File zed_cam.hpp

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#pragma once

#ifdef HAVE_ZED
#    include "illixr/data_format/camera_data.hpp"
#    include "illixr/data_format/opencv_data_types.hpp"
#    include "illixr/data_format/poses/head_pose.hpp"

#    include 

namespace ILLIXR::data_format {
struct [[maybe_unused]] cam_type_zed : cam_base_type {
    std::size_t         serial_no;
    pose::head_pose_map poses;

    cam_type_zed(time_point _time, cv::Mat _img0, cv::Mat _img1, cv::Mat _rgb, cv::Mat _depth, cv::Mat _confidence,
                 std::size_t _serial_no, pose::head_pose_map _poses)
        : cam_base_type(_time,
                        {{image::LEFT_EYE, _img0},
                         {image::RIGHT_EYE, _img1},
                         {image::RGB, _rgb},
                         {image::DEPTH, _depth},
                         {image::CONFIDENCE, _confidence}},
                        camera::ZED)
        , serial_no{_serial_no}
        , poses{std::move(_poses)} { }
};

} // namespace ILLIXR::data_format
#endif