orbbec-sdk-sys 0.1.2+2.5.5

Low-level Rust bindings for https://github.com/orbbec/OrbbecSDK_v2
Documentation 
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// Copyright (c) Orbbec Inc. All Rights Reserved.
// Licensed under the MIT License.

#pragma once

#include "param/AlgParamManager.hpp"
#include "stream/StreamIntrinsicsManager.hpp"
#include "stream/StreamExtrinsicsManager.hpp"
#include "stream/StreamProfileFactory.hpp"
#include <vector>
#include <memory>

namespace libobsensor {

class DaBaiAAlgParamManager : public DisparityAlgParamManagerBase {
public:
    DaBaiAAlgParamManager(IDevice *owner);
    virtual ~DaBaiAAlgParamManager() override = default;

    void bindIntrinsic(std::vector<std::shared_ptr<const StreamProfile>> streamProfileList) override;
    void reFetchDisparityParams();
    void updateD2CProfileList(const std::string currentDepthAlgMode);

private:
    void fetchParamFromDevice() override;
    void registerBasicExtrinsics() override;
    void fixD2CParmaList();
    bool findBestMatchedCameraParam(const std::vector<OBCameraParam> &cameraParamList, const std::shared_ptr<const VideoStreamProfile> &profile,
                                    OBCameraParam &result);
    void d2CProfileListFilter(const std::string currentDepthAlgMode);
    void eulerAnglesToTransform(const OBDETransformEuler &euler, OBExtrinsic &extrinsic);
    void refreshCameraParams();
    void refreshExtrinsicsParams();

private:
    std::vector<OBDepthCalibrationParam>     depthCalibParamList_;
    std::vector<OBCameraParam>               originCalibrationCameraParamList_;
    std::vector<OBD2CProfile>                originD2cProfileList_;
    std::vector<OBD2CColorPreProcessProfile> originD2cColorPreProcessProfileList_;
    // save depth mode filter calibration camera list
    std::vector<OBCameraParam> depthModefilterCameraParamList_;
    //  pre process calibration camera list
    std::vector<OBCameraParam>               preProcessCameraParamList_;
    std::string                              currentDepthAlgMode_;
    std::map<int, bool>                      calibrationParamValidMap_;
    std::vector<OBD2CColorPreProcessProfile> d2cColorPreProcessProfileList_;
    // RectifyD2C params
    OBDERectifyD2CParams d2cRectifyParam_;
    OBDEIRTransformParam depthEngineTransformParam_;
    bool                 irRectifyEnable_ = false;
};

}  // namespace libobsensor