Rs2Stream.h

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#pragma once

#include "Rs2Base.h"

namespace oni { namespace driver {

struct Rs2StreamProfileInfo
{
        const rs2_stream_profile* profile;
        int sensorId;
        int profileId;
        int streamId;
        rs2_stream streamType;
        rs2_format format;
        int stride;
        int width;
        int height;
        int framerate;
};

class Rs2Stream : public StreamBase
{
        friend class Rs2Device;

public:

        Rs2Stream(OniSensorType sensorType);
        virtual ~Rs2Stream();

        virtual OniStatus setProperty(int propertyId, const void* data, int dataSize);
        virtual OniStatus getProperty(int propertyId, void* data, int* dataSize);
        virtual OniBool isPropertySupported(int propertyId);

        virtual OniStatus invoke(int commandId, void* data, int dataSize);
        virtual OniBool isCommandSupported(int commandId);

        virtual OniStatus start();
        virtual void stop();

        virtual OniStatus convertDepthToColorCoordinates(StreamBase* colorStream, int depthX, int depthY, OniDepthPixel depthZ, int* pColorX, int* pColorY);

        inline class Rs2Device* getDevice() { return m_device; }
        inline rs2_stream getRsType() const { return m_rsType; }
        inline OniSensorType getOniType() const { return m_oniType; }
        inline int getSensorId() const { return m_sensorId; }
        inline int getStreamId() const { return m_streamId; }
        inline const OniVideoMode& getVideoMode() const { return m_videoMode; }
        inline bool isEnabled() const { return m_enabled; }

protected:

        Rs2Stream(const Rs2Stream&);
        void operator=(const Rs2Stream&);

        OniStatus initialize(class Rs2Device* device, rs2_sensor* sensor, int sensorId, int streamId, std::vector<Rs2StreamProfileInfo>* profiles);
        void shutdown();

        void onStreamStarted();
        void onPipelineStarted();

        void updateIntrinsics();
        Rs2StreamProfileInfo* getCurrentProfile();
        bool isVideoModeSupported(OniVideoMode* reqMode);

        bool getTable(void* dst, int* size, const std::vector<uint16_t>& table);
        bool setTable(const void* src, int size, std::vector<uint16_t>& table);

protected:

        rs2_stream m_rsType;
        OniSensorType m_oniType;

        class Rs2Device* m_device;
        rs2_sensor* m_sensor;
        int m_sensorId;
        int m_streamId;
        bool m_enabled;

        std::vector<Rs2StreamProfileInfo> m_profiles;
        OniVideoMode m_videoMode;
        rs2_intrinsics m_intrinsics;
        rs2_extrinsics m_extrinsicsDepthToColor;
        bool m_needUpdateExtrinsicsDepthToColor;
        float m_depthScale;
        float m_fovX;
        float m_fovY;

        std::vector<uint16_t> m_s2d;
        std::vector<uint16_t> m_d2s;
};

class Rs2DepthStream : public Rs2Stream
{
public:
        Rs2DepthStream() : Rs2Stream(ONI_SENSOR_DEPTH) {}
};

class Rs2ColorStream : public Rs2Stream
{
public:
        Rs2ColorStream() : Rs2Stream(ONI_SENSOR_COLOR) {}
};

class Rs2InfraredStream : public Rs2Stream
{
public:
        Rs2InfraredStream() : Rs2Stream(ONI_SENSOR_IR) {}
};

}} // namespace