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refactor(synthetic): add SyntheticProcessorPart class

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This commit is contained in:
TinyOh
2019-01-22 11:30:34 +08:00
parent 69168303d6
commit 18ffd0372b
6 changed files with 483 additions and 3 deletions
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111
src/mynteye/api/synthetic.cc
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@@ -25,6 +25,7 @@
#include "mynteye/api/processor.h"
#include "mynteye/api/processor/disparity_normalized_processor.h"
#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"
@@ -107,8 +108,8 @@ Synthetic::Synthetic(API *api, CalibrationModel calib_model)
VLOG(2) << __func__;
CHECK_NOTNULL(api_);
InitCalibInfo();
InitStreamSupports();
InitProcessors();
InitStreamSupports();
}
Synthetic::~Synthetic() {
@@ -142,6 +143,96 @@ void Synthetic::NotifyImageParamsChanged() {
}
}
const struct Synthetic::stream_control_t Synthetic::getControlDateWithStream(
const Stream& stream) const {
for (auto &&it : processors_) {
for (auto it_s : it->getTargetStreams()) {
if (it_s.stream == stream) {
return it_s;
}
}
}
LOG(ERROR) << "ERROR: no suited processor for stream "<< stream;
return {};
}
void Synthetic::setControlDateCallbackWithStream(
const struct stream_control_t& ctr_data) {
for (auto &&it : processors_) {
int i = 0;
for (auto it_s : it->getTargetStreams()) {
if (it_s.stream == ctr_data.stream) {
it->target_streams_[i].stream_callback = ctr_data.stream_callback;
return;
}
i++;
}
}
LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
}
void Synthetic::setControlDateModeWithStream(
const struct stream_control_t& ctr_data) {
for (auto &&it : processors_) {
int i = 0;
for (auto it_s : it->getTargetStreams()) {
if (it_s.stream == ctr_data.stream) {
it->target_streams_[i].mode = ctr_data.mode;
return;
}
i++;
}
}
LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
}
bool Synthetic::checkControlDateWithStream(const Stream& stream) const {
for (auto &&it : processors_) {
for (auto it_s : it->getTargetStreams()) {
if (it_s.stream == stream) {
return true;
}
}
}
return stream == Stream::LEFT || stream == Stream::RIGHT;
}
// bool Synthetic::Supports(const Stream &stream) const {
// return checkControlDateWithStream(stream);
// }
Synthetic::status_mode_t Synthetic::GetStreamStatusMode(
const Stream &stream) const {
if (checkControlDateWithStream(stream)) {
auto ctrData = getControlDateWithStream(stream);
return ctrData.mode;
} else {
return MODE_STATUS_LAST;
}
}
// void Synthetic::EnableStreamData(const Stream &stream) {
// // Activate processors of synthetic stream
// auto processor = getProcessorWithStream(stream);
// iterate_processors_CtoP_before(processor,
// [](std::shared_ptr<Processor> proce){
// auto streams = proce->getTargetStreams();
// int act_tag = 0;
// for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
// if (proce->target_streams_[i].mode == MODE_STATUS_DISABLE) {
// act_tag++;
// proce->target_streams_[i].mode = MODE_STATUS_ENABLE;
// }
// }
// if (act_tag > 0) {
// std::cout << proce->Name() << "active" << std::endl;
// proce->Activate();
// }
// // std::cout <<std::endl;
// });
// }
bool Synthetic::Supports(const Stream &stream) const {
return stream_supports_mode_.find(stream) != stream_supports_mode_.end();
}
@@ -659,7 +750,25 @@ void Synthetic::InitProcessors() {
} else {
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
}
rectify_processor->addTargetStreams({Stream::LEFT_RECTIFIED, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
rectify_processor->addTargetStreams({Stream::RIGHT_RECTIFIED, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
disparity_processor->addTargetStreams({Stream::DISPARITY, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
disparitynormalized_processor->addTargetStreams({Stream::DISPARITY_NORMALIZED, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
points_processor->addTargetStreams({Stream::POINTS, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
depth_processor->addTargetStreams({Stream::DEPTH, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
auto root_processor =
std::make_shared<RootProcessor>(RECTIFY_PROC_PERIOD);
root_processor->addTargetStreams({Stream::LEFT, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
root_processor->addTargetStreams({Stream::RIGHT, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
root_processor->AddChild(rectify_processor);
processors_.push_back(root_processor);
processors_.push_back(rectify_processor);
processors_.push_back(disparity_processor);
processors_.push_back(disparitynormalized_processor);
processors_.push_back(points_processor);
processors_.push_back(depth_processor);
using namespace std::placeholders; // NOLINT
rectify_processor->SetProcessCallback(
std::bind(&Synthetic::OnRectifyProcess, this, _1, _2, _3));