Rearrage include and src
This commit is contained in:
John Zhao
285
include/mynteye/api/api.h
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285
include/mynteye/api/api.h
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@@ -0,0 +1,285 @@
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MYNTEYE_API_API_H_
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#define MYNTEYE_API_API_H_
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#pragma once
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#include <limits>
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#include <memory>
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#include <string>
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#include <vector>
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#include <opencv2/core/core.hpp>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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MYNTEYE_BEGIN_NAMESPACE
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class Device;
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class Synthetic;
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namespace device {
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class Frame;
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} // namespace device
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namespace api {
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/**
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* @ingroup datatypes
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* API stream data.
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*/
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struct MYNTEYE_API StreamData {
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/** ImgData. */
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std::shared_ptr<ImgData> img;
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/** Frame. */
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cv::Mat frame;
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/** Raw frame. */
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std::shared_ptr<device::Frame> frame_raw;
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/** Frame ID. */
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std::uint16_t frame_id;
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bool operator==(const StreamData &other) const {
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if (img && other.img) {
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return img->frame_id == other.img->frame_id &&
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img->timestamp == other.img->timestamp;
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}
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return false;
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}
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};
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/**
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* @ingroup datatypes
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* API motion data.
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*/
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struct MYNTEYE_API MotionData {
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/** ImuData. */
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std::shared_ptr<ImuData> imu;
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bool operator==(const MotionData &other) const {
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if (imu && other.imu) {
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return imu->frame_id == other.imu->frame_id &&
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imu->timestamp == other.imu->timestamp;
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}
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return false;
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}
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};
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} // namespace api
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/**
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* The API class to communicate with MYNT® EYE device.
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*/
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class MYNTEYE_API API {
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public:
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/** The api::StreamData callback. */
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using stream_callback_t = std::function<void(const api::StreamData &data)>;
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/** The api::MotionData callback. */
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using motion_callback_t = std::function<void(const api::MotionData &data)>;
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explicit API(std::shared_ptr<Device> device);
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virtual ~API();
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/**
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* Create the API instance.
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* @return the API instance.
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* @note This will call device::select() to select a device.
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*/
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static std::shared_ptr<API> Create();
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/**
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* Create the API instance.
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* @param device the selected device.
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* @return the API instance.
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*/
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static std::shared_ptr<API> Create(std::shared_ptr<Device> device);
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/**
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* Create the API instance.
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* @param argc the arg count.
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* @param argv the arg values.
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* @return the API instance.
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* @note This will init glog with args and call device::select() to select a
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* device.
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*/
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static std::shared_ptr<API> Create(int argc, char *argv[]);
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/**
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* Create the API instance.
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* @param argc the arg count.
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* @param argv the arg values.
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* @param device the selected device.
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* @return the API instance.
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* @note This will init glog with args.
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*/
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static std::shared_ptr<API> Create(
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int argc, char *argv[], std::shared_ptr<Device> device);
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/**
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* Get the model.
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*/
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Model GetModel() const;
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/**
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* Supports the stream or not.
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*/
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bool Supports(const Stream &stream) const;
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/**
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* Supports the capability or not.
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*/
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bool Supports(const Capabilities &capability) const;
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/**
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* Supports the option or not.
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*/
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bool Supports(const Option &option) const;
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/**
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* Supports the addon or not.
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*/
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bool Supports(const AddOns &addon) const;
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/**
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* Get all stream requests of the capability.
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*/
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const std::vector<StreamRequest> &GetStreamRequests(
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const Capabilities &capability) const;
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/**
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* Config the stream request to the capability.
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*/
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void ConfigStreamRequest(
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const Capabilities &capability, const StreamRequest &request);
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/**
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* Get the device info.
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*/
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std::string GetInfo(const Info &info) const;
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/**
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* Get the intrinsics of stream.
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*/
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Intrinsics GetIntrinsics(const Stream &stream) const;
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/**
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* Get the extrinsics from one stream to another.
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*/
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Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const;
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/**
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* Get the intrinsics of motion.
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*/
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MotionIntrinsics GetMotionIntrinsics() const;
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/**
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* Get the extrinsics from one stream to motion.
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*/
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Extrinsics GetMotionExtrinsics(const Stream &from) const;
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/**
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* Log all option infos.
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*/
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void LogOptionInfos() const;
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/**
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* Get the option info.
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*/
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OptionInfo GetOptionInfo(const Option &option) const;
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/**
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* Get the option value.
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*/
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std::int32_t GetOptionValue(const Option &option) const;
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/**
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* Set the option value.
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*/
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void SetOptionValue(const Option &option, std::int32_t value);
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/**
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* Run the option action.
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*/
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bool RunOptionAction(const Option &option) const;
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/**
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* Set the callback of stream.
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*/
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void SetStreamCallback(const Stream &stream, stream_callback_t callback);
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/**
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* Set the callback of motion.
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*/
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void SetMotionCallback(motion_callback_t callback);
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/**
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* Has the callback of stream.
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*/
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bool HasStreamCallback(const Stream &stream) const;
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/**
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* Has the callback of motion.
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*/
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bool HasMotionCallback() const;
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/**
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* Start capturing the source.
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*/
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void Start(const Source &source);
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/**
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* Stop capturing the source.
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*/
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void Stop(const Source &source);
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/**
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* Wait the streams are ready.
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*/
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void WaitForStreams();
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/**
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* Enable the data of stream.
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* @note must enable the stream if it's a synthetic one. This means the stream
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* in not native, the device has the capability to provide this stream, but
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* still support this stream.
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*/
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void EnableStreamData(const Stream &stream);
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/**
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* Disable the data of stream.
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*/
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void DisableStreamData(const Stream &stream);
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/**
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* Get the latest data of stream.
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*/
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api::StreamData GetStreamData(const Stream &stream);
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/**
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* Get the datas of stream.
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* @note default cache 4 datas at most.
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*/
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std::vector<api::StreamData> GetStreamDatas(const Stream &stream);
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/**
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* Enable cache motion datas.
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*/
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void EnableMotionDatas(
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std::size_t max_size = std::numeric_limits<std::size_t>::max());
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/**
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* Get the motion datas.
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*/
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std::vector<api::MotionData> GetMotionDatas();
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/**
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* Enable the plugin.
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*/
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void EnablePlugin(const std::string &path);
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std::shared_ptr<Device> device();
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private:
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std::shared_ptr<Device> device_;
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std::unique_ptr<Synthetic> synthetic_;
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};
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_API_API_H_
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115
include/mynteye/api/object.h
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115
include/mynteye/api/object.h
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@@ -0,0 +1,115 @@
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#ifndef MYNTEYE_API_OBJECT_H_
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#define MYNTEYE_API_OBJECT_H_
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#pragma once
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#include <memory>
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#include <opencv2/core/core.hpp>
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#include "mynteye/mynteye.h"
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MYNTEYE_BEGIN_NAMESPACE
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/**
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* Input & output object.
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*/
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struct MYNTEYE_API Object {
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Object() = default;
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virtual ~Object() = default;
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virtual Object *Clone() const = 0;
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virtual bool DecValidity() const = 0;
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/** Cast the obj to T pointer */
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template <typename T>
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static T *Cast(Object *obj) {
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return dynamic_cast<T *>(obj);
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}
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/** Cast the obj to const T pointer */
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template <typename T>
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static const T *Cast(const Object *obj) {
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return dynamic_cast<const T *>(obj);
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}
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template <typename T>
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static std::shared_ptr<T> Cast(const std::shared_ptr<Object> &obj) {
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return std::dynamic_pointer_cast<T>(obj);
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}
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};
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/**
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* Input & output object of one cv::Mat.
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*/
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struct MYNTEYE_API ObjMat : public Object {
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ObjMat() = default;
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ObjMat(const cv::Mat &value, std::uint16_t id)
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: value(value), id(id) {}
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/** The value */
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cv::Mat value;
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/** The id **/
|
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std::uint16_t id;
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Object *Clone() const {
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ObjMat *mat = new ObjMat;
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mat->value = value.clone();
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mat->id = id;
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return mat;
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}
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bool DecValidity() const {
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return !value.empty();
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}
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};
|
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/**
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* Input & output object of two cv::Mat.
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*/
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struct MYNTEYE_API ObjMat2 : public Object {
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ObjMat2() = default;
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ObjMat2(const cv::Mat &first, std::uint16_t first_id,
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const cv::Mat &second, std::uint16_t second_id)
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: first(first), first_id(first_id),
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second(second), second_id(second_id) {}
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|
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/** The first value */
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cv::Mat first;
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/** The first id **/
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std::uint16_t first_id;
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/** The second value */
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cv::Mat second;
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/** The second id **/
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std::uint16_t second_id;
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|
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Object *Clone() const {
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ObjMat2 *mat2 = new ObjMat2;
|
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mat2->first = first.clone();
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mat2->first_id = first_id;
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mat2->second = second.clone();
|
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mat2->second_id = second_id;
|
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return mat2;
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}
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bool DecValidity() const {
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return !first.empty() && !second.empty();
|
||||
}
|
||||
};
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
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#endif // MYNTEYE_API_OBJECT_H_
|
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141
include/mynteye/api/plugin.h
Normal file
141
include/mynteye/api/plugin.h
Normal file
@@ -0,0 +1,141 @@
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#ifndef MYNTEYE_API_PLUGIN_H_
|
||||
#define MYNTEYE_API_PLUGIN_H_
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
#include <opencv2/core/core.hpp>
|
||||
|
||||
#include "mynteye/mynteye.h"
|
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|
||||
#ifndef MYNTEYE_PLUGIN_VERSION_CODE
|
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#define MYNTEYE_PLUGIN_VERSION_CODE 0
|
||||
#endif
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
class API;
|
||||
struct Object;
|
||||
|
||||
/**
|
||||
* The plugin which could implement processing by yourself.
|
||||
*/
|
||||
class MYNTEYE_API Plugin {
|
||||
public:
|
||||
Plugin() = default;
|
||||
virtual ~Plugin() = 0;
|
||||
|
||||
/**
|
||||
* Called when plugin created.
|
||||
* @param api the API instacne.
|
||||
*/
|
||||
virtual void OnCreate(API *api) {
|
||||
api_ = api;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called when process rectify.
|
||||
* @param in input object.
|
||||
* @param out output object.
|
||||
* @return `true` if you process rectify.
|
||||
*/
|
||||
virtual bool OnRectifyProcess(Object *const in, Object *const out) {
|
||||
MYNTEYE_UNUSED(in)
|
||||
MYNTEYE_UNUSED(out)
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called when process disparity.
|
||||
* @param in input object.
|
||||
* @param out output object.
|
||||
* @return `true` if you process disparity.
|
||||
*/
|
||||
virtual bool OnDisparityProcess(Object *const in, Object *const out) {
|
||||
MYNTEYE_UNUSED(in)
|
||||
MYNTEYE_UNUSED(out)
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called when process normalized disparity.
|
||||
* @param in input object.
|
||||
* @param out output object.
|
||||
* @return `true` if you process normalized disparity.
|
||||
*/
|
||||
virtual bool OnDisparityNormalizedProcess(
|
||||
Object *const in, Object *const out) {
|
||||
MYNTEYE_UNUSED(in)
|
||||
MYNTEYE_UNUSED(out)
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called when process points.
|
||||
* @param in input object.
|
||||
* @param out output object.
|
||||
* @return `true` if you process points.
|
||||
*/
|
||||
virtual bool OnPointsProcess(Object *const in, Object *const out) {
|
||||
MYNTEYE_UNUSED(in)
|
||||
MYNTEYE_UNUSED(out)
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called when process depth.
|
||||
* @param in input object.
|
||||
* @param out output object.
|
||||
* @return `true` if you process depth.
|
||||
*/
|
||||
virtual bool OnDepthProcess(Object *const in, Object *const out) {
|
||||
MYNTEYE_UNUSED(in)
|
||||
MYNTEYE_UNUSED(out)
|
||||
return false;
|
||||
}
|
||||
|
||||
protected:
|
||||
API *api_;
|
||||
};
|
||||
|
||||
inline Plugin::~Plugin() = default;
|
||||
|
||||
using plugin_version_code_t = std::uint32_t();
|
||||
using plugin_create_t = Plugin *();
|
||||
using plugin_destroy_t = void(Plugin *);
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
||||
extern "C" {
|
||||
|
||||
/**
|
||||
* Get the plugin version code.
|
||||
*/
|
||||
MYNTEYE_API std::uint32_t plugin_version_code();
|
||||
|
||||
/**
|
||||
* Create the plugin.
|
||||
*/
|
||||
MYNTEYE_API mynteye::Plugin *plugin_create();
|
||||
|
||||
/**
|
||||
* Destroy the plugin.
|
||||
*/
|
||||
MYNTEYE_API void plugin_destroy(mynteye::Plugin *plugin);
|
||||
|
||||
}
|
||||
|
||||
#endif // MYNTEYE_API_PLUGIN_H_
|
||||
Reference in New Issue
Block a user