StereoImageProviderInterface.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_MEDIA_STEREO_IMAGE_PROVIDER_INTERFACE_H
#define META_OCEAN_MEDIA_STEREO_IMAGE_PROVIDER_INTERFACE_H
 
#include "ocean/media/Media.h"
 
#include "ocean/base/Frame.h"
#include "ocean/base/Timestamp.h"
 
#include "ocean/math/FisheyeCamera.h"
#include "ocean/math/HomogenousMatrix4.h"
 
namespace Ocean
{
 
namespace Media
{
 
/**
 * This class is the abstract base class for all stereo image providers.
 * The provider allows access to stereo images, their corresponding camera calibration data, and optional device poses.
 * @ingroup media
 */
class StereoImageProviderInterface
{
    public:
 
        /**
         * Destructs this interface.
         */
        virtual inline ~StereoImageProviderInterface();
 
        /**
         * Returns the next stereo images from the provider, further optional transformations between device and world, and between cameras and device will be provided.
         * @param fisheyeCameraA The resulting camera profile of the first stereo image, will be valid
         * @param fisheyeCameraB The resulting camera profile of the second stereo image, will be valid
         * @param imageA The resulting first stereo image, will be valid
         * @param imageB The resulting second stereo image, will be valid
         * @param world_T_device Optional resulting transformation transforming device to world, if known, otherwise invalid
         * @param device_T_cameraA Optional resulting transformation transforming the first camera to device, if known, otherwise invalid
         * @param device_T_cameraB Optional resulting transformation transforming the second camera to device, if known, otherwise invalid
         * @param world_T_leftHandJoints Optional resulting transformations to map from the left hand joints to world coordinates, if known, otherwise invalid
         * @param world_T_rightHandJoints Optional resulting transformations to map from the right hand joints to world coordinates, if known, otherwise invalid
         * @param abort Optional abort statement allowing to abort the pending request at any time; set the value True to abort the request
         * @return True, if the next stereo images could be provided; False, if no further stereo images exist
         * @see hasDeviceTransformations(), hasCameraTransformations().
         */
        virtual bool nextStereoImages(FisheyeCamera& fisheyeCameraA, FisheyeCamera& fisheyeCameraB, Frame& imageA, Frame& imageB, HomogenousMatrixD4* world_T_device = nullptr, HomogenousMatrixD4* device_T_cameraA = nullptr, HomogenousMatrixD4* device_T_cameraB = nullptr, HomogenousMatricesD4* world_T_leftHandJoints = nullptr, HomogenousMatricesD4* world_T_rightHandJoints = nullptr, bool* abort = nullptr) = 0;
 
        /**
         * Restarts with the first pair of stereo images.
         * @return True, if succeeded
         */
        virtual bool restart() = 0;
 
        /**
         * Returns whether the provider has access to the transformations between device and world (world_T_device).
         * @return True, if so
         */
        virtual bool hasDeviceTransformations() const = 0;
 
        /**
         * Returns whether the provider has access to the transformations between camerans and device (device_T_cameraA and device_T_cameraB).
         * @return True, if so
         */
        virtual bool hasCameraTransformations() const = 0;
 
        /**
         * Returns whether this provider can provide valid stereo images (e.g., whether the underlying resources are initialized and whether the source exists).
         * @return True, if so
         */
        virtual bool isValid() const = 0;
 
        /**
         * Releases all owned resources like e.g., the image sequence objects.
         */
        virtual void release() = 0;
 
    protected:
 
        /**
         * Protected default constructor.
         */
        inline StereoImageProviderInterface();
};
 
StereoImageProviderInterface::StereoImageProviderInterface()
{
    // nothing to do here
}
 
StereoImageProviderInterface::~StereoImageProviderInterface()
{
    // nothing to do here
}
 
}
 
}
 
#endif // META_OCEAN_MEDIA_STEREO_IMAGE_PROVIDER_INTERFACE_H