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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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45
src/mynteye/api/synthetic.cc
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@@ -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});
}
}