Program Listing for File CameraFeatures.hpp

↰ Return to documentation for file (include/depthai/common/CameraFeatures.hpp)

#pragma once

#include "depthai/common/CameraBoardSocket.hpp"
#include "depthai/common/CameraImageOrientation.hpp"
#include "depthai/common/CameraSensorType.hpp"
#include "depthai/common/Rect.hpp"
#include "depthai/common/optional.hpp"
#include "depthai/utility/Serialization.hpp"

namespace dai {

struct CameraSensorConfig {
    std::int32_t width = -1, height = -1;
    float minFps = -1, maxFps = -1;
    Rect fov;
    CameraSensorType type;
};
DEPTHAI_SERIALIZE_EXT(CameraSensorConfig, width, height, minFps, maxFps, fov, type);

struct CameraFeatures {
    CameraBoardSocket socket = CameraBoardSocket::AUTO;
    std::string sensorName;
    std::int32_t width = -1, height = -1;
    CameraImageOrientation orientation = CameraImageOrientation::AUTO;
    std::vector<CameraSensorType> supportedTypes;
    bool hasAutofocusIC = false;
    bool hasAutofocus = false;
    std::string name;
    std::vector<std::string> additionalNames;
    std::vector<CameraSensorConfig> configs;

    std::optional<CameraSensorConfig> calibrationResolution = std::nullopt;

    DEPTHAI_SERIALIZE(CameraFeatures,
                      socket,
                      sensorName,
                      width,
                      height,
                      orientation,
                      supportedTypes,
                      hasAutofocusIC,
                      hasAutofocus,
                      name,
                      additionalNames,
                      configs,
                      calibrationResolution);
};

}  // namespace dai

// Global namespace
inline std::ostream& operator<<(std::ostream& out, const dai::CameraFeatures& camera) {
    out << "{socket: " << camera.socket << ", ";
    out << "sensorName: " << camera.sensorName << ", ";
    out << "width: " << camera.width << ", ";
    out << "height: " << camera.height << ", ";
    out << "supportedTypes: [";
    for(size_t i = 0; i < camera.supportedTypes.size(); i++) {
        if(i != 0) {
            out << ", ";
        }
        out << camera.supportedTypes[i];
    }
    out << "], ";
    out << "hasAutofocus: " << camera.hasAutofocus << ", ";
    out << "hasAutofocusIC: " << camera.hasAutofocusIC << ", ";
    out << "name: " << camera.name << "}";

    return out;
}

inline std::ostream& operator<<(std::ostream& out, const std::vector<dai::CameraFeatures>& cameras) {
    out << "[";
    for(size_t i = 0; i < cameras.size(); i++) {
        if(i != 0) {
            out << ", ";
        }
        out << cameras.at(i);
    }
    out << "]";

    return out;
}

inline std::ostream& operator<<(std::ostream& out, const dai::CameraSensorConfig& config) {
    out << "{width: " << config.width << ", ";
    out << "height: " << config.height << ", ";
    out << "minFps: " << config.minFps << ", ";
    out << "maxFps: " << config.maxFps << ", ";
    out << "type: " << config.type << ", ";
    out << "fov: " << "{x:" << config.fov.x << ", ";
    out << "y: " << config.fov.y << ", ";
    out << "width: " << config.fov.width << ", ";
    out << "height: " << config.fov.height << "}";
    out << "}";
    return out;
}

inline std::ostream& operator<<(std::ostream& out, const std::vector<dai::CameraSensorConfig>& configs) {
    out << "[";
    for(size_t i = 0; i < configs.size(); i++) {
        if(i != 0) {
            out << ", ";
        }
        out << configs.at(i);
    }
    out << "]";

    return out;
}