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refactor(device): move get/set params to channels adapter

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This commit is contained in:
John Zhao
2018-12-24 10:32:25 +08:00
parent 52f1075182
commit 34283fda0c
6 changed files with 495 additions and 416 deletions
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34
src/mynteye/device/standard/channels_adapter_s.cc
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@@ -126,4 +126,38 @@ void StandardChannelsAdapter::GetImuResPacket(
unpack_imu_res_packet(data, res);
}
std::size_t StandardChannelsAdapter::GetImgParamsFromData(
const std::uint8_t *data, const Version *version,
Channels::img_params_t *img_params) {
std::size_t i = 0;
Intrinsics in_left, in_right;
Extrinsics ex_right_to_left;
i += bytes::from_data(&in_left, data + i, version);
i += bytes::from_data(&in_right, data + i, version);
i += bytes::from_data(&ex_right_to_left, data + i, version);
(*img_params)[{752, 480}] = {true, in_left, in_right, ex_right_to_left};
return i;
}
std::size_t StandardChannelsAdapter::SetImgParamsToData(
const Channels::img_params_t *img_params, const Version *version,
std::uint8_t *data) {
std::size_t i = 3; // skip id, size
auto &&params = (*img_params).at({752, 480});
i += bytes::to_data(&params.in_left, data + i, version);
i += bytes::to_data(&params.in_right, data + i, version);
i += bytes::to_data(&params.ex_right_to_left, data + i, version);
// others
std::size_t size = i - 3;
data[0] = Channels::FID_IMG_PARAMS;
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
return size + 3;
}
MYNTEYE_END_NAMESPACE

7
src/mynteye/device/standard/channels_adapter_s.h
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@@ -37,6 +37,13 @@ class StandardChannelsAdapter : public ChannelsAdapter {
std::vector<std::int32_t> GetGyroRangeValues() override;
void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
std::size_t GetImgParamsFromData(
const std::uint8_t *data, const Version *version,
Channels::img_params_t *img_params) override;
std::size_t SetImgParamsToData(
const Channels::img_params_t *img_params, const Version *version,
std::uint8_t *data) override;
};
MYNTEYE_END_NAMESPACE