Pipeline.hpp

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#pragma once
 
#include "Types.hpp"
 
#include <functional>
#include <memory>
 
struct PipelineImpl;
struct ConfigImpl;
 
namespace ob {
class FrameSet;
class Frame;
class Device;
class Playback;
class DeviceInfo;
class Config;
class StreamProfile;
class StreamProfileList;
 
typedef std::function<void(std::shared_ptr<FrameSet> frame)> FrameSetCallback;
 
class OB_EXTENSION_API Pipeline {
private:
    std::unique_ptr<PipelineImpl> impl_;
 
public:
    Pipeline();
 
    Pipeline(std::shared_ptr<Device> device);
 
    Pipeline(const char *filename);
 
    ~Pipeline() noexcept;
 
    void start(std::shared_ptr<Config> config);
 
    void start();
 
    void start(std::shared_ptr<Config> config, FrameSetCallback callback);
 
    void stop();
 
    std::shared_ptr<StreamProfileList> getEnabledStreamProfileList();
    std::shared_ptr<Config> getConfig();
 
    std::shared_ptr<FrameSet> waitForFrames(uint32_t timeout_ms = 1000);
 
    std::shared_ptr<Device> getDevice();
 
    std::shared_ptr<Playback> getPlayback();
 
    std::shared_ptr<StreamProfileList> getStreamProfileList(OBSensorType sensorType);
 
    void enableFrameSync();
 
    void disableFrameSync();
 
    OBCameraParam getCameraParam();
 
    OBCameraParam getCameraParamWithProfile(uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight);
 
    OBCalibrationParam getCalibrationParam(std::shared_ptr<Config> config);
 
    std::shared_ptr<StreamProfileList> getD2CDepthProfileList(std::shared_ptr<StreamProfile> colorProfile, OBAlignMode alignMode);
 
    OBRect getD2CValidArea(uint32_t minimumDistance, uint32_t maximumDistance = 0);
 
    void switchConfig(std::shared_ptr<Config> config);
 
    void startRecord(const char *filename);
 
    void stopRecord();
};
 
class OB_EXTENSION_API Config {
private:
    std::unique_ptr<ConfigImpl> impl_;
 
public:
    Config();
 
    ~Config() noexcept;
 
    void enableStream(std::shared_ptr<StreamProfile> streamProfile);
 
    void enableAllStream();
 
    void enableVideoStream(ob_stream_type type, int width = OB_WIDTH_ANY, int height = OB_HEIGHT_ANY, int fps = OB_FPS_ANY, OBFormat format = OB_FORMAT_ANY);
 
    void enableAccelStream(ob_accel_full_scale_range fullScaleRange = OB_ACCEL_FULL_SCALE_RANGE_ANY,
                           ob_accel_sample_rate      sampleRate     = OB_ACCEL_SAMPLE_RATE_ANY);
 
    void enableGyroStream(ob_gyro_full_scale_range fullScaleRange = OB_GYRO_FULL_SCALE_RANGE_ANY, ob_gyro_sample_rate sampleRate = OB_GYRO_SAMPLE_RATE_ANY);
 
    void disableStream(OBStreamType streamType);
 
    void disableAllStream();
 
    std::shared_ptr<StreamProfileList> getEnabledStreamProfileList() const;
 
    void setAlignMode(OBAlignMode mode);
 
    void setDepthScaleRequire(bool enable);
 
    void setD2CTargetResolution(uint32_t d2cTargetWidth, uint32_t d2cTargetHeight);
 
    void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode);
 
    friend class Pipeline;
};
 
}  // namespace ob