics() = default;
auto NativeExtrinsics::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
const auto& data = ::djinni::JniClass<NativeExtrinsics>::get();
auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.rotation)),
::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.translation)))};
::djinni::jniExceptionCheck(jniEnv);
return r;
}
auto NativeExtrinsics::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
::djinni::JniLocalScope jscope(jniEnv, 3);
assert(j != nullptr);
const auto& data = ::djinni::JniClass<NativeExtrinsics>::get();
return {::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mRotation)),
::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mTranslation))};
}
} // namespace djinni_generated

33
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeExtrinsics.hpp Normal file
View File

@ -0,0 +1,33 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "djinni_support.hpp"
#include "extrinsics.hpp"
namespace djinni_generated {
class NativeExtrinsics final {
public:
using CppType = ::mynteye_jni::Extrinsics;
using JniType = jobject;
using Boxed = NativeExtrinsics;
~NativeExtrinsics();
static CppType toCpp(JNIEnv* jniEnv, JniType j);
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
private:
NativeExtrinsics();
friend ::djinni::JniClass<NativeExtrinsics>;
const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/Extrinsics") };
const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(Ljava/util/ArrayList;Ljava/util/ArrayList;)V") };
const jfieldID field_mRotation { ::djinni::jniGetFieldID(clazz.get(), "mRotation", "Ljava/util/ArrayList;") };
const jfieldID field_mTranslation { ::djinni::jniGetFieldID(clazz.get(), "mTranslation", "Ljava/util/ArrayList;") };
};
} // namespace djinni_generated

34
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuIntrinsics.cpp Normal file
View File

@ -0,0 +1,34 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#include "NativeImuIntrinsics.hpp" // my header
#include "Marshal.hpp"
namespace djinni_generated {
NativeImuIntrinsics::NativeImuIntrinsics() = default;
NativeImuIntrinsics::~NativeImuIntrinsics() = default;
auto NativeImuIntrinsics::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
const auto& data = ::djinni::JniClass<NativeImuIntrinsics>::get();
auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.scale)),
::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.drift)),
::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.noise)),
::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.bias)))};
::djinni::jniExceptionCheck(jniEnv);
return r;
}
auto NativeImuIntrinsics::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
::djinni::JniLocalScope jscope(jniEnv, 5);
assert(j != nullptr);
const auto& data = ::djinni::JniClass<NativeImuIntrinsics>::get();
return {::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mScale)),
::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mDrift)),
::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mNoise)),
::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mBias))};
}
} // namespace djinni_generated

35
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeImuIntrinsics.hpp Normal file
View File

@ -0,0 +1,35 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "djinni_support.hpp"
#include "imu_intrinsics.hpp"
namespace djinni_generated {
class NativeImuIntrinsics final {
public:
using CppType = ::mynteye_jni::ImuIntrinsics;
using JniType = jobject;
using Boxed = NativeImuIntrinsics;
~NativeImuIntrinsics();
static CppType toCpp(JNIEnv* jniEnv, JniType j);
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
private:
NativeImuIntrinsics();
friend ::djinni::JniClass<NativeImuIntrinsics>;
const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/ImuIntrinsics") };
const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(Ljava/util/ArrayList;Ljava/util/ArrayList;Ljava/util/ArrayList;Ljava/util/ArrayList;)V") };
const jfieldID field_mScale { ::djinni::jniGetFieldID(clazz.get(), "mScale", "Ljava/util/ArrayList;") };
const jfieldID field_mDrift { ::djinni::jniGetFieldID(clazz.get(), "mDrift", "Ljava/util/ArrayList;") };
const jfieldID field_mNoise { ::djinni::jniGetFieldID(clazz.get(), "mNoise", "Ljava/util/ArrayList;") };
const jfieldID field_mBias { ::djinni::jniGetFieldID(clazz.get(), "mBias", "Ljava/util/ArrayList;") };
};
} // namespace djinni_generated

26
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeInfo.hpp Normal file
View File

@ -0,0 +1,26 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "djinni_support.hpp"
#include "info.hpp"
namespace djinni_generated {
class NativeInfo final : ::djinni::JniEnum {
public:
using CppType = ::mynteye_jni::Info;
using JniType = jobject;
using Boxed = NativeInfo;
static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeInfo>::get().ordinal(jniEnv, j)); }
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeInfo>::get().create(jniEnv, static_cast<jint>(c)); }
private:
NativeInfo() : JniEnum("com/slightech/mynteye/Info") {}
friend ::djinni::JniClass<NativeInfo>;
};
} // namespace djinni_generated

43
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeIntrinsics.cpp Normal file
View File

@ -0,0 +1,43 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#include "NativeIntrinsics.hpp" // my header
#include "Marshal.hpp"
#include "NativeCalibrationModel.hpp"
namespace djinni_generated {
NativeIntrinsics::NativeIntrinsics() = default;
NativeIntrinsics::~NativeIntrinsics() = default;
auto NativeIntrinsics::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
const auto& data = ::djinni::JniClass<NativeIntrinsics>::get();
auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
::djinni::get(::djinni_generated::NativeCalibrationModel::fromCpp(jniEnv, c.calib_model)),
::djinni::get(::djinni::I32::fromCpp(jniEnv, c.width)),
::djinni::get(::djinni::I32::fromCpp(jniEnv, c.height)),
::djinni::get(::djinni::F64::fromCpp(jniEnv, c.fx)),
::djinni::get(::djinni::F64::fromCpp(jniEnv, c.fy)),
::djinni::get(::djinni::F64::fromCpp(jniEnv, c.cx)),
::djinni::get(::djinni::F64::fromCpp(jniEnv, c.cy)),
::djinni::get(::djinni::List<::djinni::F64>::fromCpp(jniEnv, c.coeffs)))};
::djinni::jniExceptionCheck(jniEnv);
return r;
}
auto NativeIntrinsics::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
::djinni::JniLocalScope jscope(jniEnv, 9);
assert(j != nullptr);
const auto& data = ::djinni::JniClass<NativeIntrinsics>::get();
return {::djinni_generated::NativeCalibrationModel::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mCalibModel)),
::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mWidth)),
::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mHeight)),
::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mFx)),
::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mFy)),
::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mCx)),
::djinni::F64::toCpp(jniEnv, jniEnv->GetDoubleField(j, data.field_mCy)),
::djinni::List<::djinni::F64>::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mCoeffs))};
}
} // namespace djinni_generated

39
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeIntrinsics.hpp Normal file
View File

@ -0,0 +1,39 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "djinni_support.hpp"
#include "intrinsics.hpp"
namespace djinni_generated {
class NativeIntrinsics final {
public:
using CppType = ::mynteye_jni::Intrinsics;
using JniType = jobject;
using Boxed = NativeIntrinsics;
~NativeIntrinsics();
static CppType toCpp(JNIEnv* jniEnv, JniType j);
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
private:
NativeIntrinsics();
friend ::djinni::JniClass<NativeIntrinsics>;
const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/Intrinsics") };
const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(Lcom/slightech/mynteye/CalibrationModel;IIDDDDLjava/util/ArrayList;)V") };
const jfieldID field_mCalibModel { ::djinni::jniGetFieldID(clazz.get(), "mCalibModel", "Lcom/slightech/mynteye/CalibrationModel;") };
const jfieldID field_mWidth { ::djinni::jniGetFieldID(clazz.get(), "mWidth", "I") };
const jfieldID field_mHeight { ::djinni::jniGetFieldID(clazz.get(), "mHeight", "I") };
const jfieldID field_mFx { ::djinni::jniGetFieldID(clazz.get(), "mFx", "D") };
const jfieldID field_mFy { ::djinni::jniGetFieldID(clazz.get(), "mFy", "D") };
const jfieldID field_mCx { ::djinni::jniGetFieldID(clazz.get(), "mCx", "D") };
const jfieldID field_mCy { ::djinni::jniGetFieldID(clazz.get(), "mCy", "D") };
const jfieldID field_mCoeffs { ::djinni::jniGetFieldID(clazz.get(), "mCoeffs", "Ljava/util/ArrayList;") };
};
} // namespace djinni_generated

30
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionIntrinsics.cpp Normal file
View File

@ -0,0 +1,30 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#include "NativeMotionIntrinsics.hpp" // my header
#include "NativeImuIntrinsics.hpp"
namespace djinni_generated {
NativeMotionIntrinsics::NativeMotionIntrinsics() = default;
NativeMotionIntrinsics::~NativeMotionIntrinsics() = default;
auto NativeMotionIntrinsics::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
const auto& data = ::djinni::JniClass<NativeMotionIntrinsics>::get();
auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
::djinni::get(::djinni_generated::NativeImuIntrinsics::fromCpp(jniEnv, c.accel)),
::djinni::get(::djinni_generated::NativeImuIntrinsics::fromCpp(jniEnv, c.gyro)))};
::djinni::jniExceptionCheck(jniEnv);
return r;
}
auto NativeMotionIntrinsics::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
::djinni::JniLocalScope jscope(jniEnv, 3);
assert(j != nullptr);
const auto& data = ::djinni::JniClass<NativeMotionIntrinsics>::get();
return {::djinni_generated::NativeImuIntrinsics::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mAccel)),
::djinni_generated::NativeImuIntrinsics::toCpp(jniEnv, jniEnv->GetObjectField(j, data.field_mGyro))};
}
} // namespace djinni_generated

33
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeMotionIntrinsics.hpp Normal file
View File

@ -0,0 +1,33 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "djinni_support.hpp"
#include "motion_intrinsics.hpp"
namespace djinni_generated {
class NativeMotionIntrinsics final {
public:
using CppType = ::mynteye_jni::MotionIntrinsics;
using JniType = jobject;
using Boxed = NativeMotionIntrinsics;
~NativeMotionIntrinsics();
static CppType toCpp(JNIEnv* jniEnv, JniType j);
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
private:
NativeMotionIntrinsics();
friend ::djinni::JniClass<NativeMotionIntrinsics>;
const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/MotionIntrinsics") };
const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(Lcom/slightech/mynteye/ImuIntrinsics;Lcom/slightech/mynteye/ImuIntrinsics;)V") };
const jfieldID field_mAccel { ::djinni::jniGetFieldID(clazz.get(), "mAccel", "Lcom/slightech/mynteye/ImuIntrinsics;") };
const jfieldID field_mGyro { ::djinni::jniGetFieldID(clazz.get(), "mGyro", "Lcom/slightech/mynteye/ImuIntrinsics;") };
};
} // namespace djinni_generated

26
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOption.hpp Normal file
View File

@ -0,0 +1,26 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "djinni_support.hpp"
#include "option.hpp"
namespace djinni_generated {
class NativeOption final : ::djinni::JniEnum {
public:
using CppType = ::mynteye_jni::Option;
using JniType = jobject;
using Boxed = NativeOption;
static CppType toCpp(JNIEnv* jniEnv, JniType j) { return static_cast<CppType>(::djinni::JniClass<NativeOption>::get().ordinal(jniEnv, j)); }
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, CppType c) { return ::djinni::JniClass<NativeOption>::get().create(jniEnv, static_cast<jint>(c)); }
private:
NativeOption() : JniEnum("com/slightech/mynteye/Option") {}
friend ::djinni::JniClass<NativeOption>;
};
} // namespace djinni_generated

32
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOptionInfo.cpp Normal file
View File

@ -0,0 +1,32 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#include "NativeOptionInfo.hpp" // my header
#include "Marshal.hpp"
namespace djinni_generated {
NativeOptionInfo::NativeOptionInfo() = default;
NativeOptionInfo::~NativeOptionInfo() = default;
auto NativeOptionInfo::fromCpp(JNIEnv* jniEnv, const CppType& c) -> ::djinni::LocalRef<JniType> {
const auto& data = ::djinni::JniClass<NativeOptionInfo>::get();
auto r = ::djinni::LocalRef<JniType>{jniEnv->NewObject(data.clazz.get(), data.jconstructor,
::djinni::get(::djinni::I32::fromCpp(jniEnv, c.min)),
::djinni::get(::djinni::I32::fromCpp(jniEnv, c.max)),
::djinni::get(::djinni::I32::fromCpp(jniEnv, c.def)))};
::djinni::jniExceptionCheck(jniEnv);
return r;
}
auto NativeOptionInfo::toCpp(JNIEnv* jniEnv, JniType j) -> CppType {
::djinni::JniLocalScope jscope(jniEnv, 4);
assert(j != nullptr);
const auto& data = ::djinni::JniClass<NativeOptionInfo>::get();
return {::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mMin)),
::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mMax)),
::djinni::I32::toCpp(jniEnv, jniEnv->GetIntField(j, data.field_mDef))};
}
} // namespace djinni_generated

34
wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/jni/NativeOptionInfo.hpp Normal file
View File

@ -0,0 +1,34 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
#pragma once
#include "djinni_support.hpp"
#include "option_info.hpp"
namespace djinni_generated {
class NativeOptionInfo final {
public:
using CppType = ::mynteye_jni::OptionInfo;
using JniType = jobject;
using Boxed = NativeOptionInfo;
~NativeOptionInfo();
static CppType toCpp(JNIEnv* jniEnv, JniType j);
static ::djinni::LocalRef<JniType> fromCpp(JNIEnv* jniEnv, const CppType& c);
private:
NativeOptionInfo();
friend ::djinni::JniClass<NativeOptionInfo>;
const ::djinni::GlobalRef<jclass> clazz { ::djinni::jniFindClass("com/slightech/mynteye/OptionInfo") };
const jmethodID jconstructor { ::djinni::jniGetMethodID(clazz.get(), "<init>", "(III)V") };
const jfieldID field_mMin { ::djinni::jniGetFieldID(clazz.get(), "mMin", "I") };
const jfieldID field_mMax { ::djinni::jniGetFieldID(clazz.get(), "mMax", "I") };
const jfieldID field_mDef { ::djinni::jniGetFieldID(clazz.get(), "mDef", "I") };
};
} // namespace djinni_generated

16
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Addon.java Normal file
View File

@ -0,0 +1,16 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
/** Add-On are peripheral modules of our hardware */
public enum Addon {
/** Infrared */
INFRARED,
/** Second infrared */
INFRARED2,
;
}

18
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/CalibrationModel.java Normal file
View File

@ -0,0 +1,18 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
/** Camera calibration model */
public enum CalibrationModel {
/** Pinhole */
PINHOLE,
/** Equidistant: KANNALA_BRANDT */
KANNALA_BRANDT,
/** Unknow */
UNKNOW,
;
}

33
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Capability.java Normal file
View File

@ -0,0 +1,33 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
/**
* Capabilities define the full set of functionality that the device
* might provide
*/
public enum Capability {
/** Provides stereo stream */
STEREO,
/** Provide stereo color stream */
STEREO_COLOR,
/** Provides color stream */
COLOR,
/** Provides depth stream */
DEPTH,
/** Provides point cloud stream */
POINTS,
/** Provides fisheye stream */
FISHEYE,
/** Provides infrared stream */
INFRARED,
/** Provides second infrared stream */
INFRARED2,
/** Provides IMU (accelerometer, gyroscope) data */
IMU,
;
}

161
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Device.java
View File

@ -10,6 +10,22 @@ import java.util.concurrent.atomic.AtomicBoolean;
/** Device class to communicate with MYNT® EYE device */ /** Device class to communicate with MYNT® EYE device */
public interface Device { public interface Device {
/** Get the model */
@NonNull
public com.slightech.mynteye.Model getModel();
/** Supports the stream or not */
public boolean supportsStream(@NonNull com.slightech.mynteye.Stream stream);
/** Supports the capability or not */
public boolean supportsCapability(@NonNull com.slightech.mynteye.Capability capabilities);
/** Supports the option or not */
public boolean supportsOption(@NonNull com.slightech.mynteye.Option option);
/** Supports the addon or not */
public boolean supportsAddon(@NonNull com.slightech.mynteye.Addon addon);
/** Get all stream requests */ /** Get all stream requests */
@NonNull @NonNull
public ArrayList<com.slightech.mynteye.StreamRequest> getStreamRequests(); public ArrayList<com.slightech.mynteye.StreamRequest> getStreamRequests();
@ -17,6 +33,39 @@ public interface Device {
/** Config the stream request */ /** Config the stream request */
public void configStreamRequest(@NonNull com.slightech.mynteye.StreamRequest request); public void configStreamRequest(@NonNull com.slightech.mynteye.StreamRequest request);
/** Get the device info */
@NonNull
public String getInfo(@NonNull com.slightech.mynteye.Info info);
/** Get the intrinsics of stream */
@NonNull
public com.slightech.mynteye.Intrinsics getIntrinsics(@NonNull com.slightech.mynteye.Stream stream);
/** Get the extrinsics of stream */
@NonNull
public com.slightech.mynteye.Extrinsics getExtrinsics(@NonNull com.slightech.mynteye.Stream from, @NonNull com.slightech.mynteye.Stream to);
/** Get the intrinsics of motion */
@NonNull
public com.slightech.mynteye.MotionIntrinsics getMotionIntrinsics();
/** Get the extrinsics from one stream to motion */
@NonNull
public com.slightech.mynteye.Extrinsics getMotionExtrinsics(@NonNull com.slightech.mynteye.Stream from);
/** Get the option info */
@NonNull
public com.slightech.mynteye.OptionInfo getOptionInfo(@NonNull com.slightech.mynteye.Option option);
/** Get the option value */
public int getOptionValue(@NonNull com.slightech.mynteye.Option option);
/** Set the option value */
public void setOptionValue(@NonNull com.slightech.mynteye.Option option, int value);
/** Run the option value */
public boolean runOptionAction(@NonNull com.slightech.mynteye.Option option);
/** Start capturing the source */ /** Start capturing the source */
public void start(@NonNull com.slightech.mynteye.Source source); public void start(@NonNull com.slightech.mynteye.Source source);
@ -71,6 +120,46 @@ public interface Device {
super.finalize(); super.finalize();
} }
@Override
public com.slightech.mynteye.Model getModel()
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_getModel(this.nativeRef);
}
private native com.slightech.mynteye.Model native_getModel(long _nativeRef);
@Override
public boolean supportsStream(com.slightech.mynteye.Stream stream)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_supportsStream(this.nativeRef, stream);
}
private native boolean native_supportsStream(long _nativeRef, com.slightech.mynteye.Stream stream);
@Override
public boolean supportsCapability(com.slightech.mynteye.Capability capabilities)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_supportsCapability(this.nativeRef, capabilities);
}
private native boolean native_supportsCapability(long _nativeRef, com.slightech.mynteye.Capability capabilities);
@Override
public boolean supportsOption(com.slightech.mynteye.Option option)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_supportsOption(this.nativeRef, option);
}
private native boolean native_supportsOption(long _nativeRef, com.slightech.mynteye.Option option);
@Override
public boolean supportsAddon(com.slightech.mynteye.Addon addon)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_supportsAddon(this.nativeRef, addon);
}
private native boolean native_supportsAddon(long _nativeRef, com.slightech.mynteye.Addon addon);
@Override @Override
public ArrayList<com.slightech.mynteye.StreamRequest> getStreamRequests() public ArrayList<com.slightech.mynteye.StreamRequest> getStreamRequests()
{ {
@ -87,6 +176,78 @@ public interface Device {
} }
private native void native_configStreamRequest(long _nativeRef, com.slightech.mynteye.StreamRequest request); private native void native_configStreamRequest(long _nativeRef, com.slightech.mynteye.StreamRequest request);
@Override
public String getInfo(com.slightech.mynteye.Info info)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_getInfo(this.nativeRef, info);
}
private native String native_getInfo(long _nativeRef, com.slightech.mynteye.Info info);
@Override
public com.slightech.mynteye.Intrinsics getIntrinsics(com.slightech.mynteye.Stream stream)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_getIntrinsics(this.nativeRef, stream);
}
private native com.slightech.mynteye.Intrinsics native_getIntrinsics(long _nativeRef, com.slightech.mynteye.Stream stream);
@Override
public com.slightech.mynteye.Extrinsics getExtrinsics(com.slightech.mynteye.Stream from, com.slightech.mynteye.Stream to)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_getExtrinsics(this.nativeRef, from, to);
}
private native com.slightech.mynteye.Extrinsics native_getExtrinsics(long _nativeRef, com.slightech.mynteye.Stream from, com.slightech.mynteye.Stream to);
@Override
public com.slightech.mynteye.MotionIntrinsics getMotionIntrinsics()
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_getMotionIntrinsics(this.nativeRef);
}
private native com.slightech.mynteye.MotionIntrinsics native_getMotionIntrinsics(long _nativeRef);
@Override
public com.slightech.mynteye.Extrinsics getMotionExtrinsics(com.slightech.mynteye.Stream from)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_getMotionExtrinsics(this.nativeRef, from);
}
private native com.slightech.mynteye.Extrinsics native_getMotionExtrinsics(long _nativeRef, com.slightech.mynteye.Stream from);
@Override
public com.slightech.mynteye.OptionInfo getOptionInfo(com.slightech.mynteye.Option option)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_getOptionInfo(this.nativeRef, option);
}
private native com.slightech.mynteye.OptionInfo native_getOptionInfo(long _nativeRef, com.slightech.mynteye.Option option);
@Override
public int getOptionValue(com.slightech.mynteye.Option option)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_getOptionValue(this.nativeRef, option);
}
private native int native_getOptionValue(long _nativeRef, com.slightech.mynteye.Option option);
@Override
public void setOptionValue(com.slightech.mynteye.Option option, int value)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
native_setOptionValue(this.nativeRef, option, value);
}
private native void native_setOptionValue(long _nativeRef, com.slightech.mynteye.Option option, int value);
@Override
public boolean runOptionAction(com.slightech.mynteye.Option option)
{
assert !this.destroyed.get() : "trying to use a destroyed object";
return native_runOptionAction(this.nativeRef, option);
}
private native boolean native_runOptionAction(long _nativeRef, com.slightech.mynteye.Option option);
@Override @Override
public void start(com.slightech.mynteye.Source source) public void start(com.slightech.mynteye.Source source)
{ {

45
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Extrinsics.java Normal file
View File

@ -0,0 +1,45 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import java.util.ArrayList;
/** Extrinsics, represent how the different datas are connected */
public final class Extrinsics {
/*package*/ final ArrayList<Double> mRotation;
/*package*/ final ArrayList<Double> mTranslation;
public Extrinsics(
@NonNull ArrayList<Double> rotation,
@NonNull ArrayList<Double> translation) {
this.mRotation = rotation;
this.mTranslation = translation;
}
/** Rotation matrix, 3x3 */
@NonNull
public ArrayList<Double> getRotation() {
return mRotation;
}
/** Translation vector, 1x3 */
@NonNull
public ArrayList<Double> getTranslation() {
return mTranslation;
}
@Override
public String toString() {
return "Extrinsics{" +
"mRotation=" + mRotation +
"," + "mTranslation=" + mTranslation +
"}";
}
}

72
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/ImuIntrinsics.java Normal file
View File

@ -0,0 +1,72 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import java.util.ArrayList;
/** IMU intrinsics: scale, drift and variances */
public final class ImuIntrinsics {
/*package*/ final ArrayList<Double> mScale;
/*package*/ final ArrayList<Double> mDrift;
/*package*/ final ArrayList<Double> mNoise;
/*package*/ final ArrayList<Double> mBias;
public ImuIntrinsics(
@NonNull ArrayList<Double> scale,
@NonNull ArrayList<Double> drift,
@NonNull ArrayList<Double> noise,
@NonNull ArrayList<Double> bias) {
this.mScale = scale;
this.mDrift = drift;
this.mNoise = noise;
this.mBias = bias;
}
/**
* Scale matrix 3x3
* Scale X cross axis cross axis
* cross axis Scale Y cross axis
* cross axis cross axis Scale Z
*/
@NonNull
public ArrayList<Double> getScale() {
return mScale;
}
/** Zero-drift: X, Y, Z 1x3 */
@NonNull
public ArrayList<Double> getDrift() {
return mDrift;
}
/** Noise density variances 1x3 */
@NonNull
public ArrayList<Double> getNoise() {
return mNoise;
}
/** Random walk variances 1x3 */
@NonNull
public ArrayList<Double> getBias() {
return mBias;
}
@Override
public String toString() {
return "ImuIntrinsics{" +
"mScale=" + mScale +
"," + "mDrift=" + mDrift +
"," + "mNoise=" + mNoise +
"," + "mBias=" + mBias +
"}";
}
}

28
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Info.java Normal file
View File

@ -0,0 +1,28 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
/** Camera info fields are read-only strings that can be queried from the device */
public enum Info {
/** Device name */
DEVICE_NAME,
/** Serial number */
SERIAL_NUMBER,
/** Firmware version */
FIRMWARE_VERSION,
/** Hardware version */
HARDWARE_VERSION,
/** Spec version */
SPEC_VERSION,
/** Lens type */
LENS_TYPE,
/** IMU type */
IMU_TYPE,
/** Nominal baseline */
NOMINAL_BASELINE,
;
}

109
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Intrinsics.java Normal file
View File

@ -0,0 +1,109 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import java.util.ArrayList;
/** Stream intrinsics */
public final class Intrinsics {
/*package*/ final CalibrationModel mCalibModel;
/*package*/ final int mWidth;
/*package*/ final int mHeight;
/*package*/ final double mFx;
/*package*/ final double mFy;
/*package*/ final double mCx;
/*package*/ final double mCy;
/*package*/ final ArrayList<Double> mCoeffs;
public Intrinsics(
@NonNull CalibrationModel calibModel,
int width,
int height,
double fx,
double fy,
double cx,
double cy,
@NonNull ArrayList<Double> coeffs) {
this.mCalibModel = calibModel;
this.mWidth = width;
this.mHeight = height;
this.mFx = fx;
this.mFy = fy;
this.mCx = cx;
this.mCy = cy;
this.mCoeffs = coeffs;
}
/** The calibration model */
@NonNull
public CalibrationModel getCalibModel() {
return mCalibModel;
}
/** The width of the image in pixels */
public int getWidth() {
return mWidth;
}
/** The height of the image in pixels */
public int getHeight() {
return mHeight;
}
/** The focal length of the image plane, as a multiple of pixel width (pinhole) */
public double getFx() {
return mFx;
}
/** The focal length of the image plane, as a multiple of pixel height (pinhole) */
public double getFy() {
return mFy;
}
/** The horizontal coordinate of the principal point of the image (pinhole) */
public double getCx() {
return mCx;
}
/** The vertical coordinate of the principal point of the image (pinhole) */
public double getCy() {
return mCy;
}
/**
* The distortion coefficients
* pinhole: k1,k2,p1,p2,k3
* kannala_brandt: k2,k3,k4,k5,mu,mv,u0,v0
*/
@NonNull
public ArrayList<Double> getCoeffs() {
return mCoeffs;
}
@Override
public String toString() {
return "Intrinsics{" +
"mCalibModel=" + mCalibModel +
"," + "mWidth=" + mWidth +
"," + "mHeight=" + mHeight +
"," + "mFx=" + mFx +
"," + "mFy=" + mFy +
"," + "mCx=" + mCx +
"," + "mCy=" + mCy +
"," + "mCoeffs=" + mCoeffs +
"}";
}
}

44
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/MotionIntrinsics.java Normal file
View File

@ -0,0 +1,44 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
/** Motion intrinsics, including accelerometer and gyroscope */
public final class MotionIntrinsics {
/*package*/ final ImuIntrinsics mAccel;
/*package*/ final ImuIntrinsics mGyro;
public MotionIntrinsics(
@NonNull ImuIntrinsics accel,
@NonNull ImuIntrinsics gyro) {
this.mAccel = accel;
this.mGyro = gyro;
}
/** Accelerometer intrinsics */
@NonNull
public ImuIntrinsics getAccel() {
return mAccel;
}
/** Gyroscope intrinsics */
@NonNull
public ImuIntrinsics getGyro() {
return mGyro;
}
@Override
public String toString() {
return "MotionIntrinsics{" +
"mAccel=" + mAccel +
"," + "mGyro=" + mGyro +
"}";
}
}

103
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Option.java Normal file
View File

@ -0,0 +1,103 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
/** Camera control options define general configuration controls */
public enum Option {
/**
* Image gain, valid if manual-exposure
* range: [0,48], default: 24
*/
GAIN,
/**
* Image brightness, valid if manual-exposure
* range: [0,240], default: 120
*/
BRIGHTNESS,
/**
* Image contrast, valid if manual-exposure
* range: [0,255], default: 127
*/
CONTRAST,
/**
* Image frame rate, must set IMU_FREQUENCY together
* values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
*/
FRAME_RATE,
/**
* IMU frequency, must set FRAME_RATE together
* values: {100,200,250,333,500}, default: 200
*/
IMU_FREQUENCY,
/**
* Exposure mode
* 0: enable auto-exposure
* 1: disable auto-exposure (manual-exposure)
*/
EXPOSURE_MODE,
/**
* Max gain, valid if auto-exposure
* range of standard 1: [0,48], default: 48
* range of standard 2: [0,255], default: 8
*/
MAX_GAIN,
/**
* Max exposure time, valid if auto-exposure
* range of standard 1: [0,240], default: 240
* range of standard 2: [0,1000], default: 333
*/
MAX_EXPOSURE_TIME,
/**
* min exposure time, valid if auto-exposure
* range: [0,1000], default: 0
*/
MIN_EXPOSURE_TIME,
/**
* Desired brightness, valid if auto-exposure
* range of standard 1: [0,255], default: 192
* range of standard 2: [1,255], default: 122
*/
DESIRED_BRIGHTNESS,
/**
* IR control
* range: [0,160], default: 0
*/
IR_CONTROL,
/**
* HDR mode
* 0: 10-bit
* 1: 12-bit
*/
HDR_MODE,
/**
* The range of accelerometer
* value of standard 1: {4,8,16,32}, default: 8
* value of standard 2: {6,12,24,48}, default: 12
*/
ACCELEROMETER_RANGE,
/**
* The range of gyroscope
* value of standard 1: {500,1000,2000,4000}, default: 1000
* value of standard 2: {250,500,1000,2000,4000}, default: 1000
*/
GYROSCOPE_RANGE,
/**
* The parameter of accelerometer low pass filter
* values: {0,1,2}, default: 2
*/
ACCELEROMETER_LOW_PASS_FILTER,
/**
* The parameter of gyroscope low pass filter
* values: {23,64}, default: 64
*/
GYROSCOPE_LOW_PASS_FILTER,
/** Zero drift calibration */
ZERO_DRIFT_CALIBRATION,
/** Erase chip */
ERASE_CHIP,
;
}

52
wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/OptionInfo.java Normal file
View File

@ -0,0 +1,52 @@
// AUTOGENERATED FILE - DO NOT MODIFY!
// This file generated by Djinni from mynteye_types.djinni
package com.slightech.mynteye;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
/** Option info */
public final class OptionInfo {
/*package*/ final int mMin;
/*package*/ final int mMax;
/*package*/ final int mDef;
public OptionInfo(
int min,
int max,
int def) {
this.mMin = min;
this.mMax = max;
this.mDef = def;
}
/** Minimum value */
public int getMin() {
return mMin;
}
/** Maximum value */
public int getMax() {
return mMax;
}
/** Default value */
public int getDef() {
return mDef;
}
@Override
public String toString() {
return "OptionInfo{" +
"mMin=" + mMin +
"," + "mMax=" + mMax +
"," + "mDef=" + mDef +
"}";
}
}

36
wrappers/android/mynteye/scripts/mynteye.djinni
View File

@ -5,11 +5,47 @@ device = interface +c {
# Create the device instance # Create the device instance
static create(info: device_usb_info): device; static create(info: device_usb_info): device;
# Get the model
get_model(): model;
# Supports the stream or not
supports_stream(stream: stream): bool;
# Supports the capability or not
supports_capability(capabilities: capability): bool;
# Supports the option or not
supports_option(option: option): bool;
# Supports the addon or not
supports_addon(addon: addon): bool;
# Get all stream requests # Get all stream requests
get_stream_requests(): list<stream_request>; get_stream_requests(): list<stream_request>;
# Config the stream request # Config the stream request
config_stream_request(request: stream_request); config_stream_request(request: stream_request);
# Get the device info
get_info(info: info): string;
# Get the intrinsics of stream
get_intrinsics(stream: stream): intrinsics;
# Get the extrinsics of stream
get_extrinsics(from: stream, to: stream): extrinsics;
# Get the intrinsics of motion
get_motion_intrinsics(): motion_intrinsics;
# Get the extrinsics from one stream to motion
get_motion_extrinsics(from: stream): extrinsics;
# Get the option info
get_option_info(option: option): option_info;
# Get the option value
get_option_value(option: option): i32;
# Set the option value
set_option_value(option: option, value: i32);
# Run the option value
run_option_action(option: option): bool;
# Start capturing the source # Start capturing the source
start(source: source); start(source: source);
# Stop capturing the source # Stop capturing the source

194
wrappers/android/mynteye/scripts/mynteye_types.djinni
View File

@ -73,6 +73,125 @@ stream = enum {
right; right;
} }
# Capabilities define the full set of functionality that the device
# might provide
capability = enum {
# Provides stereo stream
stereo;
# Provide stereo color stream
stereo_color;
# Provides color stream
color;
# Provides depth stream
depth;
# Provides point cloud stream
points;
# Provides fisheye stream
fisheye;
# Provides infrared stream
infrared;
# Provides second infrared stream
infrared2;
# Provides IMU (accelerometer, gyroscope) data
imu;
}
# Camera info fields are read-only strings that can be queried from the device
info = enum {
# Device name
device_name;
# Serial number
serial_number;
# Firmware version
firmware_version;
# Hardware version
hardware_version;
# Spec version
spec_version;
# Lens type
lens_type;
# IMU type
imu_type;
# Nominal baseline
nominal_baseline;
}
# Camera control options define general configuration controls
option = enum {
# Image gain, valid if manual-exposure
# range: [0,48], default: 24
gain;
# Image brightness, valid if manual-exposure
# range: [0,240], default: 120
brightness;
# Image contrast, valid if manual-exposure
# range: [0,255], default: 127
contrast;
# Image frame rate, must set IMU_FREQUENCY together
# values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
frame_rate;
# IMU frequency, must set FRAME_RATE together
# values: {100,200,250,333,500}, default: 200
imu_frequency;
# Exposure mode
# 0: enable auto-exposure
# 1: disable auto-exposure (manual-exposure)
exposure_mode;
# Max gain, valid if auto-exposure
# range of standard 1: [0,48], default: 48
# range of standard 2: [0,255], default: 8
max_gain;
# Max exposure time, valid if auto-exposure
# range of standard 1: [0,240], default: 240
# range of standard 2: [0,1000], default: 333
max_exposure_time;
# min exposure time, valid if auto-exposure
# range: [0,1000], default: 0
min_exposure_time;
# Desired brightness, valid if auto-exposure
# range of standard 1: [0,255], default: 192
# range of standard 2: [1,255], default: 122
desired_brightness;
# IR control
# range: [0,160], default: 0
ir_control;
# HDR mode
# 0: 10-bit
# 1: 12-bit
hdr_mode;
# The range of accelerometer
# value of standard 1: {4,8,16,32}, default: 8
# value of standard 2: {6,12,24,48}, default: 12
accelerometer_range;
# The range of gyroscope
# value of standard 1: {500,1000,2000,4000}, default: 1000
# value of standard 2: {250,500,1000,2000,4000}, default: 1000
gyroscope_range;
# The parameter of accelerometer low pass filter
# values: {0,1,2}, default: 2
accelerometer_low_pass_filter;
# The parameter of gyroscope low pass filter
# values: {23,64}, default: 64
gyroscope_low_pass_filter;
# Zero drift calibration
zero_drift_calibration;
# Erase chip
erase_chip;
}
# Add-On are peripheral modules of our hardware
addon = enum {
# Infrared
infrared;
# Second infrared
infrared2;
}
# Frame with raw data # Frame with raw data
frame = interface +c { frame = interface +c {
# Get the width # Get the width
@ -127,3 +246,78 @@ stream_data = interface +c {
motion_data = interface +c { motion_data = interface +c {
imu(): imu_data; imu(): imu_data;
} }
# Camera calibration model
calibration_model = enum {
# Pinhole
pinhole;
# Equidistant: KANNALA_BRANDT
kannala_brandt;
# Unknow
unknow;
}
# Stream intrinsics
intrinsics = record {
# The calibration model
calib_model: calibration_model;
# The width of the image in pixels
width: i32;
# The height of the image in pixels
height: i32;
# The focal length of the image plane, as a multiple of pixel width (pinhole)
fx: f64;
# The focal length of the image plane, as a multiple of pixel height (pinhole)
fy: f64;
# The horizontal coordinate of the principal point of the image (pinhole)
cx: f64;
# The vertical coordinate of the principal point of the image (pinhole)
cy: f64;
# The distortion coefficients
# pinhole: k1,k2,p1,p2,k3
# kannala_brandt: k2,k3,k4,k5,mu,mv,u0,v0
coeffs: list<f64>;
}
# IMU intrinsics: scale, drift and variances
imu_intrinsics = record {
# Scale matrix 3x3
# Scale X cross axis cross axis
# cross axis Scale Y cross axis
# cross axis cross axis Scale Z
scale: list<f64>;
# Zero-drift: X, Y, Z 1x3
drift: list<f64>;
# Noise density variances 1x3
noise: list<f64>;
# Random walk variances 1x3
bias: list<f64>;
}
# Motion intrinsics, including accelerometer and gyroscope
motion_intrinsics = record {
# Accelerometer intrinsics
accel: imu_intrinsics;
# Gyroscope intrinsics
gyro: imu_intrinsics;
}
# Extrinsics, represent how the different datas are connected
extrinsics = record {
# Rotation matrix, 3x3
rotation: list<f64>;
# Translation vector, 1x3
translation: list<f64>;
}
# Option info
option_info = record {
# Minimum value
min: i32;
# Maximum value
max: i32;
# Default value
def: i32;
}