105 lines
2.7 KiB
C++
105 lines
2.7 KiB
C++
#ifndef MYNTEYE_API_H_ // NOLINT
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#define MYNTEYE_API_H_
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#pragma once
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#include <opencv2/core/core.hpp>
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#include <limits>
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#include <memory>
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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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MYNTEYE_BEGIN_NAMESPACE
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class Device;
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class Synthetic;
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namespace api {
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struct MYNTEYE_API StreamData {
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std::shared_ptr<ImgData> img;
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cv::Mat 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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} // namespace api
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class MYNTEYE_API API {
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public:
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using stream_callback_t = std::function<void(const api::StreamData &data)>;
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using motion_callback_t = std::function<void(const api::MotionData &data)>;
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explicit API(std::shared_ptr<Device> device);
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/*virtual*/ ~API();
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static std::shared_ptr<API> Create();
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static std::shared_ptr<API> Create(std::shared_ptr<Device> device);
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static std::shared_ptr<API> Create(int argc, char *argv[]);
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static std::shared_ptr<API> Create(
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int argc, char *argv[], std::shared_ptr<Device> device);
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Model GetModel() const;
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bool Supports(const Stream &stream) const;
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bool Supports(const Capabilities &capability) const;
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bool Supports(const Option &option) const;
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const std::vector<StreamRequest> &GetStreamRequests(
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const Capabilities &capability) const;
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void ConfigStreamRequest(
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const Capabilities &capability, const StreamRequest &request);
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std::string GetInfo(const Info &info) const;
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Intrinsics GetIntrinsics(const Stream &stream) const;
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Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const;
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MotionIntrinsics GetMotionIntrinsics() const;
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Extrinsics GetMotionExtrinsics(const Stream &from) const;
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void LogOptionInfos() const;
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OptionInfo GetOptionInfo(const Option &option) const;
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std::int32_t GetOptionValue(const Option &option) const;
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void SetOptionValue(const Option &option, std::int32_t value);
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bool RunOptionAction(const Option &option) const;
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void SetStreamCallback(const Stream &stream, stream_callback_t callback);
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void SetMotionCallback(motion_callback_t callback);
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bool HasStreamCallback(const Stream &stream) const;
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bool HasMotionCallback() const;
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void Start(const Source &source);
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void Stop(const Source &source);
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void WaitForStreams();
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void EnableStreamData(const Stream &stream);
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void DisableStreamData(const Stream &stream);
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api::StreamData GetStreamData(const Stream &stream);
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std::vector<api::StreamData> GetStreamDatas(const Stream &stream);
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void EnableMotionDatas(
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std::size_t max_size = std::numeric_limits<std::size_t>::max());
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std::vector<api::MotionData> GetMotionDatas();
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std::shared_ptr<Device> device();
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private:
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std::shared_ptr<Device> device_;
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std::unique_ptr<Synthetic> synthetic_;
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};
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_API_H_ NOLINT
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