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Add more CamDataType values, improve docu #219

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Empty file added .devcontainer/.claude/.gitkeep
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Empty file added .devcontainer/.local/.gitkeep
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2 changes: 2 additions & 0 deletions .gitignore
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Expand Up @@ -16,6 +16,8 @@ CMakeCache.txt
*.bag
*.bak
/.devcontainer/.bash_history.d
/.devcontainer/.claude
/.devcontainer/.local
/.devcontainer/.vscode-server
.devcontainer/.gdb/__pycache__
/ws
Expand Down
10 changes: 10 additions & 0 deletions docker/docker-compose.yaml
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Expand Up @@ -48,6 +48,8 @@ services:
# Persistent stuff
- ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
- ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
- ../.devcontainer/.claude:/home/fpsdk/.claude
- ../.devcontainer/.local:/home/fpsdk/.local
# Workspace
- ../.:/home/fpsdk/fixposition-sdk
cap_add:
Expand Down Expand Up @@ -95,6 +97,8 @@ services:
- ../.devcontainer/.bash_logout:/home/fpsdk/.bash_logout
- ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
- ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
- ../.devcontainer/.claude:/home/fpsdk/.claude
- ../.devcontainer/.local:/home/fpsdk/.local
- ../.:/home/fpsdk/fixposition-sdk
cap_add:
- SYS_PTRACE
Expand Down Expand Up @@ -140,6 +144,8 @@ services:
- ../.devcontainer/.bash_logout:/home/fpsdk/.bash_logout
- ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
- ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
- ../.devcontainer/.claude:/home/fpsdk/.claude
- ../.devcontainer/.local:/home/fpsdk/.local
- ../.:/home/fpsdk/fixposition-sdk
cap_add:
- SYS_PTRACE
Expand Down Expand Up @@ -182,6 +188,8 @@ services:
- ../.devcontainer/.bash_logout:/home/fpsdk/.bash_logout
- ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
- ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
- ../.devcontainer/.claude:/home/fpsdk/.claude
- ../.devcontainer/.local:/home/fpsdk/.local
- ../.:/home/fpsdk/fixposition-sdk
cap_add:
- SYS_PTRACE
Expand Down Expand Up @@ -224,6 +232,8 @@ services:
- ../.devcontainer/.bash_logout:/home/fpsdk/.bash_logout
- ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
- ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
- ../.devcontainer/.claude:/home/fpsdk/.claude
- ../.devcontainer/.local:/home/fpsdk/.local
- ../.:/home/fpsdk/fixposition-sdk
cap_add:
- SYS_PTRACE
Expand Down
24 changes: 15 additions & 9 deletions examples/camera_streaming/camera_streaming.cpp
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Expand Up @@ -58,6 +58,10 @@ using namespace fpsdk::common::string;
using namespace fpsdk::common::time;
using namespace fpsdk::common::video;

#if !FPSDK_USE_FFMPEG
# error This app must be compiled with FFmpeg support!
#endif

// ---------------------------------------------------------------------------------------------------------------------

// Statistics
Expand Down Expand Up @@ -160,8 +164,8 @@ int main(int argc, char** argv)

// Generic info
std::size_t len =
std::snprintf(info, sizeof(info), "Frame %6" PRIuMAX ": %-7s %-5s %-10s %-9s %-7s %6" PRIuMAX " %s %4.1f",
n_frames, data.valid_ ? "valid" : "invalid", CamIdToStr(data.cam_id_), CamDataTypeToStr(data.type_),
std::snprintf(info, sizeof(info), "Frame %6" PRIuMAX ": %06" PRIuMAX " %-7s %-5s %-10s %-9s %-7s %6" PRIuMAX " %s %4.1f",
n_frames, data.seq_, data.valid_ ? "valid" : "invalid", CamIdToStr(data.cam_id_), CamDataTypeToStr(data.type_),
CamDataFmtToStr(data.fmt_), CamDataFrmToStr(data.frm_), data.data_.size(), t_data.StrIsoTime(3).c_str(),
Duration::FromNSec(data.dt_).GetSec() * 1e3);

Expand All @@ -185,19 +189,21 @@ int main(int argc, char** argv)
if (decoder) {
TicToc tt;
const auto img = decoder->DecodeFrame(data.data_);
if (!img) {
ok = false;
break;

// Decoding adds latency
if (img) {
const auto lat = tt.Toc().GetSec() * 1e3; // [ms]
len += std::snprintf(&info[len], sizeof(info) - len, " -- decode: %+5.1f", lat);
stats.dec(lat);
} else {
len += std::snprintf(&info[len], sizeof(info) - len, " -- DECODE FAIL");
continue;
}

// --------------------------------------------------------------------------------------
// Now we have the decoded image in "img" and all the raw data and meta data in "data"...
// --------------------------------------------------------------------------------------

// Decoding adds latency
const auto lat = tt.Toc().GetSec() * 1e3; // [ms]
len += std::snprintf(&info[len], sizeof(info) - len, " -- decode: %+5.1f", lat);
stats.dec(lat);
}
}

Expand Down
14 changes: 9 additions & 5 deletions fpsdk_common/include/fpsdk_common/cam.hpp
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Expand Up @@ -84,11 +84,15 @@ CamId CamIdFromValOr(const uint8_t val, const CamId def);
*/
enum class CamDataType : uint8_t // clang-format off
{
UNSPECIFIED = 0, //!< Unspecified
HIRES_IMG = 1, //!< High-res image
LORES_IMG = 2, //!< Low-res image
HIRES_VID = 3, //!< High-res video
LORES_VID = 4, //!< Low-res video
UNSPECIFIED = 0, //!< Unspecified
HIRES_IMG = 1, //!< High-res image (typically CamDataFmt::NV12)
LORES_IMG = 2, //!< Low-res image (typically CamDataFmt::NV12)
HIRES_VID = 3, //!< High-res video (typically CamDataFmt::H265)
LORES_VID = 4, //!< Low-res video (typically CamDataFmt::JPEG)
FURES_IMG = 5, //!< Full-res image (typically CamDataFmt::NV12, for some cameras/sensors only, not streamable)
FURES_VID = 6, //!< Full-res video (typically CamDataFmt::H265, for some cameras/sensors only)
DEPTH_IMG = 7, //!< Internal use, ignore
DEPTH_VID = 8, //!< Internal use, ignore
}; // clang-format on

/**
Expand Down
34 changes: 16 additions & 18 deletions fpsdk_common/src/cam.cpp
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Expand Up @@ -84,6 +84,10 @@ const char* CamDataTypeToStr(const CamDataType type)
case CamDataType::LORES_IMG: return "LORES_IMG";
case CamDataType::HIRES_VID: return "HIRES_VID";
case CamDataType::LORES_VID: return "LORES_VID";
case CamDataType::FURES_IMG: return "FURES_IMG";
case CamDataType::FURES_VID: return "FURES_VID";
case CamDataType::DEPTH_IMG: return "DEPTH_IMG";
case CamDataType::DEPTH_VID: return "DEPTH_VID";
} // clang-format on
return "?";
}
Expand All @@ -95,6 +99,10 @@ CamDataType CamDataTypeFromStrOr(const char* str, const CamDataType def)
if (std::strcmp(str, "LORES_IMG") == 0) { return CamDataType::LORES_IMG; }
if (std::strcmp(str, "HIRES_VID") == 0) { return CamDataType::HIRES_VID; }
if (std::strcmp(str, "LORES_VID") == 0) { return CamDataType::LORES_VID; }
if (std::strcmp(str, "FURES_IMG") == 0) { return CamDataType::FURES_IMG; }
if (std::strcmp(str, "FURES_VID") == 0) { return CamDataType::FURES_VID; }
if (std::strcmp(str, "DEPTH_IMG") == 0) { return CamDataType::DEPTH_IMG; }
if (std::strcmp(str, "DEPTH_VID") == 0) { return CamDataType::DEPTH_VID; }
return def; // clang-format on
}

Expand All @@ -106,6 +114,10 @@ CamDataType CamDataTypeFromValOr(const uint8_t val, const CamDataType def)
case EnumToVal(CamDataType::LORES_IMG): return CamDataType::LORES_IMG;
case EnumToVal(CamDataType::HIRES_VID): return CamDataType::HIRES_VID;
case EnumToVal(CamDataType::LORES_VID): return CamDataType::LORES_VID;
case EnumToVal(CamDataType::FURES_IMG): return CamDataType::FURES_IMG;
case EnumToVal(CamDataType::FURES_VID): return CamDataType::FURES_VID;
case EnumToVal(CamDataType::DEPTH_IMG): return CamDataType::DEPTH_IMG;
case EnumToVal(CamDataType::DEPTH_VID): return CamDataType::DEPTH_VID;
}
return def; // clang-format on
}
Expand Down Expand Up @@ -583,26 +595,12 @@ std::unique_ptr<CamStream> CreateCamStream(const CamStreamParams& params)
// Some sanity checks..
bool ok = true;

switch (params.cam_id_) {
case CamId::CAM1:
case CamId::CAM2:
case CamId::CAM3:
case CamId::CAM4:
break;
case CamId::UNSPECIFIED:
ok = false;
break;
if (params.cam_id_ == CamId::UNSPECIFIED) {
ok = false;
}

switch (params.type_) {
case CamDataType::HIRES_VID:
case CamDataType::HIRES_IMG:
case CamDataType::LORES_IMG:
case CamDataType::LORES_VID:
break;
case CamDataType::UNSPECIFIED:
ok = false;
break;
if (params.type_ == CamDataType::UNSPECIFIED) {
ok = false;
}

// Some data types support only rate 1 (typically for example HIRES_VID), but only the sensor knows what's okay and
Expand Down
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