575 lines
13 KiB
C++
575 lines
13 KiB
C++
// 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_TYPES_H_ // NOLINT
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#define MYNTEYE_TYPES_H_
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#pragma once
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#include <cstdint>
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#include <algorithm>
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#include <iostream>
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#include <type_traits>
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#include "mynteye/mynteye.h"
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MYNTEYE_BEGIN_NAMESPACE
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/**
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* @defgroup enumerations Enumerations
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* @brief Public enumeration types.
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*/
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/**
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* @ingroup enumerations
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* @brief Device model.
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*/
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enum class Model : std::uint8_t {
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/** Standard */
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STANDARD,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Streams define different type of data.
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*/
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enum class Stream : std::uint8_t {
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/** Left stream */
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LEFT,
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/** Right stream */
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RIGHT,
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/** Left stream, rectified */
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LEFT_RECTIFIED,
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/** Right stream, rectified */
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RIGHT_RECTIFIED,
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/** Disparity stream */
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DISPARITY,
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/** Disparity stream, normalized */
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DISPARITY_NORMALIZED,
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/** Depth stream */
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DEPTH,
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/** Point cloud stream */
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POINTS,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Capabilities define the full set of functionality that the device
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* might provide.
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*/
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enum class Capabilities : std::uint8_t {
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/** Provides stereo stream */
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STEREO,
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/** Provides color stream */
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COLOR,
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/** Provide stereo color stream */
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STEREO_COLOR,
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/** Provides depth stream */
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DEPTH,
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/** Provides point cloud stream */
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POINTS,
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/** Provides fisheye stream */
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FISHEYE,
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/** Provides infrared stream */
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INFRARED,
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/** Provides second infrared stream */
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INFRARED2,
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/** Provides IMU (accelerometer, gyroscope) data */
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IMU,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Camera info fields are read-only strings that can be queried from the
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* device.
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*/
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enum class Info : std::uint8_t {
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/** Device name */
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DEVICE_NAME,
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/** Serial number */
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SERIAL_NUMBER,
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/** Firmware version */
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FIRMWARE_VERSION,
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/** Hardware version */
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HARDWARE_VERSION,
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/** Spec version */
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SPEC_VERSION,
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/** Lens type */
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LENS_TYPE,
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/** IMU type */
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IMU_TYPE,
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/** Nominal baseline */
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NOMINAL_BASELINE,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Camera control options define general configuration controls.
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*/
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enum class Option : std::uint8_t {
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/**
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* Image gain, valid if manual-exposure
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*
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* range: [0,48], default: 24
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*/
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GAIN,
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/**
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* Image brightness, valid if manual-exposure
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*
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* range: [0,240], default: 120
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*/
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BRIGHTNESS,
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/**
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* Image contrast, valid if manual-exposure
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*
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* range: [0,255], default: 127
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*/
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CONTRAST,
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/**
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* Image frame rate, must set IMU_FREQUENCY together
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*
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* values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
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*/
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FRAME_RATE,
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/**
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* IMU frequency, must set FRAME_RATE together
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*
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* values: {100,200,250,333,500}, default: 200
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*/
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IMU_FREQUENCY,
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/**
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* Exposure mode
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*
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* 0: enable auto-exposure
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* 1: disable auto-exposure (manual-exposure)
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*/
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EXPOSURE_MODE,
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/**
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* Max gain, valid if auto-exposure
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*
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* range: [0,48], default: 48
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*/
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MAX_GAIN,
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/**
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* Max exposure time, valid if auto-exposure
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*
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* range: [0,240], default: 240
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*/
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MAX_EXPOSURE_TIME,
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/**
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* Desired brightness, valid if auto-exposure
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*
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* range: [0,255], default: 192
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*/
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DESIRED_BRIGHTNESS,
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/**
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* IR control
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*
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* range: [0,160], default: 0
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*/
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IR_CONTROL,
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/**
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* HDR mode
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*
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* 0: 10-bit
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* 1: 12-bit
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*/
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HDR_MODE,
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/** Zero drift calibration */
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ZERO_DRIFT_CALIBRATION,
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/** Erase chip */
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ERASE_CHIP,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Source allows the user to choose which data to be captured.
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*/
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enum class Source : std::uint8_t {
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/** Video streaming of stereo, color, depth, etc. */
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VIDEO_STREAMING,
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/** Motion tracking of IMU (accelerometer, gyroscope) */
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MOTION_TRACKING,
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/** Enable everything together */
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ALL,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Add-Ons are peripheral modules of our hardware.
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*/
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enum class AddOns : std::uint8_t {
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/** Infrared */
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INFRARED,
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/** Second infrared */
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INFRARED2,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Camera supported resolution.
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*/
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enum class Resolution : std::uint8_t {
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/** 480x752 */
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RES_480x752,
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/** 1280x400 */
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RES_1280x400,
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/** 2560x800 */
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RES_2560x800,
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/** Last guard */
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LAST
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};
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/**
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* @ingroup enumerations
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* @brief Camera supported frame rate.
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*/
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enum class FrameRate : std::uint8_t {
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/** 10 fps */
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RATE_10_FPS,
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/** 20 fps */
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RATE_20_FPS,
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/** 20 fps */
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RATE_25_FPS,
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/** 30 fps */
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RATE_30_FPS,
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/** 60 fps */
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RATE_60_FPS,
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/** Last guard */
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LAST
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};
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#define MYNTEYE_ENUM_HELPERS(TYPE) \
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MYNTEYE_API const char *to_string(const TYPE &value); \
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inline bool is_valid(const TYPE &value) { \
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using utype = std::underlying_type<TYPE>::type; \
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utype val = static_cast<utype>(value); \
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utype max = static_cast<utype>(TYPE::LAST); \
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return /*val >= 0 &&*/ val < max; \
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} \
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inline std::ostream &operator<<(std::ostream &os, const TYPE &value) { \
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using utype = std::underlying_type<TYPE>::type; \
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if (is_valid(value)) \
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return os << to_string(value); \
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else \
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return os << static_cast<utype>(value); \
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}
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MYNTEYE_ENUM_HELPERS(Model)
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MYNTEYE_ENUM_HELPERS(Stream)
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MYNTEYE_ENUM_HELPERS(Capabilities)
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MYNTEYE_ENUM_HELPERS(Info)
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MYNTEYE_ENUM_HELPERS(Option)
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MYNTEYE_ENUM_HELPERS(Source)
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MYNTEYE_ENUM_HELPERS(AddOns)
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MYNTEYE_ENUM_HELPERS(Resolution)
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MYNTEYE_ENUM_HELPERS(FrameRate)
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#undef MYNTEYE_ENUM_HELPERS
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#define MYNTEYE_FOURCC(a, b, c, d) \
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((std::uint32_t)(a) | ((std::uint32_t)(b) << 8) | \
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((std::uint32_t)(c) << 16) | ((std::uint32_t)(d) << 24)) // NOLINT
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/**
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* @ingroup enumerations
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* @brief Formats define how each stream can be encoded.
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*/
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enum class Format : std::uint32_t {
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/** Greyscale, 8 bits per pixel */
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GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
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/** YUV 4:2:2, 16 bits per pixel */
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YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
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/** BGR 8:8:8, 24 bits per pixel */
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BGR888 = MYNTEYE_FOURCC('B', 'G', 'R', '3'),
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/** Last guard */
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LAST
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};
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#undef MYNTEYE_FOURCC
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MYNTEYE_API const char *to_string(const Format &value);
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inline std::ostream &operator<<(std::ostream &os, const Format &value) {
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return os << to_string(value);
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}
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MYNTEYE_API std::size_t bytes_per_pixel(const Format &value);
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/**
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* Stream request.
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*/
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struct MYNTEYE_API StreamRequest {
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/** Stream width in pixels */
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std::uint16_t width;
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/** Stream height in pixels */
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std::uint16_t height;
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/** Stream pixel format */
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Format format;
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/** Stream frames per second (unused) */
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std::uint16_t fps;
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StreamRequest() {}
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StreamRequest(
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std::uint16_t width, std::uint16_t height, Format format,
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std::uint16_t fps)
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: width(width), height(height), format(format), fps(fps) {}
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StreamRequest(Resolution res, Format format, FrameRate rate)
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: format(format) {
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switch (res) {
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case Resolution::RES_480x752:
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width = 480, height = 752;
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break;
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case Resolution::RES_1280x400:
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width = 1280, height = 400;
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break;
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case Resolution::RES_2560x800:
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width = 2560, height = 800;
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break;
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default:
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width = 480, height = 752;
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break;
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}
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switch (rate) {
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case FrameRate::RATE_10_FPS:
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fps = 10;
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break;
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case FrameRate::RATE_20_FPS:
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fps = 20;
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break;
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case FrameRate::RATE_25_FPS:
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fps = 25;
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break;
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case FrameRate::RATE_30_FPS:
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fps = 30;
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break;
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case FrameRate::RATE_60_FPS:
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fps = 60;
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break;
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default:
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fps = 25;
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break;
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}
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}
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bool operator==(const StreamRequest &other) const {
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return width == other.width && height == other.height &&
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format == other.format && fps == other.fps;
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}
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bool operator!=(const StreamRequest &other) const {
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return !(*this == other);
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}
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};
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MYNTEYE_API
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std::ostream &operator<<(std::ostream &os, const StreamRequest &request);
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/**
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* @defgroup calibration Intrinsics & Extrinsics
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* @brief Intrinsic and extrinsic properties.
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*/
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/**
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* @ingroup calibration
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* Stream intrinsics,
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*/
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struct MYNTEYE_API Intrinsics {
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/** The width of the image in pixels */
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std::uint16_t width;
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/** The height of the image in pixels */
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std::uint16_t height;
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/** The focal length of the image plane, as a multiple of pixel width */
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double fx;
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/** The focal length of the image plane, as a multiple of pixel height */
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double fy;
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/** The horizontal coordinate of the principal point of the image */
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double cx;
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/** The vertical coordinate of the principal point of the image */
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double cy;
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/** The distortion model of the image */
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std::uint8_t model;
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/** The distortion coefficients: k1,k2,p1,p2,k3 */
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double coeffs[5];
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};
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MYNTEYE_API
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std::ostream &operator<<(std::ostream &os, const Intrinsics &in);
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/**
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* @ingroup calibration
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* IMU intrinsics: scale, drift and variances.
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*/
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struct MYNTEYE_API ImuIntrinsics {
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/**
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* Scale matrix.
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* \code
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* Scale X cross axis cross axis
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* cross axis Scale Y cross axis
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* cross axis cross axis Scale Z
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* \endcode
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*/
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double scale[3][3];
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/* Zero-drift: X, Y, Z */
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double drift[3];
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/** Noise density variances */
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double noise[3];
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/** Random walk variances */
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double bias[3];
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};
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MYNTEYE_API
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std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in);
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/**
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* @ingroup calibration
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* Motion intrinsics, including accelerometer and gyroscope.
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*/
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struct MYNTEYE_API MotionIntrinsics {
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ImuIntrinsics accel; /**< Accelerometer intrinsics */
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ImuIntrinsics gyro; /**< Gyroscope intrinsics */
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};
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MYNTEYE_API
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std::ostream &operator<<(std::ostream &os, const MotionIntrinsics &in);
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/**
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* @ingroup calibration
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* Extrinsics, represent how the different datas are connected.
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*/
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struct MYNTEYE_API Extrinsics {
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double rotation[3][3]; /**< Rotation matrix */
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double translation[3]; /**< Translation vector */
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/**
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* Inverse this extrinsics.
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* @return the inversed extrinsics.
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*/
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Extrinsics Inverse() const {
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return {{{rotation[0][0], rotation[1][0], rotation[2][0]},
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{rotation[0][1], rotation[1][1], rotation[2][1]},
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{rotation[0][2], rotation[1][2], rotation[2][2]}},
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{-translation[0], -translation[1], -translation[2]}};
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}
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};
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MYNTEYE_API
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std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
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/**
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* @defgroup datatypes Datatypes
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* @brief Public data types.
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*/
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/**
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* @ingroup datatypes
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* Image data.
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*/
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struct MYNTEYE_API ImgData {
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/** Image frame id */
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std::uint16_t frame_id;
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/** Image timestamp in 0.01ms */
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std::uint64_t timestamp;
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/** Image exposure time, virtual value in [1, 480] */
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std::uint16_t exposure_time;
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void Reset() {
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frame_id = 0;
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timestamp = 0;
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exposure_time = 0;
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}
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ImgData() {
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Reset();
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}
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ImgData(const ImgData &other) {
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frame_id = other.frame_id;
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timestamp = other.timestamp;
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exposure_time = other.exposure_time;
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}
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ImgData &operator=(const ImgData &other) {
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frame_id = other.frame_id;
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timestamp = other.timestamp;
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exposure_time = other.exposure_time;
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return *this;
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}
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};
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/**
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* @ingroup datatypes
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* IMU data.
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*/
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struct MYNTEYE_API ImuData {
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/** Imu serial number */
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std::uint32_t serial_number;
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/** accel or gyro flag:1 for accel,2 for gyro,3 for both */
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std::uint8_t flag;
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/** IMU timestamp in 1us */
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std::uint64_t timestamp;
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/** IMU accelerometer data for 3-axis: X, Y, Z. */
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double accel[3];
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/** IMU gyroscope data for 3-axis: X, Y, Z. */
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double gyro[3];
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/** IMU temperature */
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double temperature;
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void Reset() {
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flag = 0;
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timestamp = 0;
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std::fill(accel, accel + 3, 0);
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std::fill(gyro, gyro + 3, 0);
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temperature = 0;
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}
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ImuData() {
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Reset();
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}
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};
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/**
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* @ingroup datatypes
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* Option info.
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*/
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struct MYNTEYE_API OptionInfo {
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/** Minimum value */
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std::int32_t min;
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/** Maximum value */
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std::int32_t max;
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/** Default value */
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std::int32_t def;
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};
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MYNTEYE_API
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std::ostream &operator<<(std::ostream &os, const OptionInfo &info);
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_TYPES_H_ NOLINT
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