MechEyeApi.h

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 *Copyright (c) 2016-2024, Mech-Mind Robotics
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#pragma once
#include <memory>
#include <vector>
#include "api_global.h"
#include "MechEyeFrame.hpp"
#include "MechEyeDataType.h"
#include "MechEyeSettings.h"
 
namespace mmind {
 
namespace api {
 
class MechEyeDeviceImpl;
 
std::string MMIND_API_EXPORT getApiInformation();
 
class MMIND_API_EXPORT MechEyeDevice
{
public:
    MechEyeDevice();
 
    ~MechEyeDevice();
 
    static std::vector<MechEyeDeviceInfo> enumerateMechEyeDeviceList();
 
    static ErrorStatus getCloudFromTextureMask(const DepthMap& depthMap,
                                               const ColorMap& textureMask,
                                               const DeviceIntri& intri, PointXYZMap& pointXYZMask);
 
    static ErrorStatus getCloudFromTextureMask(const DepthMap& depthMap,
                                               const ColorMap& textureMask, const ColorMap& texture,
                                               const DeviceIntri& intri,
                                               PointXYZBGRMap& pointXYZBGRMask);
 
    ErrorStatus connect(const MechEyeDeviceInfo& info, int timeout = 10000);
 
    ErrorStatus connect(const std::string& ipAddress, int port = 5577, int timeout = 10000);
 
    void disconnect();
 
    ErrorStatus getDeviceTemperature(DeviceTemperature& temperature) const;
 
    ErrorStatus getDeviceInfo(MechEyeDeviceInfo& info) const;
 
    ErrorStatus getDeviceIntri(DeviceIntri& intri) const;
 
    ErrorStatus getDeviceResolution(DeviceResolution& imageResolution) const;
 
    ErrorStatus captureColorMap(ColorMap& colorMap) const;
    ErrorStatus captureDepthMap(DepthMap& depthMap) const;
 
    ErrorStatus capturePointXYZMap(PointXYZMap& pointXYZMap) const;
 
    ErrorStatus captureOrthogonalDepthMap(DepthMap& depthMap, double& xScale, double& yScale,
                                          double& xOffset, double& yOffset) const;
 
    ErrorStatus capturePointXYZBGRMap(PointXYZBGRMap& pointXYZBGRMap) const;
 
    ErrorStatus setScan2DExposureMode(Scanning2DSettings::Scan2DExposureMode value) const;
 
    ErrorStatus getScan2DExposureMode(Scanning2DSettings::Scan2DExposureMode& value) const;
 
    ErrorStatus setScan2DExposureTime(double value) const;
 
    ErrorStatus getScan2DExposureTime(double& value) const;
 
    ErrorStatus setScan2DHDRExposureSequence(std::vector<double>& values) const;
 
    ErrorStatus getScan2DHDRExposureSequence(std::vector<double>& values) const;
 
    ErrorStatus setScan2DExpectedGrayValue(int value) const;
 
    ErrorStatus getScan2DExpectedGrayValue(int& value) const;
 
    ErrorStatus setScan2DToneMappingEnable(bool value) const;
 
    ErrorStatus getScan2DToneMappingEnable(bool& value) const;
 
    ErrorStatus setScan2DSharpenFactor(double value) const;
 
    ErrorStatus getScan2DSharpenFactor(double& value) const;
 
    ErrorStatus setScan2DROI(const ROI& value) const;
 
    ErrorStatus getScan2DROI(ROI& value) const;
 
    ErrorStatus setScan3DExposure(const std::vector<double>& valueSequence) const;
 
    ErrorStatus getScan3DExposure(std::vector<double>& valueSequence) const;
 
    ErrorStatus setScan3DGain(double value) const;
 
    ErrorStatus getScan3DGain(double& value) const;
 
    ErrorStatus setScan3DROI(const ROI& value) const;
 
    ErrorStatus getScan3DROI(ROI& value) const;
 
    ErrorStatus setDepthRange(const DepthRange& value) const;
 
    ErrorStatus getDepthRange(DepthRange& value) const;
 
    ErrorStatus setFringeContrastThreshold(int value) const;
 
    ErrorStatus getFringeContrastThreshold(int& value) const;
 
    ErrorStatus setFringeMinThreshold(int value) const;
 
    ErrorStatus getFringeMinThreshold(int& value) const;
 
    [[deprecated("please use setCloudOutlierRemovalMode() instead.")]] ErrorStatus
    setCloudOutlierFilterMode(PointCloudProcessingSettings::CloudOutlierFilterMode value) const;
 
    [[deprecated("please use getCloudOutlierRemovalMode() instead.")]] ErrorStatus
    getCloudOutlierFilterMode(PointCloudProcessingSettings::CloudOutlierFilterMode& value) const;
 
    [[deprecated("please use setCloudSurfaceSmoothingMode() instead.")]] ErrorStatus
    setCloudSmoothMode(PointCloudProcessingSettings::CloudSmoothMode value) const;
 
    [[deprecated("please use getCloudSurfaceSmoothingMode() instead.")]] ErrorStatus
    getCloudSmoothMode(PointCloudProcessingSettings::CloudSmoothMode& value) const;
 
    ErrorStatus setCloudSurfaceSmoothingMode(
        PointCloudProcessingSettings::PointCloudSurfaceSmoothing value) const;
 
    ErrorStatus getCloudSurfaceSmoothingMode(
        PointCloudProcessingSettings::PointCloudSurfaceSmoothing& value) const;
 
    ErrorStatus setCloudNoiseRemovalMode(
        PointCloudProcessingSettings::PointCloudNoiseRemoval value) const;
 
    ErrorStatus getCloudNoiseRemovalMode(
        PointCloudProcessingSettings::PointCloudNoiseRemoval& value) const;
 
    ErrorStatus setCloudOutlierRemovalMode(
        PointCloudProcessingSettings::PointCloudOutlierRemoval value) const;
 
    ErrorStatus getCloudOutlierRemovalMode(
        PointCloudProcessingSettings::PointCloudOutlierRemoval& value) const;
 
    ErrorStatus setCloudEdgePreservationMode(
        PointCloudProcessingSettings::PointCloudEdgePreservation value) const;
 
    ErrorStatus getCloudEdgePreservationMode(
        PointCloudProcessingSettings::PointCloudEdgePreservation& value) const;
 
    ErrorStatus setProjectorFringeCodingMode(ProjectorSettings::FringeCodingMode value) const;
 
    ErrorStatus getProjectorFringeCodingMode(ProjectorSettings::FringeCodingMode& value) const;
 
    ErrorStatus setProjectorPowerLevel(ProjectorSettings::PowerLevel value) const;
 
    ErrorStatus getProjectorPowerLevel(ProjectorSettings::PowerLevel& value) const;
 
    ErrorStatus setProjectorAntiFlickerMode(ProjectorSettings::AntiFlickerMode value) const;
 
    ErrorStatus getProjectorAntiFlickerMode(ProjectorSettings::AntiFlickerMode& value) const;
 
    ErrorStatus setLaserSettings(const LaserSettings& value) const;
 
    ErrorStatus getLaserSettings(LaserSettings& value) const;
 
    ErrorStatus setUhpSettings(UhpSettings value) const;
 
    ErrorStatus getUhpSettings(UhpSettings& value) const;
 
    ErrorStatus setUhpCaptureMode(UhpSettings::UhpCaptureMode value) const;
 
    ErrorStatus getUhpCaptureMode(UhpSettings::UhpCaptureMode& value) const;
 
    ErrorStatus setUhpFringeCodingMode(UhpSettings::UhpFringeCodingMode value) const;
 
    ErrorStatus getUhpFringeCodingMode(UhpSettings::UhpFringeCodingMode& value) const;
 
    ErrorStatus saveAllSettingsToUserSets() const;
 
    ErrorStatus setBoardType(HandeyeCalibrationSettings::boardType boardType) const;
 
    ErrorStatus setCalibrateType(HandeyeCalibrationSettings::calibrationType calibrationType) const;
 
    ErrorStatus addPoseAndDetect(const std::vector<double>& poseData) const;
 
    ErrorStatus calculateExtrinsics(std::string& extrinsic) const;
 
    ErrorStatus captureCalibrationFeatureImage(ColorMap& colorMap) const;
 
    ErrorStatus setCurrentUserSet(const std::string& userSetName) const;
 
    ErrorStatus getCurrentUserSet(std::string& userSetName) const;
 
    ErrorStatus getAllUserSets(std::vector<std::string>& userSetNames) const;
 
    ErrorStatus deleteUserSet(const std::string& userSetName) const;
 
    ErrorStatus addUserSet(const std::string& userSetName) const;
 
private:
    MechEyeDeviceImpl* _d;
};
 
} // namespace api
} // namespace mmind