120 lines
4.6 KiB
C++
120 lines
4.6 KiB
C++
#pragma once
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#include "fgc/CameraProfile.h"
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#include <cstdint>
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#include <functional>
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#include <string>
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#include <vector>
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namespace fgc {
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// One captured frame, owning a copy of its pixel buffer (was image_store_8bit).
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struct Frame {
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std::vector<uint8_t> data;
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uint32_t width = 0;
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uint32_t height = 0;
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int channels = 0; // 1 (mono) or 3 (RGB)
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long long timestamp_ms = 0; // Unix epoch ms
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int cam_id = 0; // index into the configured camera list
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};
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// Live per-camera identity, sensor telemetry, and acquisition stats, for the
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// expanded camera view. Populated by deviceInfo(); fields the source can't read
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// are left at their defaults.
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struct CameraDeviceInfo {
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std::string id;
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std::string model;
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std::string serial;
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bool streaming = false;
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// Current frame geometry as delivered.
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uint32_t width = 0;
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uint32_t height = 0;
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long long payload_bytes = 0;
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// Live sensor telemetry (read from the camera, throttled).
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double exposure_us = 0.0;
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double gain_db = 0.0;
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double temperature_c = 0.0;
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double actual_fps = 0.0;
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// Cumulative acquisition stats since the source was created.
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long long frames_delivered = 0;
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long long frames_dropped = 0; // incomplete/invalid deliveries
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long long restarts = 0; // stream restarts (restart-on-stall)
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};
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// Abstraction over the camera array. Implemented by VimbaCameraSource (Allied
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// Vision Vimba X) and MockCameraSource (synthetic frames, no hardware).
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//
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// Completed frames are delivered to the callback set via setFrameCallback();
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// the consumer (ImagePipeline) encodes and stores them.
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class ICameraSource {
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public:
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using FrameCallback = std::function<void(const Frame&)>;
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virtual ~ICameraSource() = default;
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virtual void open() = 0; // acquire/open cameras
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virtual void close() = 0;
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virtual void start() = 0; // begin acquisition
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virtual void stop() = 0;
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// Capture one image and deliver it to the frame callback. Returns true on
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// success. The camera free-runs, so this hands over the freshest complete
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// frame; it returns false when no frame newer than the last one is available
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// yet, and the caller simply retries.
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virtual bool trigger() = 0;
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// Apply a profile to one camera, identified by its index in the order the
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// source opened them (the same index Frame::cam_id carries). The backend
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// loads the profile's settings XML through its SDK - see CameraProfile.h.
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// Default: no-op, for sources with nothing to configure.
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virtual bool setProfile(int /*camera_index*/, const CameraProfile& /*profile*/) {
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return false;
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}
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virtual void setFrameCallback(FrameCallback cb) = 0;
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// Number of cameras this source manages.
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virtual int cameraCount() const = 0;
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// Live identity/telemetry/stats per camera, for the expanded camera view.
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// Default: none. Implementations may refresh a throttled cache, so non-const.
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virtual std::vector<CameraDeviceInfo> deviceInfo() { return {}; }
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// ---- For `test camera` only ------------------------------------------------
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// The camera's configuration otherwise changes through setProfile() and
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// nothing else; these let the self-test drive a camera to known extremes and
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// then put it back. Defaults: unsupported, which the test reports as "not
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// checked" rather than as a fault.
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// The next complete frame from one camera that arrives after this call, into
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// `out`. False if none arrives within `timeout_ms`. The stream must be
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// running (start()); this does not start it.
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virtual bool grabFrame(int /*camera_index*/, Frame& /*out*/, int /*timeout_ms*/) {
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return false;
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}
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// Set one camera feature by its GenICam name, the value given as text ("Off",
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// "66.4", "true"). False if the camera has no such feature or refuses it.
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virtual bool setFeature(int /*camera_index*/, const std::string& /*name*/,
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const std::string& /*value*/) {
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return false;
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}
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// A numeric feature's range. False if absent or not numeric.
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virtual bool featureRange(int /*camera_index*/, const std::string& /*name*/,
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double& /*min*/, double& /*max*/) {
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return false;
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}
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// Put a camera back on the profile it was configured with, undoing every
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// setFeature() since. False if that failed - which leaves the camera on
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// settings nobody chose, so callers must say so loudly.
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virtual bool restoreProfile(int /*camera_index*/) { return false; }
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};
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} // namespace fgc
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