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#ifndef CAMERA_H
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#ifndef CAMERA_H
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#define CAMERA_H
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#define CAMERA_H
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#include <iostream>
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#include <iostream>
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#include <vector>
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#include <vector>
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struct CameraFrame {
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struct CameraFrame {
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    unsigned short *memory;
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    void *memory;
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    unsigned int width;
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    unsigned int width;
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    unsigned int height;
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    unsigned int height;
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    unsigned int bitDepth;
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    unsigned int bitDepth;
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    unsigned int channels;
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    unsigned int sizeBytes;
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    unsigned int sizeBytes;
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    unsigned int timeStamp;
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    unsigned int timeStamp;
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    CameraFrame(): memory(NULL), width(0), height(0), bitDepth(0), sizeBytes(0), timeStamp(0){}
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    CameraFrame(): memory(NULL), width(0), height(0), bitDepth(0), channels(0), sizeBytes(0), timeStamp(0){}
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};
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};
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struct CameraSettings {
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struct CameraSettings {
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    float gain;
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    float gain;
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    float shutter; // [ms]
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    float shutter; // [ms]
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    CameraSettings(): gain(0.0), shutter(0.0) {}
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    CameraSettings(): gain(0.0), shutter(0.0) {}
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};
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};
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struct CameraInfo {
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struct CameraInfo {
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    std::string vendor;
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    std::string vendor;
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    std::string model;
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    std::string model;
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    unsigned int busID;
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    unsigned int busID;
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};
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};
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enum CameraTriggerMode {
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enum CameraTriggerMode {
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    triggerModeHardware,
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    triggerModeHardware,
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    triggerModeSoftware
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    triggerModeSoftware
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};
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};
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// Camera factory methods and abstract base class for camera implementations
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// Camera factory methods and abstract base class for camera implementations
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class Camera {
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class Camera {
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    public:
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    public:
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        // Static "camera factory" methods
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        // Static "camera factory" methods
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        static std::vector< std::vector<CameraInfo> > GetInterfaceCameraList();
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        static std::vector< std::vector<CameraInfo> > GetInterfaceCameraList();
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        static Camera* NewCamera(unsigned int interfaceNum, unsigned int camNum, CameraTriggerMode triggerMode);
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        static Camera* NewCamera(unsigned int interfaceNum, unsigned int camNum, CameraTriggerMode triggerMode);
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        // Interface function
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        // Interface function
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        Camera(CameraTriggerMode _triggerMode) : capturing(false), triggerMode(_triggerMode){}
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        Camera(CameraTriggerMode _triggerMode) : capturing(false), triggerMode(_triggerMode){}
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        virtual void startCapture() = 0;
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        virtual void startCapture() = 0;
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        bool isCapturing(){return capturing;}
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        bool isCapturing(){return capturing;}
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        virtual void stopCapture() = 0;
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        virtual void stopCapture() = 0;
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        virtual void trigger() = 0;
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        virtual CameraFrame getFrame() = 0;
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        virtual CameraFrame getFrame() = 0;
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        virtual size_t getFrameSizeBytes() = 0;
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        virtual size_t getFrameSizeBytes() = 0;
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        virtual size_t getFrameWidth() = 0;
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        virtual size_t getFrameWidth() = 0;
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        virtual size_t getFrameHeight() = 0;
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        virtual size_t getFrameHeight() = 0;
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        virtual CameraSettings getCameraSettings() = 0;
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        virtual CameraSettings getCameraSettings() = 0;
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        virtual void setCameraSettings(CameraSettings) = 0;
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        virtual void setCameraSettings(CameraSettings) = 0;
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        virtual ~Camera(){}
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        virtual ~Camera(){}
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    protected:
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    protected:
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        bool capturing;
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        bool capturing;
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        CameraTriggerMode triggerMode;
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        CameraTriggerMode triggerMode;
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};
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};
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#endif
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#endif
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