CamConfigMessage.h

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#ifndef LibMultiSense_CamConfigMessage
#define LibMultiSense_CamConfigMessage

#include "details/utility/Portability.hh"

namespace crl {
namespace multisense {
namespace details {
namespace wire {

class CamConfig {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_CAM_CONFIG;
    static CRL_CONSTEXPR VersionType VERSION = 4;

    //
    // Parameters representing the current camera configuration

    uint16_t width;
    uint16_t height;
    float    framesPerSecond;
    float    gain;

    uint32_t exposure;
    uint8_t  autoExposure;
    uint32_t autoExposureMax;
    uint32_t autoExposureDecay;
    float    autoExposureThresh;

    float    whiteBalanceRed;
    float    whiteBalanceBlue;
    uint8_t  autoWhiteBalance;
    uint32_t autoWhiteBalanceDecay;
    float    autoWhiteBalanceThresh;

    float fx, fy;
    float cx, cy;
    float tx, ty, tz;
    float roll, pitch, yaw;

    //
    // Version 2 additions

    int32_t disparities;

    //
    // Version 3 additions

    float stereoPostFilterStrength;

    //
    // Version 4 additions

    bool hdrEnabled;

    //
    // Constructors

    CamConfig(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    CamConfig() {};

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        message & width;
        message & height;

        message & framesPerSecond;
        message & gain;

        message & exposure;
        message & autoExposure;
        message & autoExposureMax;
        message & autoExposureDecay;
        message & autoExposureThresh;
        
        message & whiteBalanceRed;
        message & whiteBalanceBlue;
        message & autoWhiteBalance;
        message & autoWhiteBalanceDecay;
        message & autoWhiteBalanceThresh;

        message & fx;
        message & fy;
        message & cx;
        message & cy;

        message & tx;
        message & ty;
        message & tz;

        message & roll;
        message & pitch;
        message & yaw;

        if (version >= 2)
            message & disparities;
        else
            disparities = -1;

        if (version >= 3)
            message & stereoPostFilterStrength;
        else
            stereoPostFilterStrength = 0.5f;

        if (version >= 4)
            message & hdrEnabled;
        else
            hdrEnabled = false;
    }
};

}}}}; // namespaces

#endif