From 09fb4c04df6c82105ac0761034178f829aa45f74 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Thu, 7 Jun 2018 17:39:51 +0800
Subject: [PATCH] Obtain raw frame in api stream data

---
 src/api/api.h        |  8 ++++++++
 src/api/synthetic.cc | 28 +++++++++++++++-------------
 2 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/src/api/api.h b/src/api/api.h
index 39eec99..5280221 100644
--- a/src/api/api.h
+++ b/src/api/api.h
@@ -30,6 +30,12 @@ MYNTEYE_BEGIN_NAMESPACE
 class Device;
 class Synthetic;
 
+namespace device {
+
+class Frame;
+
+}  // namespace device
+
 namespace api {
 
 /**
@@ -41,6 +47,8 @@ struct MYNTEYE_API StreamData {
   std::shared_ptr<ImgData> img;
   /** Frame. */
   cv::Mat frame;
+  /** Raw frame. */
+  std::shared_ptr<device::Frame> frame_raw;
 
   bool operator==(const StreamData &other) const {
     if (img && other.img) {
diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index fd86ede..520c7ca 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -46,7 +46,7 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
 }
 
 api::StreamData data2api(const device::StreamData &data) {
-  return {data.img, frame2mat(data.frame)};
+  return {data.img, frame2mat(data.frame), data.frame};
 }
 
 }  // namespace
@@ -152,7 +152,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat2 *output = Object::Cast<ObjMat2>(out);
-          return {nullptr, output->first};
+          return {nullptr, output->first, nullptr};
         }
         VLOG(2) << "Rectify not ready now";
       } break;
@@ -161,7 +161,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat2 *output = Object::Cast<ObjMat2>(out);
-          return {nullptr, output->second};
+          return {nullptr, output->second, nullptr};
         }
         VLOG(2) << "Rectify not ready now";
       } break;
@@ -170,7 +170,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Disparity not ready now";
       } break;
@@ -180,7 +180,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Disparity normalized not ready now";
       } break;
@@ -189,7 +189,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Points not ready now";
       } break;
@@ -198,7 +198,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
         Object *out = processor->GetOutput();
         if (out != nullptr) {
           ObjMat *output = Object::Cast<ObjMat>(out);
-          return {nullptr, output->value};
+          return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Depth not ready now";
       } break;
@@ -546,17 +546,19 @@ bool Synthetic::OnDepthProcess(
 void Synthetic::OnRectifyPostProcess(Object *const out) {
   const ObjMat2 *output = Object::Cast<ObjMat2>(out);
   if (HasStreamCallback(Stream::LEFT_RECTIFIED)) {
-    stream_callbacks_.at(Stream::LEFT_RECTIFIED)({nullptr, output->first});
+    stream_callbacks_.at(Stream::LEFT_RECTIFIED)(
+        {nullptr, output->first, nullptr});
   }
   if (HasStreamCallback(Stream::RIGHT_RECTIFIED)) {
-    stream_callbacks_.at(Stream::RIGHT_RECTIFIED)({nullptr, output->second});
+    stream_callbacks_.at(Stream::RIGHT_RECTIFIED)(
+        {nullptr, output->second, nullptr});
   }
 }
 
 void Synthetic::OnDisparityPostProcess(Object *const out) {
   const ObjMat *output = Object::Cast<ObjMat>(out);
   if (HasStreamCallback(Stream::DISPARITY)) {
-    stream_callbacks_.at(Stream::DISPARITY)({nullptr, output->value});
+    stream_callbacks_.at(Stream::DISPARITY)({nullptr, output->value, nullptr});
   }
 }
 
@@ -564,21 +566,21 @@ void Synthetic::OnDisparityNormalizedPostProcess(Object *const out) {
   const ObjMat *output = Object::Cast<ObjMat>(out);
   if (HasStreamCallback(Stream::DISPARITY_NORMALIZED)) {
     stream_callbacks_.at(Stream::DISPARITY_NORMALIZED)(
-        {nullptr, output->value});
+        {nullptr, output->value, nullptr});
   }
 }
 
 void Synthetic::OnPointsPostProcess(Object *const out) {
   const ObjMat *output = Object::Cast<ObjMat>(out);
   if (HasStreamCallback(Stream::POINTS)) {
-    stream_callbacks_.at(Stream::POINTS)({nullptr, output->value});
+    stream_callbacks_.at(Stream::POINTS)({nullptr, output->value, nullptr});
   }
 }
 
 void Synthetic::OnDepthPostProcess(Object *const out) {
   const ObjMat *output = Object::Cast<ObjMat>(out);
   if (HasStreamCallback(Stream::DEPTH)) {
-    stream_callbacks_.at(Stream::DEPTH)({nullptr, output->value});
+    stream_callbacks_.at(Stream::DEPTH)({nullptr, output->value, nullptr});
   }
 }