davis.hpp

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#ifndef OPENEV_DEVICES_DAVIS_HPP
#define OPENEV_DEVICES_DAVIS_HPP
 
#include "openev/devices/abstract-camera.hpp"
#include <ostream>
#include <stdint.h>
#include <string>
#include <vector>
 
namespace ev {
[[maybe_unused]] constexpr bool USING_DAVIS_HPP = true;

struct BiasValue {
  uint8_t coarse;
  uint8_t fine;
  [[nodiscard]] friend std::ostream &operator<<(std::ostream &os, const struct BiasValue &value) {
    os << "Coarse: " << static_cast<int>(value.coarse) << ", Fine: " << static_cast<int>(value.fine);
    return os;
  }
};

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;

  void start() override;

  [[nodiscard]] bool hasAps() const override {
    return true;
  }

  [[nodiscard]] bool hasImu() const override {
    return true;
  }

  [[nodiscard]] cv::Size getSensorSize() const override;

  [[nodiscard]] std::string getSerialNumber() const override;

  bool setRoi(const cv::Rect_<uint16_t> &roi) override;

  BiasValue getBias(const uint8_t name) const;

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

  [[nodiscard]] static uint32_t biasToCurrent(const BiasValue &value);

  void enableDvs(bool state);

  void enableAps(bool state);

  void setApsTimeInterval(uint32_t usec);

  [[nodiscard]] uint32_t getApsExposure() const;

  void setApsExposure(uint32_t usec);

  void enableApsAutoExposure(bool state);

  void enableImu(bool state);
 
private:
  std::size_t setDvsFilterPixels(const std::vector<cv::Point> &pixels) override;
};
 
} // namespace ev
 
#endif // OPENEV_DEVICES_DAVIS_HPP