TMF8829_Params.hpp

Go to the documentation of this file.

// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <cstddef>
#include <cstdint>
 
#include "sensorring/device/depth/DepthSensorParams.hpp"
#include "sensorring/device/depth/tmf8829/TMF8829_ResultFormat.hpp"
#include "sensorring/platform/SensorringExport.hpp"
 
namespace eduart {
 
namespace sensorring {
 
namespace device {
enum class ResolutionMode : std::uint8_t {
  Res8x8               = 0,
  Res8x8LongRange      = 1,
  Res8x8HighAccuracy   = 2,
  Res16x16             = 3,
  Res16x16HighAccuracy = 4,
  Res32x32             = 5,
  Res32x32HighAccuracy = 6,
  Res48x32             = 7,
  Res48x32HighAccuracy = 8
};

unsigned int getXResolution(ResolutionMode mode);

unsigned int getYResolution(ResolutionMode mode);

SENSORRING_EXPORT std::string toString(ResolutionMode mode) noexcept;

SENSORRING_EXPORT std::ostream& operator<<(std::ostream& os, ResolutionMode mode) noexcept;

struct SENSORRING_EXPORT TMF8829_Params : public DepthSensorParams {

  TMF8829_Params() { max_rate_hz = 30.0; }

  TMF8829_Params(const DepthSensorParams& params)
      : DepthSensorParams{ params } {
    max_rate_hz = 30.0;
  };

  ResolutionMode resolution_mode = ResolutionMode::Res8x8;

  std::uint16_t k_iterations = 0;

  TMF8829_ResultFormat result_format;

  std::size_t calculateResultFrameSize() const;

  bool isResultSizeValid() const;
};
 
} // namespace device
 
} // namespace sensorring
 
} // namespace eduart