refactor(*): change stream request and params interfaces

include/mynteye/device/callbacks.h

@@ -32,8 +32,8 @@ namespace device {
 
 typedef struct ImgParams {
   bool ok;
-  std::map<Resolution, Intrinsics> in_left_map;
-  std::map<Resolution, Intrinsics> in_right_map;
+  Intrinsics in_left;
+  Intrinsics in_right;
   Extrinsics ex_right_to_left;
 } img_params_t;
 

include/mynteye/device/device.h

@@ -104,14 +104,7 @@ class MYNTEYE_API Device {
    * Supports the addon or not.
    */
   bool Supports(const AddOns &addon) const;
-  /**
-   * Init device resolution.
-   */
-  void InitResolution(const Resolution &res);
-  /**
-   * set the stream request.
-   */
-  void SetStreamRequest(const Format &format, const FrameRate &rate);
+
   /**
    * Get all stream requests of the capability.
    */
@@ -122,6 +115,23 @@ class MYNTEYE_API Device {
    */
   void ConfigStreamRequest(
       const Capabilities &capability, const StreamRequest &request);
+  /**
+   * Get the config stream requests of the capability.
+   */
+  const StreamRequest &GetStreamRequest(const Capabilities &capability) const;
+
+  /**
+   * Get all stream requests of the key stream capability.
+   */
+  const std::vector<StreamRequest> &GetStreamRequests() const;
+  /**
+   * Config the stream request to the key stream capability.
+   */
+  void ConfigStreamRequest(const StreamRequest &request);
+  /**
+   * Get the config stream requests of the key stream capability.
+   */
+  const StreamRequest &GetStreamRequest() const;
 
   /**
    * Get the device info.
@@ -241,15 +251,15 @@ class MYNTEYE_API Device {
    */
   void WaitForStreams();
 
+  /**
+   * Get the latest data of stream.
+   */
+  device::StreamData GetStreamData(const Stream &stream);
   /**
    * Get the datas of stream.
    * @note default cache 4 datas at most.
    */
   std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
-  /**
-   * Get the latest data of stream.
-   */
-  device::StreamData GetLatestStreamData(const Stream &stream);
 
   /**
    * Enable cache motion datas.
@@ -263,10 +273,6 @@ class MYNTEYE_API Device {
    * Get the motion datas.
    */
   std::vector<device::MotionData> GetMotionDatas();
-  /**
-   * Get the device img params
-   */
-  img_params_t GetImgParams();
 
  protected:
   std::shared_ptr<uvc::device> device() const {
@@ -285,8 +291,6 @@ class MYNTEYE_API Device {
     return motions_;
   }
 
-  const StreamRequest &GetStreamRequest(const Capabilities &capability);
-
   virtual void StartVideoStreaming();
   virtual void StopVideoStreaming();
 
@@ -295,25 +299,33 @@ class MYNTEYE_API Device {
 
   virtual void OnStereoStreamUpdate();
 
+  virtual Capabilities GetKeyStreamCapability() const = 0;
   virtual std::vector<Stream> GetKeyStreams() const = 0;
 
+  std::map<Resolution, device::img_params_t> GetImgParams() const {
+    return all_img_params_;
+  }
+  device::imu_params_t GetImuParams() const {
+    return imu_params_;
+  }
+
   bool video_streaming_;
   bool motion_tracking_;
 
  private:
   Model model_;
-  Resolution res_ = Resolution::RES_752x480;
-  StreamRequest request_;
   std::shared_ptr<uvc::device> device_;
   std::shared_ptr<DeviceInfo> device_info_;
 
+  std::map<Resolution, device::img_params_t> all_img_params_;
+  device::imu_params_t imu_params_;
+
   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_;
 
-  img_params_t img_params_;
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
@@ -331,8 +343,8 @@ class MYNTEYE_API Device {
   std::shared_ptr<Motions> motions_;
 
   void ReadAllInfos();
-
-  void ConfigIntrinsics(const Resolution &res);
+  void UpdateStreamIntrinsics(
+      const Capabilities &capability, const StreamRequest &request);
 
   void CallbackPushedStreamData(const Stream &stream);
   void CallbackMotionData(const device::MotionData &data);

include/mynteye/device/utils.h

@@ -19,6 +19,7 @@
 #include <string>
 
 #include "mynteye/mynteye.h"
+#include "mynteye/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -39,6 +40,16 @@ namespace device {
  */
 MYNTEYE_API std::shared_ptr<Device> select();
 
+/**
+ * @ingroup utils
+ *
+ * List stream requests and prompt user to select one.
+ *
+ * @return the selected request.
+ */
+MYNTEYE_API MYNTEYE_NAMESPACE::StreamRequest select_request(
+    const std::shared_ptr<Device> &device, bool *ok);
+
 }  // namespace device
 
 namespace utils {
@@ -58,14 +69,14 @@ MYNTEYE_API float get_real_exposure_time(
 
 /**
  * @ingroup utils
- * 
+ *
  * Get sdk root dir.
  */
 MYNTEYE_API std::string get_sdk_root_dir();
 
 /**
  * @ingroup utils
- * 
+ *
  * Get sdk install dir.
  */
 MYNTEYE_API std::string get_sdk_install_dir();