404 lines
9.2 KiB
C++
404 lines
9.2 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 <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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/** 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 infrared stream */
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INFRARED,
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/** Provices second infrared stream */
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INFRARED2,
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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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* @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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/** 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, must set IMU_FREQUENCY together */
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FRAME_RATE,
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/** IMU frequency, must set FRAME_RATE together */
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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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/**
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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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#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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#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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/** 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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/** width in pixels */
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std::uint16_t width;
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/** 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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/** frames per second (unused) */
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std::uint16_t fps;
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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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/** width of the image in pixels */
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std::uint16_t width;
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/** height of the image in pixels */
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std::uint16_t height;
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/** focal length of the image plane, as a multiple of pixel width */
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double fx;
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/** focal length of the image plane, as a multiple of pixel height */
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double fy;
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/** horizontal coordinate of the principal point of the image */
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double cx;
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/** vertical coordinate of the principal point of the image */
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double cy;
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/** distortion model of the image */
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std::uint8_t model;
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/** 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 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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*/
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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;
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ImuIntrinsics gyro;
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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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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::uint32_t timestamp;
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/** Image exposure time in 0.01ms */
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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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/** Image frame id */
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std::uint16_t frame_id;
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/** IMU timestamp in 0.01ms */
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std::uint32_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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frame_id = 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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std::int32_t min;
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std::int32_t max;
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std::int32_t def;
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};
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_TYPES_H_ NOLINT
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