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/base/Types.h>
#include <dw/sensors/Sensors.h>
#include <dw/image/Image.h>

// Forward declares from NvMedia
typedef void NvMediaIPPManager;

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwCameraFrame* dwCameraFrameHandle_t;

typedef enum dwCameraOutputType {
    DW_CAMERA_OUTPUT_NATIVE_PROCESSED = 1 << 0,
    DW_CAMERA_OUTPUT_NATIVE_RAW = 1 << 1,
    DW_CAMERA_OUTPUT_CUDA_RGBA_UINT8 = 1 << 2,
    DW_CAMERA_OUTPUT_CUDA_YUV420_UINT8_PLANAR = 1 << 3,
    DW_CAMERA_OUTPUT_CUDA_RAW_UINT16 = 1 << 4,
    DW_CAMERA_OUTPUT_CUDA_YUV420_UINT16_SEMIPLANAR = 1 << 5,
    DW_CAMERA_OUTPUT_CUDA_YUV444_UINT8_PLANAR = 1 << 6,
    DW_CAMERA_OUTPUT_CUDA_YUV444_UINT16_PLANAR = 1 << 7,
} 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,

    DW_CAMERA_RAW_FORMAT_CCCC = 10000,

    DW_CAMERA_RAW_FORMAT_TOF = 20000
} dwCameraRawFormat;

typedef enum dwCameraType {
    DW_CAMERA_GENERIC      = 0,  
    DW_CAMERA_GMSL_AR0231  = 3,  
    DW_CAMERA_USB_GENERIC  = 4,  
    DW_CAMERA_GMSL_AR0144  = 5,  
    DW_CAMERA_GMSL_AR0138  = 6,  
    DW_CAMERA_GMSL_AR0220  = 7,  
    DW_CAMERA_GMSL_AR0820  = 8,  
    DW_CAMERA_GMSL_MN34906 = 9,  
    DW_CAMERA_GMSL_OV2311  = 10, 
    DW_CAMERA_GMSL_IMX390  = 11, 
    DW_CAMERA_GMSL_CUSTOM  = 99  
} dwCameraType;

typedef enum dwCameraExposureControl {
    DW_CAMERA_EXPOSURE_NONE,
    DW_CAMERA_EXPOSURE_UNKNOWN,
    DW_CAMERA_EXPOSURE_AE,
    DW_CAMERA_EXPOSURE_BAE,
    DW_CAMERA_EXPOSURE_CUSTOM
} dwCameraExposureControl;

typedef enum dwCameraFOV {
    DW_CAMERA_FOV_UNKNOWN = 0,
    DW_CAMERA_FOV_30      = 30,
    DW_CAMERA_FOV_48      = 48,
    DW_CAMERA_FOV_50      = 50,
    DW_CAMERA_FOV_55      = 55,
    DW_CAMERA_FOV_60      = 60,
    DW_CAMERA_FOV_65      = 65,
    DW_CAMERA_FOV_90      = 90,
    DW_CAMERA_FOV_100     = 100,
    DW_CAMERA_FOV_110     = 110,
    DW_CAMERA_FOV_120     = 120,
    DW_CAMERA_FOV_185     = 185
} dwCameraFOV;

typedef struct dwCameraProperties
{
    dwCameraType cameraType;          
    dwCameraRawFormat rawFormat;      
    dwCameraExposureControl exposure; 
    float32_t framerate;              
    dwCameraFOV fov;                  
    dwVector2ui resolution;           
    int32_t outputTypes;              
    uint32_t siblings;                
    uint32_t revision;                
    uint32_t imageBitDepth;           
    bool isSimulated;                 
} dwCameraProperties;

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

DW_API_PUBLIC
dwStatus dwSensorCamera_returnFrame(dwCameraFrameHandle_t* frameHandle);

DW_API_PUBLIC
dwStatus dwSensorCamera_getImage(dwImageHandle_t* image, dwCameraOutputType type,
                                 dwCameraFrameHandle_t frame);

DW_API_PUBLIC
dwStatus dwSensorCamera_getImageAsync(dwImageHandle_t* image, dwCameraOutputType type,
                                      dwCameraFrameHandle_t frame);

DW_API_PUBLIC
dwStatus dwSensorCamera_getNvMediaIPPManager(NvMediaIPPManager** manager, dwSensorHandle_t sensor);

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

DW_API_PUBLIC
dwStatus dwSensorCamera_getNumSupportedCaptureModes(uint32_t* numModes,
                                                    dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorCamera_getSupportedCaptureMode(dwCameraProperties* captureMode,
                                                uint32_t modeIdx,
                                                dwSensorHandle_t sensor);

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

DW_API_PUBLIC
dwStatus dwSensorCamera_setCUDAStream(cudaStream_t stream, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorCamera_getCUDAStream(cudaStream_t* stream, dwSensorHandle_t sensor);

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

#ifdef __cplusplus
}
#endif

#endif // DW_SENSORS_CAMERA_CAMERA_H_