Camera.h

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#pragma once
#include <memory>
#include <vector>
#include "api_global.h"
#include "CameraProperties.h"
#include "ErrorStatus.h"
#include "Frame2DAnd3D.h"
#include "UserSetManager.h"
 
namespace mmind {
 
namespace eye {
 
class MMIND_API_EXPORT Camera
{
public:
    Camera();
 
    ~Camera();
 
    Camera(const Camera& other) noexcept;
 
    Camera& operator=(const Camera& other) noexcept;
 
    static std::vector<CameraInfo> discoverCameras(unsigned int timeoutMs = 5000);
 
    ErrorStatus connect(const CameraInfo& info, unsigned int timeoutMs = 5000);
 
    ErrorStatus connect(const std::string& ipAddress, unsigned int timeoutMs = 5000);
 
    void disconnect();
 
    ErrorStatus setHeartbeatInterval(unsigned int timeIntervalMs);
 
    ErrorStatus getCameraInfo(CameraInfo& info) const;
 
    ErrorStatus getCameraStatus(CameraStatus& status) const;
 
    ErrorStatus getCameraIntrinsics(CameraIntrinsics& intrinsics) const;
 
    ErrorStatus getCameraResolutions(CameraResolutions& resolutions) const;
 
    UserSet& currentUserSet();
 
    UserSetManager& userSetManager();
 
    ErrorStatus capture3D(Frame3D& frame3D, unsigned int timeoutMs = 5000) const;
 
    ErrorStatus capture3DWithNormal(Frame3D& frame3D, unsigned int timeoutMs = 10000) const;
 
    ErrorStatus capture2D(Frame2D& frame2D, unsigned int timeoutMs = 5000) const;
 
    ErrorStatus capture2DAnd3D(Frame2DAnd3D& frame2DAnd3D, unsigned int timeoutMs = 10000) const;
 
    ErrorStatus capture2DAnd3DWithNormal(Frame2DAnd3D& frame2DAnd3D,
                                         unsigned int timeoutMs = 15000) const;
 
    ErrorStatus captureStereo2D(Frame2D& left, Frame2D& right, bool isRectified = false,
                                unsigned int timeoutMs = 5000) const;
 
    ErrorStatus setPointCloudUnit(CoordinateUnit unit);
 
    ErrorStatus getPointCloudUnit(CoordinateUnit& unit) const;
 
    ErrorStatus saveVirtualDeviceFile(const std::string& fileName);
 
private:
    friend class HandEyeCalibration;
    friend class CameraEvent;
    friend class InternalInterfaces;
    std::shared_ptr<class CameraImpl> _cameraImpl;
};
 
} // namespace eye
 
} // namespace mmind