Rearrage include and src
This commit is contained in:
John Zhao
136
include/mynteye/device/callbacks.h
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136
include/mynteye/device/callbacks.h
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@@ -0,0 +1,136 @@
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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_DEVICE_CALLBACKS_H_
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#define MYNTEYE_DEVICE_CALLBACKS_H_
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#pragma once
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#include <cstdint>
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#include <algorithm>
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#include <functional>
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#include <memory>
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#include <vector>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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MYNTEYE_BEGIN_NAMESPACE
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namespace device {
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/**
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* @ingroup datatypes
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* Frame with raw data.
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*/
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class MYNTEYE_API Frame {
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public:
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using data_t = std::vector<std::uint8_t>;
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/**
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* Construct the frame with StreamRequest and raw data.
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*/
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Frame(const StreamRequest &request, const void *data)
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: Frame(request.width, request.height, request.format, data) {}
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/**
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* Construct the frame with stream info and raw data.
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*/
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Frame(
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std::uint16_t width, std::uint16_t height, Format format,
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const void *data)
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: width_(width), height_(height), format_(format) {
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std::size_t bytes_n = (width * height) * bytes_per_pixel(format);
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if (data) {
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const std::uint8_t *bytes = static_cast<const std::uint8_t *>(data);
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data_ = data_t(bytes, bytes + bytes_n);
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} else {
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data_.assign(bytes_n, 0);
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}
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}
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/** Get the width. */
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std::uint16_t width() const {
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return width_;
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}
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/** Get the height. */
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std::uint16_t height() const {
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return height_;
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}
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/** Get the format. */
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Format format() const {
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return format_;
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}
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/** Get the data. */
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std::uint8_t *data() {
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return data_.data();
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}
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/** Get the const data. */
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const std::uint8_t *data() const {
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return data_.data();
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}
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/** Get the size of data. */
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std::size_t size() const {
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return data_.size();
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}
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/** Clone a new frame. */
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Frame clone() const {
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Frame frame(width_, height_, format_, nullptr);
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std::copy(data_.begin(), data_.end(), frame.data_.begin());
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return frame;
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}
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private:
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std::uint16_t width_;
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std::uint16_t height_;
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Format format_;
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data_t data_;
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};
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/**
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* @ingroup datatypes
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* Device 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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std::shared_ptr<Frame> frame;
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/** Frame ID. */
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std::uint16_t frame_id;
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};
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/**
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* @ingroup datatypes
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* Device 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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};
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using StreamCallback = std::function<void(const StreamData &data)>;
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using MotionCallback = std::function<void(const MotionData &data)>;
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} // namespace device
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_DEVICE_CALLBACKS_H_
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56
include/mynteye/device/context.h
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56
include/mynteye/device/context.h
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@@ -0,0 +1,56 @@
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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_DEVICE_CONTEXT_H_
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#define MYNTEYE_DEVICE_CONTEXT_H_
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#pragma once
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#include <memory>
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#include <vector>
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#include "mynteye/mynteye.h"
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MYNTEYE_BEGIN_NAMESPACE
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namespace uvc {
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struct context;
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} // namespace uvc
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class Device;
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/**
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* The context about devices.
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*/
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class MYNTEYE_API Context {
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public:
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Context();
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~Context();
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/**
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* Get all devices now.
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* @return a vector of all devices.
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*/
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std::vector<std::shared_ptr<Device>> devices() const {
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return devices_;
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}
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private:
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std::shared_ptr<uvc::context> context_;
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std::vector<std::shared_ptr<Device>> devices_;
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};
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_DEVICE_CONTEXT_H_
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325
include/mynteye/device/device.h
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325
include/mynteye/device/device.h
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@@ -0,0 +1,325 @@
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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_DEVICE_DEVICE_H_
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#define MYNTEYE_DEVICE_DEVICE_H_
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#pragma once
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#include <limits>
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#include <map>
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#include <memory>
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#include <mutex>
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#include <string>
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#include <vector>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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#include "mynteye/device/callbacks.h"
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MYNTEYE_BEGIN_NAMESPACE
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namespace uvc {
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struct device;
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} // namespace uvc
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namespace tools {
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class DeviceWriter;
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} // namespace tools
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struct DeviceInfo;
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class API;
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class Channels;
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class Motions;
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class Streams;
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template <class Data>
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class AsyncCallback;
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/**
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* The Device class to communicate with MYNT® EYE device.
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*/
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class MYNTEYE_API Device {
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public:
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/** The device::StreamData callback. */
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using stream_callback_t = device::StreamCallback;
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/** The device::MotionData callback. */
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using motion_callback_t = device::MotionCallback;
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using stream_callbacks_t = std::map<Stream, stream_callback_t>;
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using stream_async_callback_t = AsyncCallback<device::StreamData>;
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using motion_async_callback_t = AsyncCallback<device::MotionData>;
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using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
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using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;
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Device(const Model &model, std::shared_ptr<uvc::device> device);
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virtual ~Device();
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/**
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* Create the Device instance.
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* @param name the device name.
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* @param device the device from uvc.
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* @return the Device instance.
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*/
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static std::shared_ptr<Device> Create(
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const std::string &name, std::shared_ptr<uvc::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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return model_;
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}
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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::shared_ptr<DeviceInfo> GetInfo() const;
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/**
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* Get the device info of a field.
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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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* Get the intrinsics of stream.
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*/
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Intrinsics GetIntrinsics(const Stream &stream, bool *ok) 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(
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const Stream &from, const Stream &to, bool *ok) const;
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/**
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* Get the intrinsics of motion.
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*/
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MotionIntrinsics GetMotionIntrinsics(bool *ok) 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, bool *ok) const;
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/**
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* Set the intrinsics of stream.
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*/
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void SetIntrinsics(const Stream &stream, const Intrinsics &in);
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/**
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* Set the extrinsics from one stream to another.
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*/
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void SetExtrinsics(
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const Stream &from, const Stream &to, const Extrinsics &ex);
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/**
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* Set the intrinsics of motion.
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*/
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void SetMotionIntrinsics(const MotionIntrinsics &in);
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/**
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* Set the extrinsics from one stream to motion.
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*/
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void SetMotionExtrinsics(const Stream &from, const Extrinsics &ex);
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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(
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const Stream &stream, stream_callback_t callback, bool async = false);
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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, bool async = false);
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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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virtual 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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virtual 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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* 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<device::StreamData> GetStreamDatas(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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device::StreamData GetLatestStreamData(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<device::MotionData> GetMotionDatas();
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||||
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||||
protected:
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||||
std::shared_ptr<uvc::device> device() const {
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return device_;
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||||
}
|
||||
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||||
std::shared_ptr<Streams> streams() const {
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||||
return streams_;
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||||
}
|
||||
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||||
std::shared_ptr<Channels> channels() const {
|
||||
return channels_;
|
||||
}
|
||||
|
||||
std::shared_ptr<Motions> motions() const {
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||||
return motions_;
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||||
}
|
||||
|
||||
const StreamRequest &GetStreamRequest(const Capabilities &capability);
|
||||
|
||||
virtual void StartVideoStreaming();
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||||
virtual void StopVideoStreaming();
|
||||
|
||||
virtual void StartMotionTracking();
|
||||
virtual void StopMotionTracking();
|
||||
|
||||
virtual void OnStereoStreamUpdate();
|
||||
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||||
virtual std::vector<Stream> GetKeyStreams() const = 0;
|
||||
|
||||
bool video_streaming_;
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||||
bool motion_tracking_;
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||||
|
||||
private:
|
||||
Model model_;
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||||
std::shared_ptr<uvc::device> device_;
|
||||
std::shared_ptr<DeviceInfo> device_info_;
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||||
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||||
std::map<Stream, Intrinsics> stream_intrinsics_;
|
||||
std::map<Stream, std::map<Stream, Extrinsics>> stream_from_extrinsics_;
|
||||
|
||||
std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
|
||||
std::map<Stream, Extrinsics> motion_from_extrinsics_;
|
||||
|
||||
stream_callbacks_t stream_callbacks_;
|
||||
motion_callback_t motion_callback_;
|
||||
|
||||
std::map<Stream, stream_async_callback_ptr_t> stream_async_callbacks_;
|
||||
motion_async_callback_ptr_t motion_async_callback_;
|
||||
|
||||
std::shared_ptr<Streams> streams_;
|
||||
|
||||
std::map<Capabilities, StreamRequest> stream_config_requests_;
|
||||
|
||||
std::mutex mtx_streams_;
|
||||
|
||||
std::shared_ptr<Channels> channels_;
|
||||
|
||||
std::shared_ptr<Motions> motions_;
|
||||
|
||||
void ReadAllInfos();
|
||||
|
||||
void CallbackPushedStreamData(const Stream &stream);
|
||||
void CallbackMotionData(const device::MotionData &data);
|
||||
|
||||
friend API;
|
||||
friend tools::DeviceWriter;
|
||||
};
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
||||
#endif // MYNTEYE_DEVICE_DEVICE_H_
|
||||
62
include/mynteye/device/utils.h
Normal file
62
include/mynteye/device/utils.h
Normal file
@@ -0,0 +1,62 @@
|
||||
// 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_DEVICE_UTILS_H_
|
||||
#define MYNTEYE_DEVICE_UTILS_H_
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
|
||||
#include "mynteye/mynteye.h"
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
/**
|
||||
* @defgroup utils Utiliities
|
||||
*/
|
||||
|
||||
class Device;
|
||||
|
||||
namespace device {
|
||||
|
||||
/**
|
||||
* @ingroup utils
|
||||
*
|
||||
* Detecting MYNT EYE devices and prompt user to select one.
|
||||
*
|
||||
* @return the selected device, or `nullptr` if none.
|
||||
*/
|
||||
MYNTEYE_API std::shared_ptr<Device> select();
|
||||
|
||||
} // namespace device
|
||||
|
||||
namespace utils {
|
||||
|
||||
/**
|
||||
* @ingroup utils
|
||||
*
|
||||
* Get real exposure time in ms from virtual value, according to its frame rate.
|
||||
*
|
||||
* @param frame_rate the frame rate of the device.
|
||||
* @param exposure_time the virtual exposure time.
|
||||
* @return the real exposure time in ms, or the virtual value if frame rate is
|
||||
* invalid.
|
||||
*/
|
||||
MYNTEYE_API float get_real_exposure_time(
|
||||
std::int32_t frame_rate, std::uint16_t exposure_time);
|
||||
|
||||
} // namespace utils
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
||||
#endif // MYNTEYE_DEVICE_UTILS_H_
|
||||
Reference in New Issue
Block a user