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Add image data to synthetic streams

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This commit is contained in:
John Zhao 2018-11-05 17:50:15 +08:00
parent 21a54a4637
commit 1bd02ef56c
7 changed files with 49 additions and 26 deletions
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24
include/mynteye/api/object.h
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@ -23,6 +23,8 @@
MYNTEYE_BEGIN_NAMESPACE
struct ImgData;
/**
* Input & output object.
*/
@ -56,18 +58,22 @@ struct MYNTEYE_API Object {
*/
struct MYNTEYE_API ObjMat : public Object {
ObjMat() = default;
ObjMat(const cv::Mat &value, std::uint16_t id)
: value(value), id(id) {}
ObjMat(const cv::Mat &value, std::uint16_t id,
const std::shared_ptr<ImgData> &data)
: value(value), id(id), data(data) {}
/** The value */
cv::Mat value;
/** The id **/
std::uint16_t id;
/** The data **/
std::shared_ptr<ImgData> data;
Object *Clone() const {
ObjMat *mat = new ObjMat;
mat->value = value.clone();
mat->id = id;
mat->data = data;
return mat;
}
@ -82,26 +88,34 @@ struct MYNTEYE_API ObjMat : public Object {
struct MYNTEYE_API ObjMat2 : public Object {
ObjMat2() = default;
ObjMat2(const cv::Mat &first, std::uint16_t first_id,
const cv::Mat &second, std::uint16_t second_id)
: first(first), first_id(first_id),
second(second), second_id(second_id) {}
const std::shared_ptr<ImgData> &first_data,
const cv::Mat &second, std::uint16_t second_id,
const std::shared_ptr<ImgData> &second_data)
: first(first), first_id(first_id), first_data(first_data),
second(second), second_id(second_id), second_data(second_data) {}
/** The first value */
cv::Mat first;
/** The first id **/
std::uint16_t first_id;
/** The first data **/
std::shared_ptr<ImgData> first_data;
/** The second value */
cv::Mat second;
/** The second id **/
std::uint16_t second_id;
/** The second data **/
std::shared_ptr<ImgData> second_data;
Object *Clone() const {
ObjMat2 *mat2 = new ObjMat2;
mat2->first = first.clone();
mat2->first_id = first_id;
mat2->first_data = first_data;
mat2->second = second.clone();
mat2->second_id = second_id;
mat2->second_data = second_data;
return mat2;
}

1
src/mynteye/api/processor/depth_processor.cc
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@ -47,6 +47,7 @@ bool DepthProcessor::OnProcess(
cv::split(input->value, channels);
channels[2].convertTo(output->value, CV_16UC1);
output->id = input->id;
output->data = input->data;
return true;
}

1
src/mynteye/api/processor/disparity_normalized_processor.cc
View File

@ -50,6 +50,7 @@ bool DisparityNormalizedProcessor::OnProcess(
cv::normalize(input->value, output->value, 0, 255, cv::NORM_MINMAX, CV_8UC1);
// cv::normalize maybe return empty ==
output->id = input->id;
output->data = input->data;
return !output->value.empty();
}

1
src/mynteye/api/processor/disparity_processor.cc
View File

@ -100,6 +100,7 @@ bool DisparityProcessor::OnProcess(
#endif
output->value = disparity / 16 + 1;
output->id = input->first_id;
output->data = input->first_data;
return true;
}

1
src/mynteye/api/processor/points_processor.cc
View File

@ -47,6 +47,7 @@ bool PointsProcessor::OnProcess(
ObjMat *output = Object::Cast<ObjMat>(out);
cv::reprojectImageTo3D(input->value, output->value, Q_, true);
output->id = input->id;
output->data = input->data;
return true;
}

2
src/mynteye/api/processor/rectify_processor.cc
View File

@ -54,7 +54,9 @@ bool RectifyProcessor::OnProcess(
cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
output->first_id = input->first_id;
output->first_data = input->first_data;
output->second_id = input->second_id;
output->second_data = input->second_data;
return true;
}

45
src/mynteye/api/synthetic.cc
View File

@ -164,9 +164,10 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
}
if (output != nullptr) {
if (stream == Stream::LEFT_RECTIFIED) {
return {nullptr, output->first, nullptr, output->first_id};
return {output->first_data, output->first, nullptr, output->first_id};
} else {
return {nullptr, output->second, nullptr, output->second_id};
return {output->second_data, output->second, nullptr,
output->second_id};
}
}
VLOG(2) << "Rectify not ready now";
@ -178,7 +179,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
auto &&out = processor->GetOutput();
if (out != nullptr) {
auto &&output = Object::Cast<ObjMat>(out);
return {nullptr, output->value, nullptr, output->id};
return {output->data, output->value, nullptr, output->id};
}
VLOG(2) << "Disparity not ready now";
} break;
@ -188,7 +189,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
auto &&out = processor->GetOutput();
if (out != nullptr) {
auto &&output = Object::Cast<ObjMat>(out);
return {nullptr, output->value, nullptr, output->id};
return {output->data, output->value, nullptr, output->id};
}
VLOG(2) << "Disparity normalized not ready now";
} break;
@ -197,7 +198,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
auto &&out = processor->GetOutput();
if (out != nullptr) {
auto &&output = Object::Cast<ObjMat>(out);
return {nullptr, output->value, nullptr, output->id};
return {output->data, output->value, nullptr, output->id};
}
VLOG(2) << "Points not ready now";
} break;
@ -206,7 +207,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
auto &&out = processor->GetOutput();
if (out != nullptr) {
auto &&output = Object::Cast<ObjMat>(out);
return {nullptr, output->value, nullptr, output->id};
return {output->data, output->value, nullptr, output->id};
}
VLOG(2) << "Depth not ready now";
} break;
@ -455,8 +456,9 @@ void Synthetic::ProcessNativeStream(
if (left_data.img && right_data.img &&
left_data.img->frame_id == right_data.img->frame_id) {
auto &&processor = find_processor<RectifyProcessor>(processor_);
processor->Process(ObjMat2{left_data.frame, left_data.frame_id,
right_data.frame, right_data.frame_id});
processor->Process(ObjMat2{
left_data.frame, left_data.frame_id, left_data.img,
right_data.frame, right_data.frame_id, right_data.img});
}
return;
}
@ -471,9 +473,10 @@ void Synthetic::ProcessNativeStream(
if (left_rect_data.img && right_rect_data.img &&
left_rect_data.img->frame_id == right_rect_data.img->frame_id) {
process_childs(
processor_, RectifyProcessor::NAME,
ObjMat2{left_rect_data.frame, left_rect_data.frame_id,
right_rect_data.frame, right_rect_data.frame_id});
processor_, RectifyProcessor::NAME, ObjMat2{
left_rect_data.frame, left_rect_data.frame_id, left_rect_data.img,
right_rect_data.frame, right_rect_data.frame_id,
right_rect_data.img});
}
return;
}
@ -481,19 +484,19 @@ void Synthetic::ProcessNativeStream(
switch (stream) {
case Stream::DISPARITY: {
process_childs(processor_, DisparityProcessor::NAME,
ObjMat{data.frame, data.frame_id});
ObjMat{data.frame, data.frame_id, data.img});
} break;
case Stream::DISPARITY_NORMALIZED: {
process_childs(processor_, DisparityNormalizedProcessor::NAME,
ObjMat{data.frame, data.frame_id});
ObjMat{data.frame, data.frame_id, data.img});
} break;
case Stream::POINTS: {
process_childs(processor_, PointsProcessor::NAME,
ObjMat{data.frame, data.frame_id});
ObjMat{data.frame, data.frame_id, data.img});
} break;
case Stream::DEPTH: {
process_childs(processor_, DepthProcessor::NAME,
ObjMat{data.frame, data.frame_id});
ObjMat{data.frame, data.frame_id, data.img});
} break;
default:
break;
@ -550,11 +553,11 @@ 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, nullptr, output->first_id});
{output->first_data, output->first, nullptr, output->first_id});
}
if (HasStreamCallback(Stream::RIGHT_RECTIFIED)) {
stream_callbacks_.at(Stream::RIGHT_RECTIFIED)(
{nullptr, output->second, nullptr, output->second_id});
{output->second_data, output->second, nullptr, output->second_id});
}
}
@ -562,7 +565,7 @@ 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, nullptr, output->id});
{output->data, output->value, nullptr, output->id});
}
}
@ -570,7 +573,7 @@ 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->id});
{output->data, output->value, nullptr, output->id});
}
}
@ -578,7 +581,7 @@ 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, nullptr, output->id});
{output->data, output->value, nullptr, output->id});
}
}
@ -586,7 +589,7 @@ 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, nullptr, output->id});
{output->data, output->value, nullptr, output->id});
}
}