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 <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() override;
  Davis(const Davis &) = delete;
  Davis(Davis &&) noexcept = delete;
  Davis &operator=(const Davis &) = delete;
  Davis &operator=(Davis &&) noexcept = delete;
  void start(void) override;
 
  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:
  bool dvsEnabled_{true};
  bool apsEnabled_{true};
  bool imuEnabled_{false};
  template <typename T1, typename T2, typename T3>
  void getData_([[maybe_unused]] T1 *dvs, [[maybe_unused]] T2 *aps, [[maybe_unused]] T3 *imu);
};
 
} // namespace ev
 
#endif // OPENEV_DEVICES_DAVIS_HPP