CamConfigMessage.hh

Go to the documentation of this file.

 
#ifndef LibMultiSense_CamConfigMessage
#define LibMultiSense_CamConfigMessage
 
#include <vector>
 
#include "utility/Portability.hh"
#include "wire/ExposureConfigMessage.hh"
#include "wire/Protocol.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 = 10;
 
    //
    // 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;
 
    //
    // Version 5 additions
 
    uint16_t autoExposureRoiX;
    uint16_t autoExposureRoiY;
    uint16_t autoExposureRoiWidth;
    uint16_t autoExposureRoiHeight;
 
    //
    // Version 6 additions
 
    uint32_t cameraProfile;
 
    //
    // Version 7 additions
 
    uint32_t exposureSource;
    std::vector<ExposureConfig> secondaryExposureConfigs;
 
    //
    // Version 8 additions
 
    float autoExposureTargetIntensity;
    float gamma;
 
    //
    // Version 9 additions
 
    bool sharpeningEnable;
    float sharpeningPercentage;
    uint8_t sharpeningLimit;
 
    //
    // Version 10 additions
    float gainMax;
 
    //
    // Constructors
 
    CamConfig(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    CamConfig():
        width(0),
        height(0),
        framesPerSecond(0.0),
        gain(0.0),
        exposure(0),
        autoExposure(0),
        autoExposureMax(0),
        autoExposureDecay(0),
        autoExposureThresh(0.0),
        whiteBalanceRed(0.0),
        whiteBalanceBlue(0.0),
        autoWhiteBalance(0),
        autoWhiteBalanceDecay(0),
        autoWhiteBalanceThresh(0.0),
        fx(0.0),
        fy(0.0),
        cx(0.0),
        cy(0.0),
        tx(0.0),
        ty(0.0),
        tz(0.0),
        roll(0.0),
        pitch(0.0),
        yaw(0.0),
        disparities(0),
        stereoPostFilterStrength(0.0),
        hdrEnabled(false),
        autoExposureRoiX(0),
        autoExposureRoiY(0),
        autoExposureRoiWidth(0),
        autoExposureRoiHeight(0),
        cameraProfile(0),
        exposureSource(Default_Exposure_Source),
        secondaryExposureConfigs(),
        autoExposureTargetIntensity(Default_Target_Intensity),
        gamma(Default_Gamma),
        sharpeningEnable(false),
        sharpeningPercentage(0.0f),
        sharpeningLimit(0),
        gainMax(WIRE_IMAGER_GAIN_MAX)
        {};
 
    //
    // 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;
 
        if (version >= 5)
        {
            message & autoExposureRoiX;
            message & autoExposureRoiY;
            message & autoExposureRoiWidth;
            message & autoExposureRoiHeight;
        }
        else
        {
            autoExposureRoiX = 0;
            autoExposureRoiY = 0;
            autoExposureRoiWidth = 0;
            autoExposureRoiHeight = 0;
        }
 
        if (version >= 6)
        {
            message & cameraProfile;
        }
        else
        {
            cameraProfile = 0;
        }
 
        if (version >= 7)
        {
            message & exposureSource;
            message & secondaryExposureConfigs;
        }
        else
        {
            exposureSource = Default_Exposure_Source;
            secondaryExposureConfigs = std::vector<ExposureConfig>();
        }
 
        if (version >= 8)
        {
            message & autoExposureTargetIntensity;
            message & gamma;
        }
        else
        {
            autoExposureTargetIntensity = Default_Target_Intensity;
            gamma = Default_Gamma;
        }
 
        if (version >= 9)
        {
            message & sharpeningEnable;
            message & sharpeningPercentage;
            message & sharpeningLimit;
        }
        else
        {
            sharpeningEnable = false;
            sharpeningPercentage = 0.0f;
            sharpeningLimit = 0;
        }
 
        if (version >= 10)
        {
            message & gainMax;
        }
        else
        {
            gainMax = WIRE_IMAGER_GAIN_MAX;
        }
 
    }
};
 
}}}} // namespaces
 
#endif