// 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_CHANNEL_BYTES_H_ #define MYNTEYE_DEVICE_CHANNEL_BYTES_H_ #pragma once #include <algorithm> #include <string> #include "mynteye/mynteye.h" #include "mynteye/types.h" #include "mynteye/device/channel/def.h" #include "mynteye/device/types.h" MYNTEYE_BEGIN_NAMESPACE namespace bytes { // from template <typename T> T _from_data(const std::uint8_t *data) { std::size_t size = sizeof(T) / sizeof(std::uint8_t); T value = 0; for (std::size_t i = 0; i < size; i++) { value |= data[i] << (8 * (size - i - 1)); } return value; } template <> inline double _from_data(const std::uint8_t *data) { return *(reinterpret_cast<const double *>(data)); } std::string _from_data(const std::uint8_t *data, std::size_t count); // from types std::size_t from_data(IntrinsicsBase *in, const std::uint8_t *data, bool get_size); std::size_t from_data(IntrinsicsPinhole *in, const std::uint8_t *data, bool get_size); std::size_t from_data(IntrinsicsEquidistant *in, const std::uint8_t *data, bool get_size); std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data, bool get_size); std::size_t from_data(Extrinsics *ex, const std::uint8_t *data); // to template <typename T> std::size_t _to_data(T value, std::uint8_t *data) { std::size_t size = sizeof(T) / sizeof(std::uint8_t); for (std::size_t i = 0; i < size; i++) { data[i] = static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) & 0xFF); } return size; } template <> inline std::size_t _to_data(double value, std::uint8_t *data) { std::uint8_t *val = reinterpret_cast<std::uint8_t *>(&value); std::copy(val, val + 8, data); return 8; } std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count); // to types std::size_t to_data(const IntrinsicsBase *in, std::uint8_t *data, bool set_size); std::size_t to_data(const IntrinsicsPinhole *in, std::uint8_t *data, bool set_size); std::size_t to_data(const IntrinsicsEquidistant *in, std::uint8_t *data, bool set_size); std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data, bool set_size); std::size_t to_data(const Extrinsics *ex, std::uint8_t *data); } // namespace bytes MYNTEYE_END_NAMESPACE #endif // MYNTEYE_DEVICE_CHANNEL_BYTES_H_