MYNT-EYE-S-SDK/include/mynteye/device/callbacks.h
2018-10-27 21:24:04 +08:00

137 lines
3.0 KiB
C++

// 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_CALLBACKS_H_
#define MYNTEYE_DEVICE_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 {
/**
* @ingroup datatypes
* Frame with raw data.
*/
class MYNTEYE_API Frame {
public:
using data_t = std::vector<std::uint8_t>;
/**
* Construct the frame with StreamRequest and raw data.
*/
Frame(const StreamRequest &request, const void *data)
: Frame(request.width, request.height, request.format, data) {}
/**
* Construct the frame with stream info and raw 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);
}
}
/** Get the width. */
std::uint16_t width() const {
return width_;
}
/** Get the height. */
std::uint16_t height() const {
return height_;
}
/** Get the format. */
Format format() const {
return format_;
}
/** Get the data. */
std::uint8_t *data() {
return data_.data();
}
/** Get the const data. */
const std::uint8_t *data() const {
return data_.data();
}
/** Get the size of data. */
std::size_t size() const {
return data_.size();
}
/** Clone a new frame. */
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_;
};
/**
* @ingroup datatypes
* Device stream data.
*/
struct MYNTEYE_API StreamData {
/** ImgData. */
std::shared_ptr<ImgData> img;
/** Frame. */
std::shared_ptr<Frame> frame;
/** Frame ID. */
std::uint16_t frame_id;
};
/**
* @ingroup datatypes
* Device motion data.
*/
struct MYNTEYE_API MotionData {
/** ImuData. */
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_DEVICE_CALLBACKS_H_