davis.hpp

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#ifndef OPENEV_DEVICES_DAVIS_HPP
#define OPENEV_DEVICES_DAVIS_HPP
 
#include "openev/containers/queue.hpp"
#include "openev/containers/vector.hpp"
#include "openev/devices/abstract-camera.hpp"
#include <cstddef>
#include <stdint.h>
#include <vector>
 
namespace ev {
class Davis : public AbstractCamera {
public:
  constexpr static uint32_t DEFAULT_INTERVAL = 20000;
  constexpr static uint32_t DEFAULT_EXPOSURE = 6500;

  Davis();
  Davis(const Davis &) = delete;
  Davis(Davis &&) noexcept = delete;
  Davis &operator=(const Davis &) = delete;
  Davis &operator=(Davis &&) noexcept = delete;

  BiasValue getBias(const uint8_t name) const;

  bool setBias(const uint8_t name, const BiasValue &value);

  void enableDvs(bool state);

  void setDvsTimeInterval(uint32_t usec);

  void setDvsEventsPerPacket(uint32_t n);

  void enableAps(bool state);

  void setApsTimeInterval(uint32_t usec);

  void setExposure(uint32_t exposure);

  void enableImu(bool state);

  bool getData(Vector &events) override;

  bool getData(Queue &events) override;

  bool getData(StampedMat &frame);

  bool getData(StampedMatVector &frames);

  bool getData(StampedMatQueue &frames);

  bool getData(Imu &imu);

  bool getData(ImuVector &imu);

  bool getData(ImuQueue &imu);

  bool getData(Vector &events, StampedMat &frame);

  bool getData(Vector &events, StampedMatVector &frames);

  bool getData(Queue &events, StampedMatQueue &frames);

  bool getData(Vector &events, Imu &imu);

  bool getData(Vector &events, ImuVector &imu);

  bool getData(Queue &events, ImuQueue &imu);

  bool getData(Vector &events, StampedMat &frame, Imu &imu);

  bool getData(Vector &events, StampedMatVector &frame, ImuVector &imu);

  bool getData(Queue &events, StampedMatQueue &frame, ImuQueue &imu);

  void getEventRaw(std::vector<uint64_t> &data);

  std::size_t getEventRaw(uint64_t *data, const bool allow_realloc = true);
 
private:
  template <typename T1, typename T2, typename T3>
  void getData_([[maybe_unused]] T1 *dvs, [[maybe_unused]] T2 *aps, [[maybe_unused]] T3 *imu);
 
  void init() override;
};
 
} // namespace ev
 
#endif // OPENEV_DEVICES_DAVIS_HPP