524 lines
17 KiB
C++
524 lines
17 KiB
C++
// Copyright (c) Orbbec Inc. All Rights Reserved.
|
|
// Licensed under the MIT License.
|
|
|
|
/**
|
|
* @file StreamProfile.hpp
|
|
* @brief The stream profile related type is used to get information such as the width, height, frame rate, and format of the stream.
|
|
*/
|
|
#pragma once
|
|
|
|
#include "Types.hpp"
|
|
#include "libobsensor/h/StreamProfile.h"
|
|
#include "libobsensor/h/Error.h"
|
|
#include <iostream>
|
|
#include <memory>
|
|
|
|
namespace ob {
|
|
|
|
class StreamProfile : public std::enable_shared_from_this<StreamProfile> {
|
|
protected:
|
|
const ob_stream_profile_t *impl_ = nullptr;
|
|
|
|
public:
|
|
StreamProfile(StreamProfile &streamProfile) = delete;
|
|
StreamProfile &operator=(StreamProfile &streamProfile) = delete;
|
|
|
|
StreamProfile(StreamProfile &&streamProfile) noexcept : impl_(streamProfile.impl_) {
|
|
streamProfile.impl_ = nullptr;
|
|
}
|
|
|
|
StreamProfile &operator=(StreamProfile &&streamProfile) noexcept {
|
|
if(this != &streamProfile) {
|
|
ob_error *error = nullptr;
|
|
ob_delete_stream_profile(impl_, &error);
|
|
Error::handle(&error);
|
|
impl_ = streamProfile.impl_;
|
|
streamProfile.impl_ = nullptr;
|
|
}
|
|
return *this;
|
|
}
|
|
|
|
virtual ~StreamProfile() noexcept {
|
|
if(impl_) {
|
|
ob_error *error = nullptr;
|
|
ob_delete_stream_profile(impl_, &error);
|
|
Error::handle(&error);
|
|
}
|
|
}
|
|
|
|
const ob_stream_profile *getImpl() const {
|
|
return impl_;
|
|
}
|
|
|
|
/**
|
|
* @brief Get the format of the stream.
|
|
*
|
|
* @return OBFormat return the format of the stream.
|
|
*/
|
|
OBFormat getFormat() const {
|
|
ob_error *error = nullptr;
|
|
auto format = ob_stream_profile_get_format(impl_, &error);
|
|
Error::handle(&error);
|
|
return format;
|
|
}
|
|
|
|
/**
|
|
* @brief Get the type of stream.
|
|
*
|
|
* @return OBStreamType return the type of the stream.
|
|
*/
|
|
OBStreamType getType() const {
|
|
ob_error *error = nullptr;
|
|
auto type = ob_stream_profile_get_type(impl_, &error);
|
|
Error::handle(&error);
|
|
return type;
|
|
}
|
|
|
|
/**
|
|
* @brief Get the extrinsic parameters from current stream profile to the given target stream profile.
|
|
*
|
|
* @return OBExtrinsic Return the extrinsic parameters.
|
|
*/
|
|
OBExtrinsic getExtrinsicTo(std::shared_ptr<StreamProfile> target) const {
|
|
ob_error *error = nullptr;
|
|
auto extrinsic = ob_stream_profile_get_extrinsic_to(impl_, const_cast<ob_stream_profile_t *>(target->getImpl()), &error);
|
|
Error::handle(&error);
|
|
return extrinsic;
|
|
}
|
|
|
|
/**
|
|
* @brief Set the extrinsic parameters from current stream profile to the given target stream profile.
|
|
*
|
|
* @tparam target Target stream profile.
|
|
* @tparam extrinsic The extrinsic.
|
|
*/
|
|
void bindExtrinsicTo(std::shared_ptr<StreamProfile> target, const OBExtrinsic &extrinsic) {
|
|
ob_error *error = nullptr;
|
|
ob_stream_profile_set_extrinsic_to(const_cast<ob_stream_profile_t *>(impl_), const_cast<const ob_stream_profile_t *>(target->getImpl()), extrinsic, &error);
|
|
Error::handle(&error);
|
|
}
|
|
|
|
/**
|
|
* @brief Set the extrinsic parameters from current stream profile to the given target stream type.
|
|
*
|
|
* @tparam targetStreamType Target stream type.
|
|
* @tparam extrinsic The extrinsic.
|
|
*/
|
|
void bindExtrinsicTo(const OBStreamType &targetStreamType, const OBExtrinsic &extrinsic) {
|
|
ob_error *error = nullptr;
|
|
ob_stream_profile_set_extrinsic_to_type(const_cast<ob_stream_profile_t *>(impl_),targetStreamType,extrinsic, &error);
|
|
Error::handle(&error);
|
|
}
|
|
|
|
/**
|
|
* @brief Check if frame object is compatible with the given type.
|
|
*
|
|
* @tparam T Given type.
|
|
* @return bool return result.
|
|
*/
|
|
template <typename T> bool is() const;
|
|
|
|
/**
|
|
* @brief Converts object type to target type.
|
|
*
|
|
* @tparam T Target type.
|
|
* @return std::shared_ptr<T> Return the result. Throws an exception if conversion is not possible.
|
|
*/
|
|
template <typename T> std::shared_ptr<T> as() {
|
|
if(!is<T>()) {
|
|
throw std::runtime_error("Unsupported operation. Object's type is not the required type.");
|
|
}
|
|
|
|
return std::dynamic_pointer_cast<T>(shared_from_this());
|
|
}
|
|
|
|
/**
|
|
* @brief Converts object type to target type (const version).
|
|
*
|
|
* @tparam T Target type.
|
|
* @return std::shared_ptr<T> Return the result. Throws an exception if conversion is not possible.
|
|
*/
|
|
template <typename T> std::shared_ptr<const T> as() const {
|
|
if(!is<T>()) {
|
|
throw std::runtime_error("Unsupported operation. Object's type is not the required type.");
|
|
}
|
|
|
|
return std::static_pointer_cast<const T>(shared_from_this());
|
|
}
|
|
|
|
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
|
OBFormat format() const {
|
|
return getFormat();
|
|
}
|
|
|
|
OBStreamType type() const {
|
|
return getType();
|
|
}
|
|
|
|
protected:
|
|
explicit StreamProfile(const ob_stream_profile_t *impl) : impl_(impl) {}
|
|
};
|
|
|
|
/**
|
|
* @brief Class representing a video stream profile.
|
|
*/
|
|
class VideoStreamProfile : public StreamProfile {
|
|
public:
|
|
explicit VideoStreamProfile(const ob_stream_profile_t *impl) : StreamProfile(impl) {}
|
|
|
|
~VideoStreamProfile() noexcept override = default;
|
|
|
|
/**
|
|
* @brief Return the frame rate of the stream.
|
|
*
|
|
* @return uint32_t Return the frame rate of the stream.
|
|
*/
|
|
uint32_t getFps() const {
|
|
ob_error *error = nullptr;
|
|
auto fps = ob_video_stream_profile_get_fps(impl_, &error);
|
|
Error::handle(&error);
|
|
return fps;
|
|
}
|
|
|
|
/**
|
|
* @brief Return the width of the stream.
|
|
*
|
|
* @return uint32_t Return the width of the stream.
|
|
*/
|
|
uint32_t getWidth() const {
|
|
ob_error *error = nullptr;
|
|
auto width = ob_video_stream_profile_get_width(impl_, &error);
|
|
Error::handle(&error);
|
|
return width;
|
|
}
|
|
|
|
/**
|
|
* @brief Return the height of the stream.
|
|
*
|
|
* @return uint32_t Return the height of the stream.
|
|
*/
|
|
uint32_t getHeight() const {
|
|
ob_error *error = nullptr;
|
|
auto height = ob_video_stream_profile_get_height(impl_, &error);
|
|
Error::handle(&error);
|
|
return height;
|
|
}
|
|
|
|
/**
|
|
* @brief Get the intrinsic parameters of the stream.
|
|
*
|
|
* @return OBCameraIntrinsic Return the intrinsic parameters.
|
|
*/
|
|
OBCameraIntrinsic getIntrinsic() const {
|
|
ob_error *error = nullptr;
|
|
auto intrinsic = ob_video_stream_profile_get_intrinsic(impl_, &error);
|
|
Error::handle(&error);
|
|
return intrinsic;
|
|
}
|
|
|
|
/**
|
|
* @brief Set the intrinsic parameters of the stream.
|
|
*
|
|
* @param intrinsic The intrinsic parameters.
|
|
*/
|
|
void setIntrinsic(const OBCameraIntrinsic &intrinsic) {
|
|
ob_error *error = nullptr;
|
|
ob_video_stream_profile_set_intrinsic(const_cast<ob_stream_profile_t *>(impl_), intrinsic, &error);
|
|
Error::handle(&error);
|
|
}
|
|
|
|
/**
|
|
* @brief Get the distortion parameters of the stream.
|
|
* @brief Brown distortion model
|
|
*
|
|
* @return OBCameraDistortion Return the distortion parameters.
|
|
*/
|
|
OBCameraDistortion getDistortion() const {
|
|
ob_error *error = nullptr;
|
|
auto distortion = ob_video_stream_profile_get_distortion(impl_, &error);
|
|
Error::handle(&error);
|
|
return distortion;
|
|
}
|
|
|
|
/**
|
|
* @brief Set the distortion parameters of the stream.
|
|
*
|
|
* @param distortion The distortion parameters.
|
|
*/
|
|
void setDistortion(const OBCameraDistortion &distortion) {
|
|
ob_error *error = nullptr;
|
|
ob_video_stream_profile_set_distortion(const_cast<ob_stream_profile_t *>(impl_), distortion, &error);
|
|
Error::handle(&error);
|
|
}
|
|
|
|
public:
|
|
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
|
uint32_t fps() const {
|
|
return getFps();
|
|
}
|
|
|
|
uint32_t width() const {
|
|
return getWidth();
|
|
}
|
|
|
|
uint32_t height() const {
|
|
return getHeight();
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @brief Class representing an accelerometer stream profile.
|
|
*/
|
|
class AccelStreamProfile : public StreamProfile {
|
|
public:
|
|
explicit AccelStreamProfile(const ob_stream_profile_t *impl) : StreamProfile(impl) {}
|
|
|
|
~AccelStreamProfile() noexcept override = default;
|
|
|
|
/**
|
|
* @brief Return the full scale range.
|
|
*
|
|
* @return OBAccelFullScaleRange Return the scale range value.
|
|
*/
|
|
OBAccelFullScaleRange getFullScaleRange() const {
|
|
ob_error *error = nullptr;
|
|
auto fullScaleRange = ob_accel_stream_profile_get_full_scale_range(impl_, &error);
|
|
Error::handle(&error);
|
|
return fullScaleRange;
|
|
}
|
|
|
|
/**
|
|
* @brief Return the sampling frequency.
|
|
*
|
|
* @return OBAccelFullScaleRange Return the sampling frequency.
|
|
*/
|
|
OBAccelSampleRate getSampleRate() const {
|
|
ob_error *error = nullptr;
|
|
auto sampleRate = ob_accel_stream_profile_get_sample_rate(impl_, &error);
|
|
Error::handle(&error);
|
|
return sampleRate;
|
|
}
|
|
|
|
/**
|
|
* @brief get the intrinsic parameters of the stream.
|
|
*
|
|
* @return OBAccelIntrinsic Return the intrinsic parameters.
|
|
*/
|
|
OBAccelIntrinsic getIntrinsic() const {
|
|
ob_error *error = nullptr;
|
|
auto intrinsic = ob_accel_stream_profile_get_intrinsic(impl_, &error);
|
|
Error::handle(&error);
|
|
return intrinsic;
|
|
}
|
|
|
|
public:
|
|
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
|
OBAccelFullScaleRange fullScaleRange() const {
|
|
return getFullScaleRange();
|
|
}
|
|
|
|
OBAccelSampleRate sampleRate() const {
|
|
return getSampleRate();
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @brief Class representing a gyroscope stream profile.
|
|
*/
|
|
class GyroStreamProfile : public StreamProfile {
|
|
public:
|
|
explicit GyroStreamProfile(const ob_stream_profile_t *impl) : StreamProfile(impl) {}
|
|
|
|
~GyroStreamProfile() noexcept override = default;
|
|
|
|
/**
|
|
* @brief Return the full scale range.
|
|
*
|
|
* @return OBAccelFullScaleRange Return the scale range value.
|
|
*/
|
|
OBGyroFullScaleRange getFullScaleRange() const {
|
|
ob_error *error = nullptr;
|
|
auto fullScaleRange = ob_gyro_stream_profile_get_full_scale_range(impl_, &error);
|
|
Error::handle(&error);
|
|
return fullScaleRange;
|
|
}
|
|
|
|
/**
|
|
* @brief Return the sampling frequency.
|
|
*
|
|
* @return OBAccelFullScaleRange Return the sampling frequency.
|
|
*/
|
|
OBGyroSampleRate getSampleRate() const {
|
|
ob_error *error = nullptr;
|
|
auto sampleRate = ob_gyro_stream_profile_get_sample_rate(impl_, &error);
|
|
Error::handle(&error);
|
|
return sampleRate;
|
|
}
|
|
|
|
/**
|
|
* @brief get the intrinsic parameters of the stream.
|
|
*
|
|
* @return OBGyroIntrinsic Return the intrinsic parameters.
|
|
*/
|
|
OBGyroIntrinsic getIntrinsic() const {
|
|
ob_error *error = nullptr;
|
|
auto intrinsic = ob_gyro_stream_get_intrinsic(impl_, &error);
|
|
Error::handle(&error);
|
|
return intrinsic;
|
|
}
|
|
|
|
public:
|
|
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
|
OBGyroFullScaleRange fullScaleRange() const {
|
|
return getFullScaleRange();
|
|
}
|
|
|
|
OBGyroSampleRate sampleRate() const {
|
|
return getSampleRate();
|
|
}
|
|
};
|
|
|
|
template <typename T> bool StreamProfile::is() const {
|
|
switch(this->getType()) {
|
|
case OB_STREAM_VIDEO:
|
|
case OB_STREAM_IR:
|
|
case OB_STREAM_IR_LEFT:
|
|
case OB_STREAM_IR_RIGHT:
|
|
case OB_STREAM_COLOR:
|
|
case OB_STREAM_DEPTH:
|
|
case OB_STREAM_RAW_PHASE:
|
|
case OB_STREAM_CONFIDENCE:
|
|
return typeid(T) == typeid(VideoStreamProfile);
|
|
case OB_STREAM_ACCEL:
|
|
return typeid(T) == typeid(AccelStreamProfile);
|
|
case OB_STREAM_GYRO:
|
|
return typeid(T) == typeid(GyroStreamProfile);
|
|
default:
|
|
break;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
class StreamProfileFactory {
|
|
public:
|
|
static std::shared_ptr<StreamProfile> create(const ob_stream_profile_t *impl) {
|
|
ob_error *error = nullptr;
|
|
const auto type = ob_stream_profile_get_type(impl, &error);
|
|
Error::handle(&error);
|
|
switch(type) {
|
|
case OB_STREAM_IR:
|
|
case OB_STREAM_IR_LEFT:
|
|
case OB_STREAM_IR_RIGHT:
|
|
case OB_STREAM_DEPTH:
|
|
case OB_STREAM_COLOR:
|
|
case OB_STREAM_VIDEO:
|
|
case OB_STREAM_CONFIDENCE:
|
|
return std::make_shared<VideoStreamProfile>(impl);
|
|
case OB_STREAM_ACCEL:
|
|
return std::make_shared<AccelStreamProfile>(impl);
|
|
case OB_STREAM_GYRO:
|
|
return std::make_shared<GyroStreamProfile>(impl);
|
|
default: {
|
|
ob_error *err = ob_create_error(OB_STATUS_ERROR, "Unsupported stream type.", "StreamProfileFactory::create", "", OB_EXCEPTION_TYPE_INVALID_VALUE);
|
|
Error::handle(&err);
|
|
return nullptr;
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
class StreamProfileList {
|
|
protected:
|
|
const ob_stream_profile_list_t *impl_;
|
|
|
|
public:
|
|
explicit StreamProfileList(ob_stream_profile_list_t *impl) : impl_(impl) {}
|
|
~StreamProfileList() noexcept {
|
|
ob_error *error = nullptr;
|
|
ob_delete_stream_profile_list(impl_, &error);
|
|
Error::handle(&error, false);
|
|
}
|
|
|
|
/**
|
|
* @brief Return the number of StreamProfile objects.
|
|
*
|
|
* @return uint32_t Return the number of StreamProfile objects.
|
|
*/
|
|
uint32_t getCount() const {
|
|
ob_error *error = nullptr;
|
|
auto count = ob_stream_profile_list_get_count(impl_, &error);
|
|
Error::handle(&error);
|
|
return count;
|
|
}
|
|
|
|
/**
|
|
* @brief Return the StreamProfile object at the specified index.
|
|
*
|
|
* @param index The index of the StreamProfile object to be retrieved. Must be in the range [0, count-1]. Throws an exception if the index is out of range.
|
|
* @return std::shared_ptr<StreamProfile> Return the StreamProfile object.
|
|
*/
|
|
std::shared_ptr<StreamProfile> getProfile(uint32_t index) const {
|
|
ob_error *error = nullptr;
|
|
auto profile = ob_stream_profile_list_get_profile(impl_, index, &error);
|
|
Error::handle(&error);
|
|
return StreamProfileFactory::create(profile);
|
|
}
|
|
|
|
/**
|
|
* @brief Match the corresponding video stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list is
|
|
* returned by default. Throws an exception if no matching profile is found.
|
|
*
|
|
* @param width The width of the stream. Pass OB_WIDTH_ANY if no matching condition is required.
|
|
* @param height The height of the stream. Pass OB_HEIGHT_ANY if no matching condition is required.
|
|
* @param format The type of the stream. Pass OB_FORMAT_ANY if no matching condition is required.
|
|
* @param fps The frame rate of the stream. Pass OB_FPS_ANY if no matching condition is required.
|
|
* @return std::shared_ptr<VideoStreamProfile> Return the matching resolution.
|
|
*/
|
|
std::shared_ptr<VideoStreamProfile> getVideoStreamProfile(int width = OB_WIDTH_ANY, int height = OB_HEIGHT_ANY, OBFormat format = OB_FORMAT_ANY,
|
|
int fps = OB_FPS_ANY) const {
|
|
ob_error *error = nullptr;
|
|
auto profile = ob_stream_profile_list_get_video_stream_profile(impl_, width, height, format, fps, &error);
|
|
Error::handle(&error);
|
|
auto vsp = StreamProfileFactory::create(profile);
|
|
return vsp->as<VideoStreamProfile>();
|
|
}
|
|
|
|
/**
|
|
* @brief Match the corresponding accelerometer stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list
|
|
* is returned by default. Throws an exception if no matching profile is found.
|
|
*
|
|
* @param fullScaleRange The full scale range. Pass 0 if no matching condition is required.
|
|
* @param sampleRate The sampling frequency. Pass 0 if no matching condition is required.
|
|
*/
|
|
std::shared_ptr<AccelStreamProfile> getAccelStreamProfile(OBAccelFullScaleRange fullScaleRange, OBAccelSampleRate sampleRate) const {
|
|
ob_error *error = nullptr;
|
|
auto profile = ob_stream_profile_list_get_accel_stream_profile(impl_, fullScaleRange, sampleRate, &error);
|
|
Error::handle(&error);
|
|
auto asp = StreamProfileFactory::create(profile);
|
|
return asp->as<AccelStreamProfile>();
|
|
}
|
|
|
|
/**
|
|
* @brief Match the corresponding gyroscope stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list is
|
|
* returned by default. Throws an exception if no matching profile is found.
|
|
*
|
|
* @param fullScaleRange The full scale range. Pass 0 if no matching condition is required.
|
|
* @param sampleRate The sampling frequency. Pass 0 if no matching condition is required.
|
|
*/
|
|
std::shared_ptr<GyroStreamProfile> getGyroStreamProfile(OBGyroFullScaleRange fullScaleRange, OBGyroSampleRate sampleRate) const {
|
|
ob_error *error = nullptr;
|
|
auto profile = ob_stream_profile_list_get_gyro_stream_profile(impl_, fullScaleRange, sampleRate, &error);
|
|
Error::handle(&error);
|
|
auto gsp = StreamProfileFactory::create(profile);
|
|
return gsp->as<GyroStreamProfile>();
|
|
}
|
|
|
|
public:
|
|
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
|
uint32_t count() const {
|
|
return getCount();
|
|
}
|
|
};
|
|
|
|
} // namespace ob
|