refactor(process): change process code sort.

CMakeLists.txt

@@ -213,8 +213,6 @@ if(WITH_API)
     src/mynteye/api/processor/disparity_processor.cc
     src/mynteye/api/processor/disparity_normalized_processor.cc
     src/mynteye/api/processor/root_camera_processor.cc
-    src/mynteye/api/processor/points_processor_ocv.cc
-    src/mynteye/api/processor/depth_processor_ocv.cc
     src/mynteye/api/processor/rectify_processor_ocv.cc
     src/mynteye/api/correspondence.cc
     src/mynteye/api/version_checker.cc

src/mynteye/api/processor/depth_processor.h

@@ -45,6 +45,7 @@ class DepthProcessor : public Processor {
   bool OnProcess(
       Object *const in, Object *const out,
       std::shared_ptr<Processor> const parent) override;
+
  private:
   std::shared_ptr<struct CameraROSMsgInfoPair> calib_infos_;
   std::shared_ptr<int> min_disp_;

src/mynteye/api/processor/depth_processor_ocv.cc

@@ -1,55 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include "mynteye/api/processor/depth_processor_ocv.h"
-
-#include <utility>
-
-#include "mynteye/logger.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-const char DepthProcessorOCV::NAME[] = "DepthProcessorOCV";
-
-DepthProcessorOCV::DepthProcessorOCV(std::int32_t proc_period)
-    : Processor(std::move(proc_period)) {
-  VLOG(2) << __func__ << ": proc_period=" << proc_period;
-}
-
-DepthProcessorOCV::~DepthProcessorOCV() {
-  VLOG(2) << __func__;
-}
-
-std::string DepthProcessorOCV::Name() {
-  return NAME;
-}
-
-Object *DepthProcessorOCV::OnCreateOutput() {
-  return new ObjMat();
-}
-
-bool DepthProcessorOCV::OnProcess(
-    Object *const in, Object *const out,
-    std::shared_ptr<Processor> const parent) {
-  MYNTEYE_UNUSED(parent)
-  const ObjMat *input = Object::Cast<ObjMat>(in);
-  ObjMat *output = Object::Cast<ObjMat>(out);
-  cv::Mat channels[3 /*input->value.channels()*/];
-  cv::split(input->value, channels);
-  channels[2].convertTo(output->value, CV_16UC1);
-  output->id = input->id;
-  output->data = input->data;
-  return true;
-}
-
-MYNTEYE_END_NAMESPACE

src/mynteye/api/processor/depth_processor_ocv.h

@@ -1,42 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef MYNTEYE_API_PROCESSOR_DEPTH_PROCESSOR_OCV_H_
-#define MYNTEYE_API_PROCESSOR_DEPTH_PROCESSOR_OCV_H_
-#pragma once
-#include <memory>
-#include <string>
-
-#include "mynteye/api/processor.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-class DepthProcessorOCV : public Processor {
- public:
-  static const char NAME[];
-
-  explicit DepthProcessorOCV(std::int32_t proc_period = 0);
-  virtual ~DepthProcessorOCV();
-
-  std::string Name() override;
-
- protected:
-  Object *OnCreateOutput() override;
-  bool OnProcess(
-      Object *const in, Object *const out,
-      std::shared_ptr<Processor> const parent) override;
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_API_PROCESSOR_DEPTH_PROCESSOR_OCV_H_

src/mynteye/api/processor/points_processor_ocv.cc

@@ -1,55 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include "mynteye/api/processor/points_processor_ocv.h"
-
-#include <utility>
-
-#include <opencv2/calib3d/calib3d.hpp>
-
-#include "mynteye/logger.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-const char PointsProcessorOCV::NAME[] = "PointsProcessorOCV";
-
-PointsProcessorOCV::PointsProcessorOCV(cv::Mat Q, std::int32_t proc_period)
-    : Processor(std::move(proc_period)), Q_(std::move(Q)) {
-  VLOG(2) << __func__ << ": proc_period=" << proc_period;
-}
-
-PointsProcessorOCV::~PointsProcessorOCV() {
-  VLOG(2) << __func__;
-}
-
-std::string PointsProcessorOCV::Name() {
-  return NAME;
-}
-
-Object *PointsProcessorOCV::OnCreateOutput() {
-  return new ObjMat();
-}
-
-bool PointsProcessorOCV::OnProcess(
-  Object *const in, Object *const out,
-  std::shared_ptr<Processor> const parent) {
-  MYNTEYE_UNUSED(parent)
-  const ObjMat *input = Object::Cast<ObjMat>(in);
-  ObjMat *output = Object::Cast<ObjMat>(out);
-  cv::reprojectImageTo3D(input->value, output->value, Q_, true);
-  output->id = input->id;
-  output->data = input->data;
-  return true;
-}
-
-MYNTEYE_END_NAMESPACE

src/mynteye/api/processor/points_processor_ocv.h

@@ -1,53 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef MYNTEYE_API_PROCESSOR_POINTS_PROCESSOR_OCV_H_
-#define MYNTEYE_API_PROCESSOR_POINTS_PROCESSOR_OCV_H_
-#pragma once
-
-#include <string>
-#include <memory>
-#include <opencv2/core/core.hpp>
-
-#include "mynteye/api/processor.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-class PointsProcessorOCV : public Processor {
- public:
-  static const char NAME[];
-
-  explicit PointsProcessorOCV(cv::Mat Q, std::int32_t proc_period = 0);
-  virtual ~PointsProcessorOCV();
-
-  std::string Name() override;
-
- protected:
-  Object *OnCreateOutput() override;
-  bool OnProcess(
-      Object *const in, Object *const out,
-      std::shared_ptr<Processor> const parent) override;
-  // inline Processor::process_type ProcessOutputConnection() override {
-  //   return Processor::WITHOUT_CLONE;
-  // }
-  // inline Processor::process_type ProcessInputConnection() override {
-  //   return Processor::WITHOUT_CLONE;
-  // }
-
- private:
-  cv::Mat Q_;
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_API_PROCESSOR_POINTS_PROCESSOR_OCV_H_

src/mynteye/api/processor/rectify_processor.cc

@@ -228,6 +228,8 @@ void RectifyProcessor::stereoRectify(models::CameraPtr leftOdo,
     cvmSet(_P2, idx, 3, s*cvmGet(_P2, idx, 3));
 
     *cx1_min_cx2 = -(cx1 - cx2);
+    // std::cout << "info_pair.T_mul_f :" << *T_mul_f << std::endl;
+    // std::cout << "info_pair.cx1_minus_cx2 :" << *cx1_min_cx2 << std::endl;
   }
 }
 

src/mynteye/api/processor/rectify_processor_ocv.cc

@@ -164,6 +164,10 @@ void RectifyProcessorOCV::InitParams(
     info_pair.P[i] = info_pair.left.P[i];
   }
 
+  info_pair.T_mul_f = -1.f * in_left.fx * ex_right_to_left.translation[0];
+  info_pair.cx1_minus_cx2 = 0.-(in_left.cx - in_right.cx);
+  // std::cout << "info_pair.T_mul_f :" << info_pair.T_mul_f << std::endl;
+  // std::cout << "info_pair.cx1_minus_cx2 :" << info_pair.cx1_minus_cx2 << std::endl;
   *calib_infos = info_pair;
 
   cv::initUndistortRectifyMap(M1, D1, R1, P1, size, CV_16SC2, map11, map12);

src/mynteye/api/synthetic.cc

@@ -27,8 +27,6 @@
 #include "mynteye/api/processor/disparity_processor.h"
 #include "mynteye/api/processor/root_camera_processor.h"
 #include "mynteye/api/processor/rectify_processor_ocv.h"
-#include "mynteye/api/processor/depth_processor_ocv.h"
-#include "mynteye/api/processor/points_processor_ocv.h"
 #ifdef WITH_CAM_MODELS
 #include "mynteye/api/processor/depth_processor.h"
 #include "mynteye/api/processor/points_processor.h"
@@ -328,19 +326,25 @@ void Synthetic::InitProcessors() {
         std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
                                               RECTIFY_PROC_PERIOD);
     rectify_processor = rectify_processor_ocv;
-    points_processor = std::make_shared<PointsProcessorOCV>(
+    points_processor = std::make_shared<PointsProcessor>(
-        rectify_processor_ocv->Q, POINTS_PROC_PERIOD);
+        rectify_processor_ocv -> getCameraROSMsgInfoPair(),
-    disparity_processor =
+        POINTS_PROC_PERIOD);
+    auto disparity_processor_imp =
       std::make_shared<DisparityProcessor>(DisparityComputingMethod::BM,
                                            nullptr,
                                            DISPARITY_PROC_PERIOD);
-    depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
+    depth_processor = std::make_shared<DepthProcessor>(
+        rectify_processor_ocv -> getCameraROSMsgInfoPair(),
+        disparity_processor_imp->GetMinDisparity(),
+        disparity_processor_imp->GetMaxDisparity(),
+        DEPTH_PROC_PERIOD);
+    disparity_processor = disparity_processor_imp;
 
     root_processor->AddChild(rectify_processor);
     rectify_processor->AddChild(disparity_processor);
     disparity_processor->AddChild(disparitynormalized_processor);
-    disparity_processor->AddChild(points_processor);
+    disparity_processor->AddChild(depth_processor);
-    points_processor->AddChild(depth_processor);
+    depth_processor->AddChild(points_processor);
 #ifdef WITH_CAM_MODELS
   } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
     // KANNALA_BRANDT