dwCameraChannelNode.hpp

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#ifndef DW_FRAMEWORK_CAMERA_NODE_HPP_
#define DW_FRAMEWORK_CAMERA_NODE_HPP_
 
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwcgf/pass/Pass.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
 
#include <dwframework/dwnodes/common/SensorCommonTypes.hpp>
/* Need to include the appropriate ChannelPacketTypes.hpp since port initialization requires
   the parameter_trait overrides. Otherwise, it will be considered as a packet of generic type. */
//#include <dwframework/dwnodes/common/ChannelPacketTypes.hpp>
#include <dwcgf/channel/ChannelPacketTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/Rig.hpp>
 
#include <dw/sensors/Sensors.h>
#include <dw/sensors/SensorExtras.h>
#include <dw/sensors/SensorStats.h>
#include <dw/sensors/camera/Camera.h>
 
namespace dw
{
namespace framework
{
 
class dwCameraChannelNodeImpl;
 
struct dwCameraChannelNodeParams
{
    char8_t const* sensorName;
    cudaStream_t cudaStream;
    bool useEEPROMIntrinsics;
    dwConstRigHandle_t rig;
    dwSALHandle_t sal;
    dw::core::FixedString<32> frameSkipMask;
    dwImageProperties imageProperties;
};
 
class dwCameraChannelNode : public ExceptionSafeSensorNode
{
public:
    static constexpr char LOG_TAG[] = "dwCameraChannelNode";
 
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "SENSOR_EXTRINSICS"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "VIRTUAL_SYNC_TIME"_sv),
            DW_DESCRIBE_PORT(dwImageHandle_t, "IMAGE_NATIVE_PROCESSED"_sv));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwSensorNodeProperties, "SENSOR_PROPERTIES"_sv),
            DW_DESCRIBE_PORT(dwFThetaCameraConfig, "INTRINSICS"_sv),
            DW_DESCRIBE_PORT(dwImageHandle_t, "IMAGE_NATIVE_PROCESSED"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "IMAGE_TIMESTAMP"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "NEXT_IMAGE_TIMESTAMP"_sv),
            DW_DESCRIBE_PORT(dwSensorStats, "SENSOR_STATS"_sv),
            DW_DESCRIBE_PORT(dwSensorTsAndID, "IMAGE_TIMESTAMP_AND_ID"_sv));
    };
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESSED_OUTPUT"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    dwSensorType getSensorType() const
    {
        return DW_SENSOR_CAMERA;
    }
 
    static std::unique_ptr<dwCameraChannelNode> create(ParameterProvider& provider);
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments(
            describeConstructorArgument<dwCameraChannelNodeParams>(
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    const char*,
                    semantic_parameter_types::CameraName,
                    "cameraIndex"_sv,
                    &dwCameraChannelNodeParams::sensorName),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    dwImageProperties,
                    semantic_parameter_types::CameraImagePropertiesNativeProcessed,
                    "cameraIndex"_sv,
                    &dwCameraChannelNodeParams::imageProperties),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "streamIndex"_sv,
                    &dwCameraChannelNodeParams::cudaStream),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "useEEPROMIntrinsics"_sv,
                    &dwCameraChannelNodeParams::useEEPROMIntrinsics),
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwConstRigHandle_t,
                    &dwCameraChannelNodeParams::rig),
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwSALHandle_t,
                    &dwCameraChannelNodeParams::sal)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwCameraChannelNode(dwCameraChannelNodeParams const& params,
                        const dwContextHandle_t ctx);
};
}
}
#endif // DW_FRAMEWORK_CAMERA_NODE_HPP_