CameraOutput.h

Go to the documentation of this file.

/*
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/CameraBackend.h>
#include <agxSensor/SensorOutput.h>
#include <agxSensor/SystemNode.h>
 
#include <agx/Vec2.h>
 
#include <optional>
 
namespace agxSensor
{
  using OptionalFramerate = std::optional<agx::Real>;
 
  AGX_DECLARE_POINTER_TYPES(ICameraOutput);
 
  class AGXSENSOR_EXPORT ICameraOutput
    : public SystemNode
    , public ISensorOutput
  {
    public:
      ICameraOutput() = default;
 
      virtual void setResolution(const agx::Vec2i& resolution) = 0;
 
      virtual agx::Vec2i getResolution() const = 0;
 
      virtual void setConstantCapture(agx::Real framerate) = 0;
 
      virtual void setManualCapture() = 0;
 
      virtual bool isConstantlyCapturing() const = 0;
 
      virtual OptionalFramerate getFramerate() const = 0;
 
      virtual void capture() = 0;
 
      virtual size_t getElementSize() const override = 0;
 
      virtual const BinaryOutputBuffer& getData() override = 0;
 
      virtual bool hasUnreadData( bool markAsRead = true ) override = 0;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual void synchronizeParameters(Camera* camera, const CameraBackend& backend) = 0;
      virtual void resetSynchronizationState() = 0;
 
      AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE(agxSensor::ICameraOutput);
 
      DOXYGEN_END_INTERNAL_BLOCK()
  };
 
  DOXYGEN_START_INTERNAL_BLOCK()  // SWIG
 
#pragma pack(push, 1)
  template <typename Type, size_t Size>
  struct CameraOutputValue
  {
      Type channels[Size];
 
      inline CameraOutputValue() = default;
      inline CameraOutputValue(const CameraOutputValue&) = default;
 
      inline Type operator[](size_t i) const noexcept { return channels[i]; }
 
      inline Type& operator[](size_t i) noexcept { return channels[i]; }
  };
#pragma pack(pop)
 
  DOXYGEN_END_INTERNAL_BLOCK()
}