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69 lines
1.7 KiB
C
69 lines
1.7 KiB
C
// Copyright 2021 Jan Schmidt <jan@centricular.com>
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Interface to read WMR cameras
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* @author Jan Schmidt <jan@centricular.com>
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* @ingroup drv_wmr
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*/
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#pragma once
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#include "xrt/xrt_config_have.h"
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#include "util/u_logging.h"
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#include "xrt/xrt_prober.h"
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#include "xrt/xrt_frame.h"
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#include "wmr_config.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct wmr_camera;
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#ifdef XRT_HAVE_LIBUSB
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struct wmr_camera *
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wmr_camera_open(struct xrt_prober_device *dev_holo,
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struct xrt_frame_sink *left_sink,
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struct xrt_frame_sink *right_sink,
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enum u_logging_level log_level);
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void
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wmr_camera_free(struct wmr_camera *cam);
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/*!
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* Starts the cameras.
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*
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* The data pointed to by @p configs must be kept alive for as long as the camera is kept alive.
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*/
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bool
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wmr_camera_start(struct wmr_camera *cam, const struct wmr_camera_config *configs, int config_count);
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bool
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wmr_camera_stop(struct wmr_camera *cam);
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/*!
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* Set manual exposure and gain values
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*
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* @param cam Camera container
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* @param camera_id Which camera to affect
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* @param exposure Time the shutter is open, observed values 60-6000.
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* @param gain Amplification of the analog signal, observed values: 16-255.
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*/
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int
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wmr_camera_set_exposure_gain(struct wmr_camera *cam, uint8_t camera_id, uint16_t exposure, uint8_t gain);
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#else
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/* Stubs to disable camera functions without libusb */
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#define wmr_camera_open(dev_holo, left_sink, right_sink, log_level) NULL
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#define wmr_camera_free(cam)
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#define wmr_camera_start(cam, cam_configs, n_configs) false
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#define wmr_camera_stop(cam) false
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#define wmr_camera_set_exposure_gain(cam, camera_id, exposure, gain) -1
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#endif
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#ifdef __cplusplus
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}
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#endif
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