CamControlMessage.hh

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#ifndef LibMultiSense_CamControlMessage
#define LibMultiSense_CamControlMessage
 
#include <vector>
 
#include "utility/Portability.hh"
#include "wire/ExposureConfigMessage.hh"
#include "wire/Protocol.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
 
class CamControl {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_CMD_CAM_CONTROL;
    static CRL_CONSTEXPR VersionType VERSION = 10;
 
    //
    // Parameters representing the current camera configuration
 
    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;
 
    //
    // Additions in version 2
 
    float    stereoPostFilterStrength; // [0.0, 1.0]
 
    //
    // Additions in version 3
 
    bool     hdrEnabled;
 
    //
    // Additions in version 4
 
    bool  storeSettingsInFlash = false;  // boolean
 
    //
    // Additions in version 5
 
    uint16_t autoExposureRoiX;
    uint16_t autoExposureRoiY;
    uint16_t autoExposureRoiWidth;
    uint16_t autoExposureRoiHeight;
 
    //
    // Additions in version 6
 
    uint32_t cameraProfile = 0;
 
    //
    // Additions in version 7
 
    uint32_t exposureSource = 0; // Deprecated
    std::vector<ExposureConfig> secondaryExposureConfigs; // Deprecated
 
    //
    // Additions in version 8
 
    float autoExposureTargetIntensity;
    float gamma;
 
    //
    // Additions in version 9
 
    bool  sharpeningEnable = false; // Deprecated
    float sharpeningPercentage = 0.0f; // Deprecated
    uint8_t sharpeningLimit = 0; // Deprecated
 
    //
    // Additions in version 10
    float gainMax;
 
 
    //
    // Constructors
 
    CamControl(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    CamControl() {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        message & framesPerSecond;
        message & gain;
 
        message & exposure;
        message & autoExposure;
        message & autoExposureMax;
        message & autoExposureDecay;
        message & autoExposureThresh;
 
        message & whiteBalanceRed;
        message & whiteBalanceBlue;
        message & autoWhiteBalance;
        message & autoWhiteBalanceDecay;
        message & autoWhiteBalanceThresh;
        if (version >= 2)
            message & stereoPostFilterStrength;
        else
            stereoPostFilterStrength = 0.5f;
 
        if (version >= 3)
            message & hdrEnabled;
        else
            hdrEnabled = false;
 
        if (version >= 4)
            message & storeSettingsInFlash;
        else
            storeSettingsInFlash = 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