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fix(thread): ProcessNativeStream

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This commit is contained in:
TinyOh 2019-02-20 16:31:32 +08:00
parent a22eed8c1d
commit 055c6a23d0
2 changed files with 5 additions and 5 deletions
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8
src/mynteye/api/synthetic.cc
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@ -583,14 +583,12 @@ void Synthetic::InitProcessors() {
void Synthetic::ProcessNativeStream( void Synthetic::ProcessNativeStream(
const Stream &stream, const api::StreamData &data) { const Stream &stream, const api::StreamData &data) {
if (stream == Stream::LEFT || stream == Stream::RIGHT) { if (stream == Stream::LEFT || stream == Stream::RIGHT) {
std::unique_lock<std::mutex> lk(mtx_left_right_ready_);
static api::StreamData left_data, right_data; static api::StreamData left_data, right_data;
cv::Mat tmp1, tmp2;
if (stream == Stream::LEFT) { if (stream == Stream::LEFT) {
left_data = data; left_data = data;
tmp1 = left_data.frame.clone();
} else if (stream == Stream::RIGHT) { } else if (stream == Stream::RIGHT) {
right_data = data; right_data = data;
tmp2 = right_data.frame.clone();
} }
if (left_data.img && right_data.img && if (left_data.img && right_data.img &&
left_data.img->frame_id == right_data.img->frame_id) { left_data.img->frame_id == right_data.img->frame_id) {
@ -607,8 +605,8 @@ void Synthetic::ProcessNativeStream(
processor = find_processor<RectifyProcessorOCV>(processor_); processor = find_processor<RectifyProcessorOCV>(processor_);
} }
processor->Process(ObjMat2{ processor->Process(ObjMat2{
tmp1, left_data.frame_id, left_data.img, left_data.frame, left_data.frame_id, left_data.img,
tmp2, right_data.frame_id, right_data.img}); right_data.frame, right_data.frame_id, right_data.img});
} }
return; return;
} }

2
src/mynteye/api/synthetic.h
View File

@ -19,6 +19,7 @@
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
#include <mutex>
#include "mynteye/api/api.h" #include "mynteye/api/api.h"
#include "mynteye/api/config.h" #include "mynteye/api/config.h"
@ -132,6 +133,7 @@ class Synthetic {
std::shared_ptr<Plugin> plugin_; std::shared_ptr<Plugin> plugin_;
CalibrationModel calib_model_; CalibrationModel calib_model_;
std::mutex mtx_left_right_ready_;
std::shared_ptr<IntrinsicsBase> intr_left_; std::shared_ptr<IntrinsicsBase> intr_left_;
std::shared_ptr<IntrinsicsBase> intr_right_; std::shared_ptr<IntrinsicsBase> intr_right_;