GroundSdk release 7.5.0

SdkCore.framework/Headers/Arsdk.h

@@ -42,4 +42,11 @@
 #import "SdkCoreLic.h"
 
 #import "GLError.h"
+
+#import "ThermalProc.h"
+#import "ThermalProcVideo.h"
+#import "ThermalProcPicture.h"
+#import "ThermalProcPictureData.h"
+#import "ThermalProcPaletteFactory.h"
+
 #endif /* Arsdk_h */

SdkCore.framework/Headers/ThermalProc.h

@@ -0,0 +1,157 @@
+//    Copyright (C) 2018 Parrot Drones SAS
+//
+//    Redistribution and use in source and binary forms, with or without
+//    modification, are permitted provided that the following conditions
+//    are met:
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in
+//      the documentation and/or other materials provided with the
+//      distribution.
+//    * Neither the name of the Parrot Company nor the names
+//      of its contributors may be used to endorse or promote products
+//      derived from this software without specific prior written
+//      permission.
+//
+//    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+//    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+//    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+//    FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+//    PARROT COMPANY BE LIABLE FOR ANY DIRECT, INDIRECT,
+//    INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+//    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+//    OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+//    AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+//    OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+//    OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+//    SUCH DAMAGE.
+
+#import "ThermalProcPaletteFactory.h"
+
+/** Thermal camera model. */
+typedef NS_ENUM(NSInteger, ThermalProcThermalCamera) {
+    // Numerical values must be kept in sync with C code (tproc_thermal_camera)
+
+    /** Lepton thermal camera. */
+    ThermalProcThermalCameraLepton = 0,
+
+    /** Boson thermal camera. */
+    ThermalProcThermalCameraBoson = 1,
+};
+
+/** Thermal calibration State. */
+typedef NS_ENUM(NSInteger, ThermalProcCalibrationState) {
+    // Numerical values must be kept in sync with C code (tproc_calibration_state)
+
+    /** Thermal calibration done. */
+    ThermalProcCalibrationStateDone = 0,
+
+    /** Thermal calibration requested. */
+    ThermalProcCalibrationStateRequested = 1,
+
+    /** Thermal calibration in progress. */
+    ThermalProcCalibrationStateInProgress = 2,
+};
+
+/** Thermal Spot.*/
+@interface ThermalProcSpot : NSObject
+/** Spot position. */
+@property (nonatomic, readonly) CGPoint position;
+/** Temperature at the spot */
+@property (nonatomic, readonly) float temperature;
+@end
+
+/** Thermal process tatus */
+@interface ThermalProcStatus : NSObject
+
+/** 'YES' if thermal data are available. */
+@property (nonatomic, readonly) bool hasThermalData;
+
+/**
+ Thermal sensor calibration state.
+
+ Not available if 'hasThermalData' equals 'NO'.
+ */
+@property (nonatomic, readonly) ThermalProcCalibrationState calibrationState;
+
+/**
+ Spot of the minimum temperature of the scene.
+
+ Not available if 'hasThermalData' equals 'NO' or
+ if 'calibrationState' equals 'ThermalCalibrationStateInProgress'.
+ */
+@property (nonatomic, readonly) ThermalProcSpot * _Nullable min;
+
+/**
+ Spot of the maximum temperature of the scene.
+
+ Not available if 'hasThermalData' equals 'NO' or
+ if 'calibrationState' equals 'ThermalCalibrationStateInProgress'.
+ */
+@property (nonatomic, readonly) ThermalProcSpot * _Nullable max;
+
+/**
+ Spot of the probe.
+
+ Not available if 'hasThermalData' equals 'NO' or
+ if 'calibrationState' equals 'ThermalCalibrationStateInProgress'.
+ */
+@property (nonatomic, readonly) ThermalProcSpot * _Nullable probe;
+@end
+
+/** Status callback */
+typedef void(^ThermalProcStatusUpdate)(ThermalProcStatus * _Nonnull status);
+
+/** Rendering Mode. */
+typedef NS_ENUM(NSInteger, ThermalProcRenderingMode) {
+    // Numerical values must be kept in sync with C code (tproc_rendering_mode)
+
+    /** Visible image only. */
+    ThermalProcRenderingModeVisible = 0,
+
+    /** Thermal image only. */
+    ThermalProcRenderingModeThermal = 1,
+
+    /** Blending between visible and thermal images. */
+    ThermalProcRenderingModeBlended = 2,
+
+    /** Visible monochrome image only. */
+    ThermalProcRenderingModeMonochrome = 3,
+};
+
+/** define a thermal processor */
+@protocol ThermalProc
+@required
+
+/**
+ Thermal probe position.
+ Origin point [0;0] is at the render top left and the point [1;1] is at the at render bottom right.
+ */
+@property (atomic) CGPoint probePosition;
+
+/** Thermal palette. */
+@property (nonatomic, assign) id<ThermalProcPalette> _Nonnull palette;
+
+/**
+ The materials emissivity to use in percent from '0.0' to '1.0'.
+ default value is '0.95' emissivity of matte materials.
+ */
+@property (atomic) double emissivity;
+
+/**
+ The background temperature to use to calculate temperatures, in kelvin.
+ Must be greater than '0'; default value is '295.15'.
+ */
+@property (atomic) double backgroundTemp;
+
+/** Rendering mode. */
+@property (atomic) ThermalProcRenderingMode renderingMode;
+
+/**
+ Blending rate between visible and thermal images, from '0.0' to '1.0'.
+ Only used if rendering mode equals TPROC_RENDERING_MODE_BLENDED.
+ */
+@property (atomic) double blendingRate;
+
+@end

SdkCore.framework/Headers/ThermalProcPaletteFactory.h

@@ -0,0 +1,225 @@
+//    Copyright (C) 2018 Parrot Drones SAS
+//
+//    Redistribution and use in source and binary forms, with or without
+//    modification, are permitted provided that the following conditions
+//    are met:
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in
+//      the documentation and/or other materials provided with the
+//      distribution.
+//    * Neither the name of the Parrot Company nor the names
+//      of its contributors may be used to endorse or promote products
+//      derived from this software without specific prior written
+//      permission.
+//
+//    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+//    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+//    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+//    FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+//    PARROT COMPANY BE LIABLE FOR ANY DIRECT, INDIRECT,
+//    INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+//    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+//    OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+//    AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+//    OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+//    OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+//    SUCH DAMAGE.
+
+
+/**
+ Define a Thermal Color.
+
+ Color composing a thermal palette.
+ */
+@interface ThermalProcColor : NSObject
+/** Rate of red of the color. */
+@property (nonatomic, readonly) float red;
+/** Rate of green of the color. */
+@property (nonatomic, readonly) float green;
+/** Rate of blue of the color. */
+@property (nonatomic, readonly) float blue;
+/** Position of the color in the palette. */
+@property (nonatomic, readonly) float position;
+
+/**
+ Create a thermal color.
+
+ @param red: the rate of red of the color.
+ @param green: the rate of green of the color.
+ @param blue: the rate of blue of the color.
+ @param position: the position of the color in the palette.
+ */
+- (instancetype _Nonnull)initWithRed:(float)red green:(float)green blue:(float)blue position:(float)position;
+@end
+
+/**
+ Define a Thermal Palette.
+
+ List of colors with their position associated.
+ */
+@protocol ThermalProcPalette <NSObject>
+
+/**
+ Palette Colors
+ Array of `ThermalProcColor`.
+ */
+@property (nonatomic, readonly) NSArray * _Nonnull colors;
+
+@end
+
+/**
+ Absolute Thermal Palette.
+
+ Palette used between temperature range set.
+ The palette can be limited or extended for out of range temperatures.
+ */
+@protocol ThermalProcAbsolutePalette <ThermalProcPalette>
+
+/**
+ Temperature associated to the lower boundary of the palette, in kelvin.
+ */
+@property (nonatomic) double lowestTemperature;
+
+/**
+ Temperature associated to the higher boundary of the palette, in kelvin.
+ */
+@property (nonatomic) double highestTemperature;
+
+/**
+ Yes If the palette is limited, temperatures out of range will be shown in black.
+ No If the palette is no limited, it is extended with the colors of its boundaries.
+ */
+@property (nonatomic) BOOL isLimited;
+
+@end
+
+
+/** Called back each time palette boundaries are updated. */
+typedef void(^ThermalProcPaletteBoundariesUpdate)(void);
+
+/**
+ Relative Palette.
+
+ Palette fully used.
+ The lowest color is associated to the coldest temperature of the scene and
+ the highest color is associated to the hottest temperature of the scene.
+ The temperature association can be locked.
+ */
+@protocol ThermalProcRelativePalette <ThermalProcPalette>
+
+/**
+ NO if the temperature association is unlock:
+     The lowest color is associated to the coldest temperature of the scene and
+     the highest color is associated to the hottest temperature of the scene.
+ YES, if the temperature association is lock:
+     The association between colors and temperatures is fixed and will not change according to the scene.
+ */
+@property (nonatomic) BOOL isLocked;
+
+/**
+ Temperature associated to the lower boundary of the palette, in kelvin.
+ */
+@property (readonly, nonatomic) double lowestTemperature;
+
+/**
+ Temperature associated to the higher boundary of the palette, in kelvin.
+ */
+@property (readonly, nonatomic) double highestTemperature;
+
+@end
+
+
+/**
+ Temperature types to highlight.
+ */
+typedef NS_ENUM(NSInteger, ThermalProcTemperatureType) {
+// Numerical values must be kept in sync with C code (tproc_temperature_type)
+/** Used to show only temperatures hotter than the threshold. */
+ThermalProcTemperatureTypeHot = 0,
+/** Used to show only temperatures colder than the threshold. */
+ThermalProcTemperatureTypeCold = 1,
+};
+
+/**
+ Color application range.
+ */
+typedef NS_ENUM(NSInteger, ThermalProcColorRange) {
+// Numerical values must be kept in sync with C code (tproc_color_range)
+/** Palette colors is applied on the range of the temperatures of the scene. */
+ThermalProcColorRangeScene = 0,
+/** Palette colors is applied on the range of the displayed temperatures.  */
+ThermalProcColorRangeVisible = 1,
+};
+
+/**
+ Spot Palette.
+
+ Palette to highlight cold spots or hot spots.
+
+ The palette is fully used:
+     The lowest color is associated to the coldest temperature of the scene and
+     the highest color is associated to the hottest temperature of the scene.
+ Only temperature hotter or colder than the threshold are shown.
+ */
+@protocol ThermalProcSpotPalette <ThermalProcPalette>
+
+/**
+ Temperature type to highlight.
+ */
+@property (nonatomic) ThermalProcTemperatureType temperatureType;
+
+/**
+ Threshold of highlighting from the palette, from 0 to 1.
+ */
+@property (nonatomic) double threshold;
+
+/**
+ Temperature associated to the lower boundary of the palette, in kelvin.
+ */
+@property (readonly, nonatomic) double lowestTemperature;
+
+/**
+ Temperature associated to the higher boundary of the palette, in kelvin.
+ */
+@property (readonly, nonatomic) double highestTemperature;
+
+@end
+
+
+/** Thermal Palette Factory. */
+@interface ThermalProcPaletteFactory : NSObject
+
+/**
+ Creates a new ThermalAbsolutePalette.
+
+ @param colors: colors of the palette; Array of `ThermalProcColor`.
+
+ @return: a new ThermalAbsolutePalette
+ */
++(id<ThermalProcAbsolutePalette> _Nonnull)createAbsolutePalette:(NSArray * _Nonnull)colors;
+
+/**
+ Creates a new ThermalRelativePalette.
+
+ @param colors: colors of the palette; Array of `ThermalProcColor`.
+ @param boundariesUpdateBlock: block called to notify the palette boundaries update.
+
+ @return: a new ThermalRelativePalette
+ */
++(id<ThermalProcRelativePalette> _Nonnull)createRelativePalette:(NSArray * _Nonnull)colors
+                                      boundariesUpdateBlock:(ThermalProcPaletteBoundariesUpdate _Nullable)boundariesUpdateBlock;
+
+/**
+ Creates a new ThermalSpotPalette.
+
+ @param colors: colors of the palette; Array of `ThermalProcColor`.
+ @param boundariesUpdateBlock: block called to notify the palette boundaries update.
+
+ @return: a new ThermalSpotPalette
+ */
++(id<ThermalProcSpotPalette> _Nonnull)createSpotPalette:(NSArray * _Nonnull)colors
+                              boundariesUpdateBlock:(ThermalProcPaletteBoundariesUpdate _Nullable)boundariesUpdateBlock;
+
+@end