input_sensor_adtf31xx.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_ADTF31XX_H
#define INPUT_SENSOR_ADTF31XX_H
 
#include "input_sensor.h"
#include <aditof/camera.h>
#include <aditof/frame.h>
#include <aditof/system.h>
#include <stdint.h>
 
class InputSensorADTF31XX : public IInputSensor
{
public:
  void openSensor(std::string /*sensor_name*/, int input_image_width, int input_image_height,
                  std::string config_file_name, std::string input_sensor_ip);
  void configureSensor(int camera_mode);
  void getIntrinsics(CameraIntrinsics* camera_intrinsics);
  void getExtrinsics(CameraExtrinsics* camera_extrinsics);
  bool readNextFrame(unsigned short* depth_frame, unsigned short* ab_frame, unsigned short* conf_frame,
                     short* xyz_frame);
  bool getFrameTimestamp(ros::Time* timestamp);
  void closeSensor();
  void setABinvalidationThreshold(int threshold);
  void setConfidenceThreshold(int threshold);
  void setJBLFFilterState(bool enable_jblf_filter);
  void setJBLFFilterSize(int jbfl_filter_size);
  void setRadialFilterMinThreshold(int radial_min_threshold);
  void setRadialFilterMaxThreshold(int radial_max_threshold);
 
private:
  std::shared_ptr<aditof::Camera> camera_;
  CameraIntrinsics camera_intrinsics_;
};
 
#endif