158 lines
3.8 KiB
C++
158 lines
3.8 KiB
C++
#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 <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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* @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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/** Provices stereo stream */
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STEREO,
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/** Provices color stream */
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COLOR,
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/** Provices depth stream */
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DEPTH,
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/** Provices point cloud stream */
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POINTS,
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/** Provices fisheye stream */
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FISHEYE,
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/** Provices 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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* 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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/** Image gain, setting it if manual-exposure */
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GAIN,
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/** Image brightness, setting it if manual-exposure */
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BRIGHTNESS,
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/** Image contrast */
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CONTRAST,
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/** Image frame rate */
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FRAME_RATE,
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/** IMU frequency */
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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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/** Max gain, setting it if auto-exposure */
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MAX_GAIN,
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/** Max exposure time, setting it if auto-exposure */
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MAX_EXPOSURE_TIME,
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/** Desired brightness */
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DESIRED_BRIGHTNESS,
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/** IR control */
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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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#define MYNTEYE_ENUM_HELPERS(TYPE) \
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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(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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#undef MYNTEYE_ENUM_HELPERS
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_TYPES_H_ NOLINT
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