CameraColorOutput.h

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/*
Copyright 2007-2026. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/CameraOutput.h>
#include <agxSensor/LazyTrigger.h>
 
#include <agx/Matrix4x4.h>
 
#include <array>
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES(CameraColorOutput);
 
  class AGXSENSOR_EXPORT CameraColorOutput : public agxSensor::ICameraOutput
  {
    public:
      enum ChannelType : int32_t
      {
        I8 = 1,
        U8 = 2,
        I16 = 4,
        U16 = 5,
        I32 = 7,
        U32 = 8,
        F32 = 9,
        I64 = 10,
        U64 = 11,
        F64 = 12
      };
 
    public:
      static size_t sizeOf(ChannelType type);
 
      static agx::Matrix4x4 makeLuminanceColorMappingMatrix();
 
      static agx::Matrix4x4 makeRGBColorMappingMatrix();
 
      static agx::Matrix4x4 makeBGRColorMappnigMatrix();
 
      static agx::Matrix4x4 makeBayerRGGBColorMappingMatrix();
 
      static agx::Matrix4x4 makeBayerRGBWColorMappingMatrix();
 
    public:
      CameraColorOutput();
 
      void setColorMappingMatrix(const agx::Matrix4x4& matrix);
 
      agx::Matrix4x4 getColorMappingMatrix() const;
 
      void setChannelType(ChannelType type);
 
      ChannelType getChannelType() const;
 
      void setChannelCount(size_t channels);
 
      size_t getChannelCount() const;
 
      void setGamma(agx::Real gamma);
 
      agx::Real getGamma() const;
 
      virtual void setResolution(const agx::Vec2i& resolution) override;
 
      virtual agx::Vec2i getResolution() const override;
 
      virtual void setConstantCapture(agx::Real framerate) override;
 
      virtual void setManualCapture() override;
 
      virtual bool isConstantlyCapturing() const override;
 
      virtual OptionalFramerate getFramerate() const override;
 
      virtual void capture() override;
 
      virtual size_t getElementSize() const override;
 
      virtual const BinaryOutputBuffer& getData() override;
 
      virtual bool hasUnreadData(bool markAsRead = true) override;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual ~CameraColorOutput() = default;
 
      virtual void cleanup() override;
 
      virtual void synchronizeParameters(Camera* camera, const CameraBackend& backend) override;
      virtual void resetSynchronizationState() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::CameraColorOutput);
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      void ensureOutputBufferSize();
 
    private:
      CameraColorOutputParameters m_parameters;
      std::array<BinaryOutputBuffer, 2u> m_output;
      size_t m_activeOutput;
      LazyTrigger m_dirty;
      LazyTrigger m_addressChange;
      LazyTrigger m_capture;
  };
}