MYNT-EYE-S-SDK/include/mynteye/callbacks.h
2018-04-23 23:11:11 +08:00

94 lines
1.9 KiB
C++

#ifndef MYNTEYE_CALLBACKS_H_ // NOLINT
#define MYNTEYE_CALLBACKS_H_
#pragma once
#include <cstdint>
#include <algorithm>
#include <functional>
#include <memory>
#include <vector>
#include "mynteye/mynteye.h"
#include "mynteye/types.h"
MYNTEYE_BEGIN_NAMESPACE
namespace device {
class MYNTEYE_API Frame {
public:
using data_t = std::vector<std::uint8_t>;
Frame(const StreamRequest &request, const void *data)
: Frame(request.width, request.height, request.format, data) {}
Frame(
std::uint16_t width, std::uint16_t height, Format format,
const void *data)
: width_(width), height_(height), format_(format) {
std::size_t bytes_n = (width * height) * bytes_per_pixel(format);
if (data) {
const std::uint8_t *bytes = static_cast<const std::uint8_t *>(data);
data_ = data_t(bytes, bytes + bytes_n);
} else {
data_.assign(bytes_n, 0);
}
}
std::uint16_t width() const {
return width_;
}
std::uint16_t height() const {
return height_;
}
Format format() const {
return format_;
}
std::uint8_t *data() {
return data_.data();
}
const std::uint8_t *data() const {
return data_.data();
}
std::size_t size() const {
return data_.size();
}
Frame clone() const {
Frame frame(width_, height_, format_, nullptr);
std::copy(data_.begin(), data_.end(), frame.data_.begin());
return frame;
}
private:
std::uint16_t width_;
std::uint16_t height_;
Format format_;
data_t data_;
};
struct MYNTEYE_API StreamData {
std::shared_ptr<ImgData> img;
std::shared_ptr<Frame> frame;
};
struct MYNTEYE_API MotionData {
std::shared_ptr<ImuData> imu;
};
using StreamCallback = std::function<void(const StreamData &data)>;
using MotionCallback = std::function<void(const MotionData &data)>;
} // namespace device
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_CALLBACKS_H_ NOLINT