input_sensor.h

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/******************************************************************************
Copyright (c), 2023 - Analog Devices Inc. All Rights Reserved.
This software is PROPRIETARY & CONFIDENTIAL to Analog Devices, Inc.
and its licensors.
******************************************************************************/
 
#ifndef INPUT_SENSOR_H
#define INPUT_SENSOR_H
 
#include <ros/ros.h>
#include <stdint.h>
#include "adi_camera.h"
 
class IInputSensor
{
protected:
  bool sensor_open_flag_;
  int frame_width_ = 1024;
  int frame_height_ = 1024;
  int bytes_per_pixel_ = 2;
  int input_scale_factor_ = 2;
  unsigned int frame_counter_ = 0;
 
public:
  virtual void openSensor(std::string sensor_name, int input_image_width, int input_image_height,
                          std::string config_file_name, std::string input_sensor_ip) = 0;
  virtual void configureSensor(int camera_mode) = 0;
  virtual void getIntrinsics(CameraIntrinsics* camera_intrinsics) = 0;
  virtual void getExtrinsics(CameraExtrinsics* camera_extrinsics) = 0;
  virtual bool readNextFrame(unsigned short* depth_frame, unsigned short* ab_frame, unsigned short* conf_frame,
                             short* xyz_frame) = 0;
  virtual bool getFrameTimestamp(ros::Time* timestamp) = 0;
  virtual void closeSensor() = 0;
  virtual void setConfidenceThreshold(int threshold) = 0;
  virtual void setABinvalidationThreshold(int threshold) = 0;
  virtual void setJBLFFilterState(bool jblf_filter_state) = 0;
  virtual void setJBLFFilterSize(int jblf_filter_size) = 0;
  virtual void setRadialFilterMinThreshold(int radial_min_threshold) = 0;
  virtual void setRadialFilterMaxThreshold(int radial_max_threshold) = 0;
 
  bool isOpened()
  {
    return sensor_open_flag_;
  }
  int getFrameWidth()
  {
    return frame_width_;
  }
  int getFrameHeight()
  {
    return frame_height_;
  }
  void setFrameWidth(int frm_width)
  {
    frame_width_ = frm_width;
  }
  void setFrameHeight(int frm_height)
  {
    frame_height_ = frm_height;
  }
  void setProcessingScale(int scale_factor)
  {
    input_scale_factor_ = scale_factor;
  }
  int getFrameCounter()
  {
    return frame_counter_;
  }
};
 
#endif