Vehicle-cpp/ZJ_PRO/webrtcinterop/include/MvGmslCamera.h

/**

 * 版权声明

 */

#ifndef __MV_GMSL_CAMERA_H__
#define __MV_GMSL_CAMERA_H__

#include <cstdint>
#ifdef MIIVII_NO_OPENCV
#else
#include <opencv2/opencv.hpp>
#endif
#include "MvGmslCameraVersion.h"
#define CAMERA_NUM 8

struct sync_out_a_cfg_client_t
{
    uint8_t  sync_camera_num;       //sync access camera num
    uint8_t  sync_freq;             //sync camera frequency
    uint8_t  sync_camera_bit_draw;  //assign camera to sync
    uint8_t  async_camera_num;      //async access camera num
    uint8_t  async_freq;                //async camera frequency
    uint8_t  async_camera_bit_draw;     //assign camera to async
    uint8_t  async_camera_pos[CAMERA_NUM];
};

typedef struct {
    std::string dev_node;
    std::string camera_fmt_str;
    std::string output_fmt_str;
    uint cam_w;
    uint cam_h;
    uint out_w;
    uint out_h;
} camera_context_t;

namespace miivii {
    class MvGmslCamera {
    public:
        /**
        * Init GMSL camera with input patameters.
        *
        *
        * @param[in] &devName Camera's device node name.
        * @param[in] camCount Number of cameras plugged into the device node.
        * @param[in] camWidth Single camera output width.
        * @param[in] camHeight Single camera output height.
        * @param[in] fps Frame rate(expressed in frames per second or FPS) .
        * @param[in] imgWidth Output image width.
        * @param[in] imgHeight Output image height.
        * @param[in] format Image format.
        *
        * The SDK makes it easy to convert the camera output resolution to customize output image resolution you want.
        * It uses the VIC(Video Image Compositor) for conversion, Therefore faster and more power-efficient.
        *
        * The GMSL-SDK supports following image format.
        * UYVY, VYUY, YUYV, YUV420M,
        * ABGR32, XBGR32, ARGB32.
        * The code bellow demonstrate how set the SDK for ABGR32 format image:
        * MvGmslCamera(_devName, 4, 1280, 720, 25, 1024, 576, string("ABGR32") );
        *
        */

        MvGmslCamera(struct sync_out_a_cfg_client_t camera_cfg);

        MvGmslCamera(camera_context_t *cam_ctx, uint32_t camCount, struct sync_out_a_cfg_client_t camera_cfg);

        /**
         * Terminate camera call.
         * */
        ~MvGmslCamera();

        /**
        * Get output RAW image.
        *
        * @param[in] *ppdata[] A pointer to get the image memory.
        * @param[out] timestamp[] The exact time when this photo exposured.
        *
        *
        * */
        bool GetImagePtr(uint8_t *ppdata[], uint64_t *timestamp,uint8_t camera_no);
#ifdef MIIVII_NO_OPENCV
#else
        /**
        * Get cv::Mat type output image.
        *
        * @param[in] outMat[] A mat array whose size corresponding to camera count.
        * @param[out] timestamp[] The exact time when the photos exposured.
        *
        * */

        bool GetImageCvMat(cv::Mat out_mat[], uint64_t *timestamp,uint8_t camera_no);
#endif
        /**
        * Get output RAW image.
        *
        * @param[in] *ppdata[] A pointer to get the image memory.
        * @param[out] timestamp The exact time when this photo exposured.
        *
        *
        * */
        bool GetImagePtr(uint8_t *ppdata[], uint64_t &timestamp,uint8_t camera_no,std::string camera_dev);
#ifdef MIIVII_NO_OPENCV
#else
        /**
        * Get cv::Mat type output image.
        *
        * @param[in] outMat[] A mat array whose size corresponding to camera count.
        * @param[out] timestamp The exact time when the photos exposured.
        *
        * */

        bool GetImageCvMat(cv::Mat out_mat[], uint64_t &timestamp,uint8_t camera_no,std::string camera_dev);
#endif
        /**
        * Get cv::Mat type output image.
        *
        * @param[in] CameraNum Camera namber.example:/dev/video1 CameraNum = 1
        * @param[out] &timestamp The exact time when the photos exposured.
        * The demo is in the cameras_opencv_demo.cpp
        * Getting the timestamp needs to be called after getting the image.
        * */
        bool GetGmslTimeStamp(const uint8_t CameraNum,uint64_t &timestamp);

        MvGmslCamera() = delete;

        MvGmslCamera(const MvGmslCamera &) = delete;

        MvGmslCamera &operator=(const MvGmslCamera &) = delete;

    private:

        void *handle_;
    };
}
#endif //__MV_GMSL_CAMERA_H__