alvisiondefinitions.h

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/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

/*
 * You can also find this document at the following location:
 * http://doc.aldebaran.com/2-1/ref/libalvision/a00012_source.html
*/

#pragma once
#ifndef _LIBALVISION_ALVISION_ALVISIONDEFINITIONS_H_
#define _LIBALVISION_ALVISION_ALVISIONDEFINITIONS_H_

namespace AL
{
  #define TORAD  3.14f/180.0f

  const int kOV7670  = 1;
  const int kMT9M114 = 2;
  const int kOV5640  = 3;
  const int kXTION   = 4;

  const int kTopCamera = 0;
  const int kBottomCamera = 1;
  const int kDepthCamera = 2;
  const int kInfraredOrStereoCamera = 3;

  const float kApertureH_OV7670  = 47.8f;
  const float kApertureV_OV7670  = 36.8f;
  const float kApertureH_MT9M114 = 60.9f;
  const float kApertureV_MT9M114 = 47.6f;

  const int kQQVGA = 0;  // 160*120
  const int kQVGA  = 1;  // 320*240
  const int kVGA   = 2;  // 640*480
  const int k4VGA  = 3;  //1280*960
  const int k960p  = k4VGA;  //deprecated
  const int k16VGA = 4;  //2560*1920
  const int k1920p = k16VGA;  //2560*1920
  const int k720p = 5;  //1280*720
  const int kQ720p = 9; //640*360
  const int kQQ720p = 10; //320*180
  const int kQQQ720p = 11; //160*90
  const int kQQQQ720p = 12; //80*45
  const int k720px2 = 13;  //2560*720
  const int kQ720px2 = 14; //1280*360
  const int kQQ720px2 = 15; //640*180
  const int kQQQ720px2 = 16; //320*90
  const int kQQQQ720px2 = 17; //160*45
  const int k1080p = 6;  //1920*1080
  const int kQQQVGA = 7;  // 80*60
  const int kQQQQVGA = 8;  // 40*30

  const int kYuvColorSpace = 0;
  const int kyUvColorSpace = 1;
  const int kyuVColorSpace = 2;
  const int kRgbColorSpace = 3;
  const int krGbColorSpace = 4;
  const int krgBColorSpace = 5;
  const int kHsyColorSpace = 6;
  const int khSyColorSpace = 7;
  const int khsYColorSpace = 8;
  const int kYUV422InterlacedColorSpace = 9; // deprecated
  const int kYUV422ColorSpace = 9;
  const int kYUVColorSpace = 10;
  const int kRGBColorSpace = 11;
  const int kHSYColorSpace = 12;
  const int kBGRColorSpace = 13;     // for opencv ease of use
  const int kYYCbCrColorSpace = 14;  // for tiff io implementation
  const int kH2RGBColorSpace = 15;   // H from HSY to RGB in fake colors
  const int kHSMixedColorSpace = 16; // HS and (H +S)/2
  const int kDepthColorSpace = 17;
  const int kARGBColorSpace = 18;
  const int kXYZColorSpace = 19;
  const int kInfraredColorSpace = 20;
  const int kDistanceColorSpace = 21;
  const int kRawDepthColorSpace = 23;
      
  const int kCameraBrightnessID       = 0;
  const int kCameraContrastID         = 1;
  const int kCameraSaturationID       = 2;
  const int kCameraHueID              = 3;
  const int kCameraRedChromaID        = 4;
  const int kCameraBlueChromaID       = 5;
  const int kCameraGainID             = 6;
  const int kCameraHFlipID            = 7;
  const int kCameraVFlipID            = 8;
  const int kCameraLensXID            = 9;
  const int kCameraLensYID            = 10;
  const int kCameraAutoExpositionID   = 11;
  const int kCameraAutoWhiteBalanceID = 12;
  const int kCameraAutoGainID         = 13;
  const int kCameraResolutionID       = 14;
  const int kCameraFrameRateID        = 15;
  const int kCameraBufferSizeID       = 16;
  const int kCameraExposureID         = 17;
  const int kCameraSelectID           = 18;
  const int kCameraSetDefaultParamsID = 19;
  const int kCameraColorSpaceID       = 20;
  const int kCameraExposureCorrectionID = 21;
  const int kCameraExposureAlgorithmID = 22;
  const int kCameraAecAlgorithmID     = kCameraExposureAlgorithmID; // deprecated
  const int kCameraFastSwitchID       = 23;
  const int kCameraSharpnessID        = 24;
  const int kCameraAwbGreenGainID     = 25;
  const int kCameraAblcID             = 26;
  const int kCameraAblcTargetID       = 27;
  const int kCameraAblcStableRangeID  = 28;
  const int kCameraBlcBlueID          = 29;
  const int kCameraBlcRedID           = 30;
  const int kCameraBlcGbID            = 31;
  const int kCameraBlcGrID            = 32;
  const int kCameraWhiteBalanceID     = 33;
  const int kCameraBacklightCompensationID = 34;
  const int kCameraKeepAliveID        = 35;
  const int kCameraDepthConfidenceThresholdID = 36;
  const int kCameraDepthFastFilterID  = 37;
  const int kCameraTemperatureID      = 38;
  const int kCameraAverageLuminanceID = 39;
  const int kCameraAutoFocusID = 40;

  bool isResolutionValid(const int resIndex);

  void setSizeFromResolution(const int resIndex, int& outWidth, int& outHeight);

  int getResolutionFromSize(const int width, const int height);

  bool isColorSpaceValid(const int colorspace);

  int getNumLayersInColorSpace(const int colorSpace);

  inline float convertAngleValToNormalizedImgVal(const float& radValue,
                                                 const float& imageRadMin,
                                                 const float& imageRadMax)
   { return ( radValue / (imageRadMax-imageRadMin)); }

  inline float convertAnglePosToNormalizedImgPos(const float& radPosition,
                                                 const float& imageRadMin,
                                                 const float& imageRadMax)
    { return ((radPosition-imageRadMin) / (imageRadMax-imageRadMin)); }
} // namespace AL


#endif  // _LIBALVISION_ALVISION_ALVISIONDEFINITIONS_H_