Camera.h

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#ifndef DW_SENSORS_CAMERA_CAMERA_H__
#define DW_SENSORS_CAMERA_CAMERA_H__

#include <dw/core/Config.h>
#include <dw/core/Types.h>

#include <dw/sensors/Sensors.h>

#include <dw/image/Image.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwCameraFrame *dwCameraFrameHandle_t;

typedef enum dwCameraOutputType {
    DW_CAMERA_PROCESSED_IMAGE = 1 << 0,
    DW_CAMERA_RAW_IMAGE       = 1 << 1,
    DW_CAMERA_DATALINES       = 1 << 2,
} dwCameraOutputType;

typedef enum dwCameraRawFormat {
    DW_CAMERA_RAW_FORMAT_UNKNOWN  = 0,

    DW_CAMERA_RAW_FORMAT_RGGB     = 7000,
    DW_CAMERA_RAW_FORMAT_BGGR     = 7100,
    DW_CAMERA_RAW_FORMAT_GRBG     = 7200,
    DW_CAMERA_RAW_FORMAT_GBRG     = 7300,

    DW_CAMERA_RAW_FORMAT_RCCB     = 8000,
    DW_CAMERA_RAW_FORMAT_BCCR     = 8100,
    DW_CAMERA_RAW_FORMAT_CRBC     = 8200,
    DW_CAMERA_RAW_FORMAT_CBRC     = 8300,

    DW_CAMERA_RAW_FORMAT_RCCC     = 9000,
    DW_CAMERA_RAW_FORMAT_CRCC     = 9100,
    DW_CAMERA_RAW_FORMAT_CCRC     = 9200,
    DW_CAMERA_RAW_FORMAT_CCCR     = 9300
} dwCameraRawFormat;

typedef enum dwCameraType {
    DW_CAMERA_GENERIC              = 0,  
    DW_CAMERA_GMSL_OV10635         = 1,  
    DW_CAMERA_GMSL_OV10640         = 2,  
    DW_CAMERA_GMSL_AR0231_RGGB     = 3,  
    DW_CAMERA_GMSL_AR0231_RCCB     = 4,  
    DW_CAMERA_GMSL_AR0231_RCCB_SSC = 5,  
    DW_CAMERA_USB_GENERIC          = 6,  
    DW_CAMERA_GMSL_AR0231_RCCB_BAE = 7,  
    DW_CAMERA_GMSL_OV10640_SVC210  = 8,  
    DW_CAMERA_GMSL_OV10640_SVC212  = 9,  
    DW_CAMERA_GMSL_AR0231_RCCB_SS3322  = 10,  
    DW_CAMERA_GMSL_AR0231_RCCB_SS3323  = 11,  
    DW_CAMERA_GMSL_AR0144              = 12,  
} dwCameraType;

typedef struct dwCameraProperties {
    float32_t framerate;     
    uint32_t siblings;       
    int32_t outputTypes;     
    dwCameraType cameraType; 
    dwVector2ui resolution;  
    dwCameraRawFormat rawFormat; 
} dwCameraProperties;

DW_API_PUBLIC
dwStatus dwSensorCamera_readFrame(dwCameraFrameHandle_t *frameHandle, uint32_t sibling,
                                  dwTime_t timeout_us, dwSensorHandle_t sensor);


DW_API_PUBLIC
dwStatus dwSensorCamera_returnFrame(dwCameraFrameHandle_t *frameHandle);



DW_API_PUBLIC
dwStatus dwSensorCamera_getDataLines(const dwImageDataLines **dataLines, dwCameraFrameHandle_t frameHandle);

DW_API_PUBLIC
dwStatus dwSensorCamera_getImageCUDA(dwImageCUDA **image, dwCameraOutputType format,
                                     dwCameraFrameHandle_t frameHandle);


DW_API_PUBLIC
dwStatus dwSensorCamera_getImageCPU(dwImageCPU **image, dwCameraOutputType format,
                                    dwCameraFrameHandle_t frameHandle);


DW_API_PUBLIC
dwStatus dwSensorCamera_getSensorProperties(dwCameraProperties *properties,
                                            dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorCamera_getImageProperties(dwImageProperties *imageProperties,
                                           dwCameraOutputType type,
                                           dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorCamera_getTimestamp(dwTime_t* timestamp, dwCameraFrameHandle_t frameHandle);

#ifdef __cplusplus
}
#endif

// OS-specific
#ifdef VIBRANTE
#include "Camera_vibrante.h"
#endif

#endif // DW_SENSORS_CAMERA_CAMERA_H__