133 lines
5.2 KiB
C++
133 lines
5.2 KiB
C++
/*******************************************************************************
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* BSD 3-Clause License
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*
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* Copyright (c) 2016-2025, Mech-Mind Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* Info: https://www.mech-mind.com/
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*
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******************************************************************************/
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#pragma once
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#include "area_scan_3d_camera/Camera.h"
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#include "profiler/Profiler.h"
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namespace mmind {
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namespace eye {
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class MMIND_API_EXPORT InternalInterfaces
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{
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public:
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/**
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* @brief Get the depth image to main camera transformation for UHP cameras.
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*/
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static ErrorStatus getCam3DPoseInMain(const Camera& camera, Transformation& transformation);
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/**
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* @brief Get the camera user name
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*/
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static ErrorStatus getCameraUserName(const Camera& camera, std::string& cameraUserName);
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/**
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* @brief Get the @ref Frame2D from depth source camera.
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*/
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static ErrorStatus captureDepthSource2D(const Camera& camera, Frame2D& frame2d,
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unsigned int timeoutMs = 5000);
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/**
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* @brief Simultaneously captures a 2D frame from depth source camera and a single 3D Frame.
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*/
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static ErrorStatus captureDepthSource2DAnd3D(const Camera& camera, Frame2DAnd3D& frame2d3d,
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unsigned int timeoutMs = 5000);
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/**
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* @brief Get the profiler user name
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*/
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static ErrorStatus getProfilerUserName(const Profiler& profiler, std::string& cameraUserName);
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/**
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* @brief Get the Retrieval net speed
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*
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* @return net speed in Kb/s
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*/
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static double getRetrievalNetSpeed(const Frame2D& frame);
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static double getRetrievalNetSpeed(const Frame3D& frame);
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static double getRetrievalNetSpeed(const Frame2DAnd3D& frame);
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/**
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* @brief Save virtual profiler related information to files in the folder provided.
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*/
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static ErrorStatus saveVirtualProfilerInfo(const Profiler& profiler,
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const std::string& folderPath);
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/**
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* @brief Zip folder provided to a virtual profiler file.
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*/
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static bool zipVirtualProfilerFile(const std::string& zipFilePath,
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const std::string& folderPath);
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/**
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* @brief Unzip virtual profiler file provided to the folder provided.
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*/
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static bool unzipVirtualProfilerFile(const std::string& zipFilePath,
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const std::string& folderPath);
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/**
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* @brief Determines whether precision compensation is supported.
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*
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* @return true if precision compensation is supported, otherwise false.
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*/
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static bool isPrecisionCompensationSupported(const Profiler& profiler);
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/**
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* @brief Determines whether the precision compensation table is available.
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*
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* @return true if the precision compensation table can be obtained, otherwise false.
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*/
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static bool isPrecisionCompensationTableAvailable(const Profiler& profiler);
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/**
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* @brief Enables or disables precision compensation for the profiler.
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*
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* @param profiler The profiler instance for which precision compensation should be configured.
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* @param enable Set to true to enable precision compensation, or false to disable it.
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*/
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static ErrorStatus enablePrecisionCompensation(const Profiler& profiler, bool enable);
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/**
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* @brief Checks whether precision compensation is enabled for the profiler.
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*
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* @param profiler The profiler instance to check.
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* @return True if precision compensation is enabled, false otherwise.
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*/
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static bool isPrecisionCompensationEnabled(const Profiler& profiler);
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};
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} // namespace eye
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} // namespace mmind
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