374 lines
9.1 KiB
C++
374 lines
9.1 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MYNTEYE_DEVICE_DEVICE_H_
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#define MYNTEYE_DEVICE_DEVICE_H_
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#pragma once
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#include <map>
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#include <memory>
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#include <mutex>
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#include <string>
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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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#include "mynteye/device/callbacks.h"
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MYNTEYE_BEGIN_NAMESPACE
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namespace uvc {
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struct device;
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} // namespace uvc
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namespace tools {
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class DeviceWriter;
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} // namespace tools
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struct DeviceInfo;
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class API;
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class Channels;
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class ChannelsAdapter;
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class Motions;
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class Streams;
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class StreamsAdapter;
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template <class Data>
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class AsyncCallback;
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/**
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* The Device class to communicate with MYNT® EYE device.
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*/
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class MYNTEYE_API Device {
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public:
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/** The device::StreamData callback. */
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using stream_callback_t = device::StreamCallback;
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/** The device::MotionData callback. */
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using motion_callback_t = device::MotionCallback;
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using stream_callbacks_t = std::map<Stream, stream_callback_t>;
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using stream_async_callback_t = AsyncCallback<device::StreamData>;
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using motion_async_callback_t = AsyncCallback<device::MotionData>;
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using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
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using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;
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using img_params_t = device::img_params_t;
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using imu_params_t = device::imu_params_t;
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protected:
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Device(const Model &model,
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const std::shared_ptr<uvc::device> &device,
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const std::shared_ptr<StreamsAdapter> &streams_adapter,
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const std::shared_ptr<ChannelsAdapter> &channels_adapter);
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public:
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virtual ~Device();
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/**
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* Create the Device instance.
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* @param name the device name.
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* @param device the device from uvc.
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* @return the Device instance.
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*/
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static std::shared_ptr<Device> Create(
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const std::string &name, std::shared_ptr<uvc::device> device);
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/**
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* Get the model.
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*/
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Model GetModel() const {
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return model_;
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}
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/**
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* Supports the stream or not.
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*/
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bool Supports(const Stream &stream) const;
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/**
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* Supports the capability or not.
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*/
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bool Supports(const Capabilities &capability) const;
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/**
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* Supports the option or not.
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*/
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bool Supports(const Option &option) const;
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/**
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* Supports the addon or not.
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*/
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bool Supports(const AddOns &addon) const;
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/**
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* Get all stream requests of the capability.
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*/
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const std::vector<StreamRequest> &GetStreamRequests(
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const Capabilities &capability) const;
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/**
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* Config the stream request to the capability.
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*/
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void ConfigStreamRequest(
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const Capabilities &capability, const StreamRequest &request);
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/**
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* Get the config stream requests of the capability.
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*/
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const StreamRequest &GetStreamRequest(const Capabilities &capability) const;
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/**
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* Get all stream requests of the key stream capability.
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*/
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const std::vector<StreamRequest> &GetStreamRequests() const;
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/**
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* Config the stream request to the key stream capability.
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*/
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void ConfigStreamRequest(const StreamRequest &request);
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/**
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* Get the config stream requests of the key stream capability.
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*/
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const StreamRequest &GetStreamRequest() const;
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/**
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* Get the device info.
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*/
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std::shared_ptr<DeviceInfo> GetInfo() const;
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/**
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* Get the device info of a field.
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*/
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std::string GetInfo(const Info &info) const;
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/**
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* Get the intrinsics of stream.
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*/
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std::shared_ptr<IntrinsicsBase> GetIntrinsics(const Stream &stream) const;
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/**
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* Get the extrinsics from one stream to another.
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*/
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Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const;
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/**
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* Get the intrinsics of motion.
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*/
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MotionIntrinsics GetMotionIntrinsics() const;
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/**
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* Get the extrinsics from one stream to motion.
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*/
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Extrinsics GetMotionExtrinsics(const Stream &from) const;
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/**
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* Get the intrinsics of stream.
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*/
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std::shared_ptr<IntrinsicsBase> GetIntrinsics(
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const Stream &stream, bool *ok) const;
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/**
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* Get the extrinsics from one stream to another.
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*/
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Extrinsics GetExtrinsics(
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const Stream &from, const Stream &to, bool *ok) const;
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/**
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* Get the intrinsics of motion.
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*/
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MotionIntrinsics GetMotionIntrinsics(bool *ok) const;
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/**
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* Get the extrinsics from one stream to motion.
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*/
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Extrinsics GetMotionExtrinsics(const Stream &from, bool *ok) const;
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/**
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* Set the intrinsics of stream.
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*/
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void SetIntrinsics(const Stream &stream,
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const std::shared_ptr<IntrinsicsBase> &in);
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/**
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* Set the extrinsics from one stream to another.
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*/
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void SetExtrinsics(
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const Stream &from, const Stream &to, const Extrinsics &ex);
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/**
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* Set the intrinsics of motion.
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*/
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void SetMotionIntrinsics(const MotionIntrinsics &in);
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/**
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* Set the extrinsics from one stream to motion.
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*/
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void SetMotionExtrinsics(const Stream &from, const Extrinsics &ex);
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/**
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* Log all option infos.
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*/
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void LogOptionInfos() const;
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/**
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* Get the option info.
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*/
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OptionInfo GetOptionInfo(const Option &option) const;
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/**
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* Get the option value.
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*/
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std::int32_t GetOptionValue(const Option &option) const;
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/**
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* Set the option value.
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*/
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void SetOptionValue(const Option &option, std::int32_t value);
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/**
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* Run the option action.
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*/
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bool RunOptionAction(const Option &option) const;
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/**
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* Set the callback of stream.
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*/
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void SetStreamCallback(
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const Stream &stream, stream_callback_t callback, bool async = false);
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/**
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* Set the callback of motion.
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*/
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void SetMotionCallback(motion_callback_t callback, bool async = false);
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/**
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* Has the callback of stream.
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*/
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bool HasStreamCallback(const Stream &stream) const;
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/**
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* Has the callback of motion.
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*/
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bool HasMotionCallback() const;
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/**
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* Start capturing the source.
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*/
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virtual void Start(const Source &source);
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/**
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* Stop capturing the source.
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*/
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virtual void Stop(const Source &source);
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/**
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* Wait the streams are ready.
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*/
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void WaitForStreams();
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/**
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* Get the latest data of stream.
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*/
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device::StreamData GetStreamData(const Stream &stream);
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/**
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* @deprecated Replaced by GetStreamData(const Stream &stream)
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*/
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device::StreamData GetLatestStreamData(const Stream &stream);
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/**
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* Get the datas of stream.
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* @note default cache 4 datas at most.
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*/
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std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
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/**
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* Enable cache motion datas.
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*/
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void EnableMotionDatas();
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/**
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* Enable cache motion datas.
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*/
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void EnableMotionDatas(std::size_t max_size);
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/**
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* Get the motion datas.
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*/
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std::vector<device::MotionData> GetMotionDatas();
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protected:
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std::shared_ptr<uvc::device> device() const {
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return device_;
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}
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std::shared_ptr<Streams> streams() const {
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return streams_;
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}
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std::shared_ptr<Channels> channels() const {
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return channels_;
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}
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std::shared_ptr<Motions> motions() const {
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return motions_;
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}
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virtual void StartVideoStreaming();
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virtual void StopVideoStreaming();
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virtual void StartMotionTracking();
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virtual void StopMotionTracking();
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virtual void OnStereoStreamUpdate();
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virtual Capabilities GetKeyStreamCapability() const = 0;
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std::map<Resolution, device::img_params_t> GetImgParams() const {
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return all_img_params_;
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}
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device::imu_params_t GetImuParams() const {
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return imu_params_;
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}
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bool video_streaming_;
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bool motion_tracking_;
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private:
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Model model_;
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std::shared_ptr<uvc::device> device_;
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std::shared_ptr<DeviceInfo> device_info_;
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std::map<Resolution, device::img_params_t> all_img_params_;
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device::imu_params_t imu_params_;
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std::map<Stream, std::shared_ptr<IntrinsicsBase>> stream_intrinsics_;
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std::map<Stream, std::map<Stream, Extrinsics>> stream_from_extrinsics_;
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std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
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std::map<Stream, Extrinsics> motion_from_extrinsics_;
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stream_callbacks_t stream_callbacks_;
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motion_callback_t motion_callback_;
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std::map<Stream, stream_async_callback_ptr_t> stream_async_callbacks_;
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motion_async_callback_ptr_t motion_async_callback_;
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std::shared_ptr<Streams> streams_;
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std::map<Capabilities, StreamRequest> stream_config_requests_;
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std::mutex mtx_streams_;
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std::shared_ptr<Channels> channels_;
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std::shared_ptr<Motions> motions_;
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void ReadAllInfos();
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void UpdateStreamIntrinsics(
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const Capabilities &capability, const StreamRequest &request);
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void CallbackPushedStreamData(const Stream &stream);
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void CallbackMotionData(const device::MotionData &data);
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friend API;
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friend tools::DeviceWriter;
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};
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_DEVICE_DEVICE_H_
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