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