56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
#ifndef CEPICEYEDEVICE_H
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#define CEPICEYEDEVICE_H
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#include "IEpicEyeDevice.h"
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#include <mutex>
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#include <string>
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/**
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* @brief CEpicEyeDevice 实现类
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* 封装 EpicEye SDK，实现 3D 相机点云采集功能
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*/
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class CEpicEyeDevice : public IEpicEyeDevice
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{
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public:
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CEpicEyeDevice();
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~CEpicEyeDevice();
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// SDK 版本
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int GetSDKVersion(std::string& version) override;
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// 搜索和连接
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int SearchCameras(std::vector<EpicEyeDeviceInfo>& deviceList) override;
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int Connect(const std::string& ipAddress) override;
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int Disconnect() override;
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bool IsConnected() override;
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// 设备信息
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int GetDeviceInfo(EpicEyeDeviceInfo& deviceInfo) override;
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int GetWidth(unsigned int& width) override;
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int GetHeight(unsigned int& height) override;
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// 触发和获取数据
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int TriggerCapture(std::string& frameID, bool withPointCloud = true) override;
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int GetPointCloud(const std::string& frameID, PointCloudData& pointCloud) override;
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int GetImage(const std::string& frameID, ImageData2D& image) override;
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int GetDepth(const std::string& frameID, DepthData& depth) override;
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// 便捷方法
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int CapturePointCloud(PointCloudData& pointCloud, unsigned int timeout = 5000) override;
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int CaptureImage(ImageData2D& image, unsigned int timeout = 5000) override;
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// 相机参数
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int GetCameraIntrinsics(CameraIntrinsics& intrinsics) override;
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int GetConfig(std::string& configJson) override;
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int SetConfig(const std::string& configJson) override;
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private:
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// 内部成员
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std::string m_ipAddress; // 相机IP地址
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bool m_bConnected; // 连接状态
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EpicEyeDeviceInfo m_deviceInfo; // 设备信息
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std::mutex m_mutex; // 线程安全锁
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};
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#endif // CEPICEYEDEVICE_H
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