vr_camera.h

Go to the documentation of this file.

#pragma once
 
#include <cstdint>
#include <string>
#include <vector>
 
#include "lib_begin.h"
 
 
namespace vr {
 
enum CameraState {
  CS_UNINITIALIZED,
  CS_INITIALIZED,
  CS_STARTED
};
 
enum CameraFrameFormat { 
    CFF_RGBA = 0 
};
 
enum CameraFrameSplit { 
    CFS_NONE = 0,  // no split indicates mono camera
    CFS_VERTICAL,  // left right split
    CFS_HORIZONTAL // top bottom split
};
 
class CGV_API vr_camera 
{
protected:
    friend class vr_kit;
    vr_camera();
    friend class vr_driver;
    bool initialize();
    virtual ~vr_camera() = default;
    mutable std::string last_error;
public:
    uint8_t get_nr_cameras() const;
    virtual bool put_camera_to_head_matrix(int camera_index, float* pose_matrix) const = 0;
    virtual bool put_projection_matrix(int camera_index, bool undistorted, float z_near, float z_far, float* projection_matrix) const = 0;
    virtual bool put_camera_intrinsics(int camera_index, bool undistorted, float* focal_length_2d_ptr, float* center_2d_ptr) const = 0;
    bool start();
    bool stop();
    CameraState get_state() const;
    bool has_error() const { return !last_error.empty(); }
    const std::string& get_last_error() const;
 
    CameraFrameFormat get_frame_format() const;
    CameraFrameSplit get_frame_split() const;
    bool is_frame_flipped() const;
    bool get_frame(std::vector<uint8_t>& frame_data, uint32_t& width, uint32_t& height, bool undistorted, bool maximum_valid_rectangle);
    bool get_gl_texture_id(uint32_t& tex_id, uint32_t& width, uint32_t& height, bool undistorted, float max_valid_texcoord_range[4]);
protected:
  uint8_t num_cameras;
  CameraFrameFormat frame_format;
  CameraFrameSplit frame_split;
  bool frame_flipped;
  CameraState state;
private:
  virtual bool initialize_impl() = 0;
  virtual bool start_impl() = 0;
  virtual bool stop_impl() = 0;
  virtual bool get_frame_impl(std::vector<uint8_t>& frame_data, uint32_t& width, uint32_t& height, bool undistorted, bool maximum_valid_rectangle) = 0;
  virtual bool get_gl_texture_id_impl(uint32_t& tex_id, uint32_t& width, uint32_t& height, bool undistorted, float max_valid_texcoord_range[4]) = 0;
};
 
} // namespace vr
 
#include <cgv/config/lib_end.h>