camera.h

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/*
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Analog Devices, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef CAMERA_H
#define CAMERA_H
 
#include "aditof/adsd_errs.h"
#include "camera_definitions.h"
#include "sdk_exports.h"
#include "status_definitions.h"
 
#include <functional>
#include <map>
#include <string>
#include <vector>
 
namespace aditof {
 
class Frame;
class DepthSensorInterface;
 
class SDK_API Camera {
  public:
    virtual ~Camera() = default;
 
    virtual Status initialize(const std::string &configFilepath = {}) = 0;
 
    virtual Status start() = 0;
 
    virtual Status stop() = 0;
 
    virtual Status setMode(const uint8_t &mode) = 0;
 
    virtual Status
    getFrameProcessParams(std::map<std::string, std::string> &params) = 0;
 
    virtual Status
    setFrameProcessParams(std::map<std::string, std::string> &params) = 0;
 
    virtual Status
    getAvailableModes(std::vector<uint8_t> &availableModes) const = 0;
 
    virtual Status requestFrame(Frame *frame) = 0;
 
    virtual void normalizeABBuffer(uint16_t *abBuffer, uint16_t abWidth,
                                   uint16_t abHeight, bool advanceScaling,
                                   bool useLogScaling) = 0;
 
    virtual aditof::Status normalizeABFrame(aditof::Frame *frame,
                                            bool advanceScaling,
                                            bool useLogScaling) = 0;
 
    virtual Status getDetails(CameraDetails &details) const = 0;
 
    virtual Status
    getAvailableControls(std::vector<std::string> &controls) const = 0;
 
    virtual Status setControl(const std::string &control,
                              const std::string &value) = 0;
 
    virtual Status getControl(const std::string &control,
                              std::string &value) const = 0;
 
    virtual std::shared_ptr<DepthSensorInterface> getSensor() = 0;
 
    virtual Status enableXYZframe(bool enable) = 0;
 
    virtual Status saveModuleCFG(const std::string &filepath) const = 0;
 
    virtual Status saveModuleCCB(const std::string &filepath) = 0;
 
    virtual Status enableDepthCompute(bool enable) = 0;
 
    virtual Status adsd3500UpdateFirmware(const std::string &fwFilePath) = 0;
 
    virtual Status adsd3500SetToggleMode(int mode) = 0;
 
    virtual Status adsd3500ToggleFsync() = 0;
 
    virtual Status adsd3500SetABinvalidationThreshold(int threshold) = 0;
 
    virtual Status adsd3500GetABinvalidationThreshold(int &threshold) = 0;
 
    virtual Status adsd3500SetConfidenceThreshold(int threshold) = 0;
 
    virtual Status adsd3500GetConfidenceThreshold(int &threshold) = 0;
 
    virtual Status adsd3500SetJBLFfilterEnableState(bool enable) = 0;
 
    virtual Status adsd3500GetJBLFfilterEnableState(bool &enabled) = 0;
 
    virtual Status adsd3500SetJBLFfilterSize(int size) = 0;
 
    virtual Status adsd3500GetJBLFfilterSize(int &size) = 0;
 
    virtual Status adsd3500SetRadialThresholdMin(int threshold) = 0;
 
    virtual Status adsd3500GetRadialThresholdMin(int &threshold) = 0;
 
    virtual Status adsd3500SetRadialThresholdMax(int threshold) = 0;
 
    virtual Status adsd3500GetRadialThresholdMax(int &threshold) = 0;
 
    virtual Status adsd3500GetSensorTemperature(uint16_t &tmpValue) = 0;
 
    virtual Status adsd3500GetLaserTemperature(uint16_t &tmpValue) = 0;
 
    virtual Status adsd3500GetFirmwareVersion(std::string &fwVersion,
                                              std::string &fwHash) = 0;
 
    virtual Status adsd3500SetMIPIOutputSpeed(uint16_t speed) = 0;
 
    virtual Status adsd3500GetMIPIOutputSpeed(uint16_t &speed) = 0;
 
    virtual Status adsd3500GetImagerErrorCode(uint16_t &errcode) = 0;
 
    virtual Status adsd3500SetVCSELDelay(uint16_t delay) = 0;
 
    virtual Status adsd3500GetVCSELDelay(uint16_t &delay) = 0;
 
    virtual Status adsd3500SetJBLFMaxEdgeThreshold(uint16_t threshold) = 0;
 
    virtual Status adsd3500SetJBLFABThreshold(uint16_t threshold) = 0;
 
    virtual Status adsd3500SetJBLFGaussianSigma(uint16_t value) = 0;
 
    virtual Status adsd3500GetJBLFGaussianSigma(uint16_t &value) = 0;
 
    virtual Status adsd3500SetJBLFExponentialTerm(uint16_t value) = 0;
 
    virtual Status adsd3500GetJBLFExponentialTerm(uint16_t &value) = 0;
 
    virtual Status adsd3500GetFrameRate(uint16_t &fps) = 0;
 
    virtual Status adsd3500SetFrameRate(uint16_t fps) = 0;
 
    virtual Status adsd3500SetEnableEdgeConfidence(uint16_t value) = 0;
 
    virtual Status
    adsd3500GetTemperatureCompensationStatus(uint16_t &value) = 0;
 
    virtual Status adsd3500SetEnablePhaseInvalidation(uint16_t value) = 0;
 
    virtual Status adsd3500SetEnableTemperatureCompensation(uint16_t value) = 0;
 
    virtual aditof::Status adsd3500SetEnableMetadatainAB(uint16_t value) = 0;
 
    virtual aditof::Status adsd3500GetEnableMetadatainAB(uint16_t &value) = 0;
 
    virtual Status adsd3500SetGenericTemplate(uint16_t reg, uint16_t value) = 0;
 
    virtual Status adsd3500GetGenericTemplate(uint16_t reg,
                                              uint16_t &value) = 0;
    virtual Status adsd3500GetStatus(int &chipStatus, int &imagerStatus) = 0;
 
    virtual Status adsd3500DisableCCBM(bool disable) = 0;
 
    virtual Status adsd3500IsCCBMsupported(bool &supported) = 0;
 
    virtual aditof::Status
    adsd3500setEnableDynamicModeSwitching(bool enable) = 0;
 
    virtual aditof::Status adsds3500setDynamicModeSwitchingSequence(
        const std::vector<std::pair<uint8_t, uint8_t>> &sequence) = 0;
 
    virtual Status readSerialNumber(std::string &serialNumber,
                                    bool useCacheValue = false) = 0;
 
    virtual Status getImagerType(ImagerType &imagerType) const = 0;
 
    virtual aditof::Status
    saveDepthParamsToJsonFile(const std::string &savePathFile) = 0;
 
    virtual aditof::Status loadDepthParamsFromJsonFile(
        const std::string &pathFileloadDepthParamsFromJsonFile,
        const int16_t mode_in_use = -1) = 0;
 
    virtual aditof::Status
    adsd3500ResetIniParamsForMode(const uint16_t mode) = 0;
 
    virtual aditof::Status
    setSensorConfiguration(const std::string &sensorConf) = 0;
 
    virtual void dropFirstFrame(bool dropFrame) = 0;
};
 
} // namespace aditof
 
#endif // CAMERA_H