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This commit is contained in:
John Zhao
2018-05-16 10:31:31 +08:00
parent de0f0d0639
commit dd2fc88846
11 changed files with 420 additions and 38 deletions
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113
src/api/api.h
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@@ -32,20 +32,36 @@ class Synthetic;
namespace api {
/**
* @ingroup datatypes
* API stream data.
*/
struct MYNTEYE_API StreamData {
/** ImgData. */
std::shared_ptr<ImgData> img;
/** Frame. */
cv::Mat frame;
};
/**
* @ingroup datatypes
* API motion data.
*/
struct MYNTEYE_API MotionData {
/** ImuData. */
std::shared_ptr<ImuData> imu;
};
} // namespace api
/**
* The API class to communicate with MYNT® EYE device.
*/
class MYNTEYE_API API {
public:
/** The api::StreamData callback. */
using stream_callback_t = std::function<void(const api::StreamData &data)>;
/** The api::MotionData callback. */
using motion_callback_t = std::function<void(const api::MotionData &data)>;
explicit API(std::shared_ptr<Device> device);
@@ -83,54 +99,151 @@ class MYNTEYE_API API {
static std::shared_ptr<API> Create(
int argc, char *argv[], std::shared_ptr<Device> device);
/**
* Get the model.
*/
Model GetModel() const;
/**
* Supports the stream or not.
*/
bool Supports(const Stream &stream) const;
/**
* Supports the capability or not.
*/
bool Supports(const Capabilities &capability) const;
/**
* Supports the option or not.
*/
bool Supports(const Option &option) const;
/**
* Supports the addon or not.
*/
bool Supports(const AddOns &addon) const;
/**
* Get all stream requests of the capability.
*/
const std::vector<StreamRequest> &GetStreamRequests(
const Capabilities &capability) const;
/**
* Config the stream request to the capability.
*/
void ConfigStreamRequest(
const Capabilities &capability, const StreamRequest &request);
/**
* Get the device info.
*/
std::string GetInfo(const Info &info) const;
/**
* Get the intrinsics of stream.
*/
Intrinsics GetIntrinsics(const Stream &stream) const;
/**
* Get the extrinsics from one stream to another.
*/
Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const;
/**
* Get the intrinsics of motion.
*/
MotionIntrinsics GetMotionIntrinsics() const;
/**
* Get the extrinsics from one stream to motion.
*/
Extrinsics GetMotionExtrinsics(const Stream &from) const;
/**
* Log all option infos.
*/
void LogOptionInfos() const;
/**
* Get the option info.
*/
OptionInfo GetOptionInfo(const Option &option) const;
/**
* Get the option value.
*/
std::int32_t GetOptionValue(const Option &option) const;
/**
* Set the option value.
*/
void SetOptionValue(const Option &option, std::int32_t value);
/**
* Run the option action.
*/
bool RunOptionAction(const Option &option) const;
/**
* Set the callback of stream.
*/
void SetStreamCallback(const Stream &stream, stream_callback_t callback);
/**
* Set the callback of motion.
*/
void SetMotionCallback(motion_callback_t callback);
/**
* Has the callback of stream.
*/
bool HasStreamCallback(const Stream &stream) const;
/**
* Has the callback of motion.
*/
bool HasMotionCallback() const;
/**
* Start capturing the source.
*/
void Start(const Source &source);
/**
* Stop capturing the source.
*/
void Stop(const Source &source);
/**
* Wait the streams are ready.
*/
void WaitForStreams();
/**
* Enable the data of stream.
* @note must enable the stream if it's a synthetic one. This means the stream
* in not native, the device has the capability to provide this stream, but
* still support this stream.
*/
void EnableStreamData(const Stream &stream);
/**
* Disable the data of stream.
*/
void DisableStreamData(const Stream &stream);
/**
* Get the datas of stream.
* @note default cache 4 datas at most.
*/
api::StreamData GetStreamData(const Stream &stream);
/**
* Get the latest data of stream.
*/
std::vector<api::StreamData> GetStreamDatas(const Stream &stream);
/**
* Enable cache motion datas.
*/
void EnableMotionDatas(
std::size_t max_size = std::numeric_limits<std::size_t>::max());
/**
* Get the motion datas.
*/
std::vector<api::MotionData> GetMotionDatas();
/**
* Enable the plugin.
*/
void EnablePlugin(const std::string &path);
std::shared_ptr<Device> device();

46
src/api/plugin.h
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@@ -30,27 +30,52 @@ MYNTEYE_BEGIN_NAMESPACE
class API;
class 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) {
UNUSED(in)
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) {
UNUSED(in)
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) {
UNUSED(in)
@@ -58,12 +83,24 @@ class MYNTEYE_API Plugin {
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) {
UNUSED(in)
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) {
UNUSED(in)
UNUSED(out)
@@ -84,10 +121,19 @@ 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);
}

12
src/api/processor/object.h
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@@ -30,21 +30,27 @@ struct MYNTEYE_API Object {
virtual Object *Clone() const = 0;
/** Cast the obj to T pointer */
template <typename T>
static T *Cast(Object *obj) {
return dynamic_cast<T *>(obj);
}
/** Cast the obj to const T pointer */
template <typename T>
static const T *Cast(const Object *obj) {
return dynamic_cast<const T *>(obj);
}
};
/**
* Input & output object of one cv::Mat.
*/
struct MYNTEYE_API ObjMat : public Object {
ObjMat() = default;
explicit ObjMat(const cv::Mat &value) : value(value) {}
/** The value */
cv::Mat value;
Object *Clone() const {
@@ -54,12 +60,18 @@ struct MYNTEYE_API ObjMat : public Object {
}
};
/**
* Input & output object of two cv::Mat.
*/
struct MYNTEYE_API ObjMat2 : public Object {
ObjMat2() = default;
ObjMat2(const cv::Mat &first, const cv::Mat &second)
: first(first), second(second) {}
/** The first value */
cv::Mat first;
/** The second value */
cv::Mat second;
Object *Clone() const {

7
src/device/context.h
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@@ -30,11 +30,18 @@ struct context;
class Device;
/**
* The context about devices.
*/
class MYNTEYE_API Context {
public:
Context();
~Context();
/**
* Get all devices now.
* @return a vector of all devices.
*/
std::vector<std::shared_ptr<Device>> devices() const {
return devices_;
}

111
src/device/device.h
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@@ -47,9 +47,14 @@ class Channels;
class Motions;
class Streams;
/**
* The Device class to communicate with MYNT® EYE device.
*/
class MYNTEYE_API Device {
public:
/** The device::StreamData callback. */
using stream_callback_t = device::StreamCallback;
/** The device::MotionData callback. */
using motion_callback_t = device::MotionCallback;
using stream_callbacks_t = std::map<Stream, stream_callback_t>;
@@ -57,61 +62,167 @@ class MYNTEYE_API Device {
Device(const Model &model, std::shared_ptr<uvc::device> device);
virtual ~Device();
/**
* Create the Device instance.
* @param name the device name.
* @param device the device from uvc.
* @return the Device instance.
*/
static std::shared_ptr<Device> Create(
const std::string &name, std::shared_ptr<uvc::device> device);
/**
* Get the model.
*/
Model GetModel() const {
return model_;
}
/**
* Supports the stream or not.
*/
bool Supports(const Stream &stream) const;
/**
* Supports the capability or not.
*/
bool Supports(const Capabilities &capability) const;
/**
* Supports the option or not.
*/
bool Supports(const Option &option) const;
/**
* Supports the addon or not.
*/
bool Supports(const AddOns &addon) const;
/**
* Get all stream requests of the capability.
*/
const std::vector<StreamRequest> &GetStreamRequests(
const Capabilities &capability) const;
/**
* Config the stream request to the capability.
*/
void ConfigStreamRequest(
const Capabilities &capability, const StreamRequest &request);
/**
* Get the device info.
*/
std::shared_ptr<DeviceInfo> GetInfo() const;
/**
* Get the device info of a field.
*/
std::string GetInfo(const Info &info) const;
/**
* Get the intrinsics of stream.
*/
Intrinsics GetIntrinsics(const Stream &stream) const;
/**
* Get the extrinsics from one stream to another.
*/
Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const;
/**
* Get the intrinsics of motion.
*/
MotionIntrinsics GetMotionIntrinsics() const;
/**
* Get the extrinsics from one stream to motion.
*/
Extrinsics GetMotionExtrinsics(const Stream &from) const;
/**
* Set the intrinsics of stream.
*/
void SetIntrinsics(const Stream &stream, const Intrinsics &in);
/**
* Set the extrinsics from one stream to another.
*/
void SetExtrinsics(
const Stream &from, const Stream &to, const Extrinsics &ex);
/**
* Set the intrinsics of motion.
*/
void SetMotionIntrinsics(const MotionIntrinsics &in);
/**
* Set the extrinsics from one stream to motion.
*/
void SetMotionExtrinsics(const Stream &from, const Extrinsics &ex);
/**
* Log all option infos.
*/
void LogOptionInfos() const;
/**
* Get the option info.
*/
OptionInfo GetOptionInfo(const Option &option) const;
/**
* Get the option value.
*/
std::int32_t GetOptionValue(const Option &option) const;
/**
* Set the option value.
*/
void SetOptionValue(const Option &option, std::int32_t value);
/**
* Run the option action.
*/
bool RunOptionAction(const Option &option) const;
/**
* Set the callback of stream.
*/
void SetStreamCallback(const Stream &stream, stream_callback_t callback);
/**
* Set the callback of motion.
*/
void SetMotionCallback(motion_callback_t callback);
/**
* Has the callback of stream.
*/
bool HasStreamCallback(const Stream &stream) const;
/**
* Has the callback of motion.
*/
bool HasMotionCallback() const;
/**
* Start capturing the source.
*/
virtual void Start(const Source &source);
/**
* Stop capturing the source.
*/
virtual void Stop(const Source &source);
/**
* Wait the streams are ready.
*/
void WaitForStreams();
/**
* 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.
*/
void EnableMotionDatas(
std::size_t max_size = std::numeric_limits<std::size_t>::max());
/**
* Get the motion datas.
*/
std::vector<device::MotionData> GetMotionDatas();
protected:

1
src/internal/strings.h
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@@ -24,6 +24,7 @@
MYNTEYE_BEGIN_NAMESPACE
/** The strings error */
class MYNTEYE_API strings_error : public std::runtime_error {
public:
explicit strings_error(const std::string &what_arg) noexcept