pipeline.hpp

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// SPDX-FileCopyrightText: Copyright (c) 2025 Sensui Yagi. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
 
#pragma once
 
#include "retinify/geometry.hpp"
#include "retinify/status.hpp"
 
#include <array>
#include <cstddef>
#include <cstdint>
 
namespace retinify
{
enum class PixelFormat : std::uint8_t
{
    GRAY8,
    RGB8,
};
 
enum class DepthMode : std::uint8_t
{
    FAST,
    BALANCED,
    ACCURATE,
};
 
class RETINIFY_API Pipeline
{
  public:
    Pipeline() noexcept;
    ~Pipeline() noexcept;
    Pipeline(const Pipeline &) = delete;
    auto operator=(const Pipeline &) noexcept -> Pipeline & = delete;
    Pipeline(Pipeline &&) noexcept = delete;
    auto operator=(Pipeline &&) noexcept -> Pipeline & = delete;
 
    [[nodiscard]] auto Initialize(std::uint32_t imageWidth, std::uint32_t imageHeight,                                    //
                                  PixelFormat pixelFormat = PixelFormat::RGB8, DepthMode depthMode = DepthMode::ACCURATE, //
                                  const CalibrationParameters &calibrationParameters = CalibrationParameters{}) noexcept -> Status;
 
    RETINIFY_DEPRECATED("Use Execute() instead")
    [[nodiscard]] auto Run(const std::uint8_t *leftImageData, std::size_t leftImageStride,   //
                           const std::uint8_t *rightImageData, std::size_t rightImageStride, //
                           float *disparityData, std::size_t disparityStride) noexcept -> Status;
 
    [[nodiscard]] auto Execute(const std::uint8_t *leftImageData, std::size_t leftImageStride, //
                               const std::uint8_t *rightImageData, std::size_t rightImageStride) noexcept -> Status;
 
    [[nodiscard]] auto RetrieveRectifiedLeftImage(std::uint8_t *leftImageData, std::size_t leftImageStride) noexcept -> Status;
 
    [[nodiscard]] auto RetrieveRectifiedRightImage(std::uint8_t *rightImageData, std::size_t rightImageStride) noexcept -> Status;
 
    [[nodiscard]] auto RetrieveRectifiedImages(std::uint8_t *leftImageData, std::size_t leftImageStride, //
                                               std::uint8_t *rightImageData, std::size_t rightImageStride) noexcept -> Status;
 
    [[nodiscard]] auto RetrieveDisparity(float *disparityData, std::size_t disparityStride) noexcept -> Status;
 
    [[nodiscard]] auto RetrieveDepth(float *depthData, std::size_t depthStride) noexcept -> Status;
 
    [[nodiscard]] auto RetrievePointCloud(float *pointCloudData, std::size_t pointCloudStride) noexcept -> Status;
 
  private:
    class Impl;
    auto impl() noexcept -> Impl *;
    [[nodiscard]] auto impl() const noexcept -> const Impl *;
    static constexpr std::size_t BufferSize{2048};
    alignas(alignof(std::max_align_t)) std::array<unsigned char, BufferSize> buffer_{};
};
} // namespace retinify