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Change params of unpack functions

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This commit is contained in:
John Zhao 2018-04-10 16:19:28 +08:00
parent a750622cac
commit 46b5ed077a
2 changed files with 23 additions and 20 deletions
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38
src/internal/streams.cc
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@ -13,7 +13,8 @@ MYNTEYE_BEGIN_NAMESPACE
namespace { namespace {
bool unpack_stereo_img_data( bool unpack_stereo_img_data(
const void *data, const StreamRequest &request, ImgData &img) { // NOLINT const void *data, const StreamRequest &request, ImgData *img) {
CHECK_NOTNULL(img);
CHECK_EQ(request.format, Format::YUYV); CHECK_EQ(request.format, Format::YUYV);
auto data_new = reinterpret_cast<const std::uint8_t *>(data); auto data_new = reinterpret_cast<const std::uint8_t *>(data);
@ -65,34 +66,34 @@ bool unpack_stereo_img_data(
return false; return false;
} }
img.frame_id = img_packet.frame_id; img->frame_id = img_packet.frame_id;
img.timestamp = img_packet.timestamp; img->timestamp = img_packet.timestamp;
img.exposure_time = img_packet.exposure_time; img->exposure_time = img_packet.exposure_time;
return true; return true;
} }
bool unpack_left_img_pixels( bool unpack_left_img_pixels(
const void *data, const StreamRequest &request, const void *data, const StreamRequest &request, Streams::frame_t *frame) {
Streams::frame_t &frame) { // NOLINT CHECK_NOTNULL(frame);
CHECK_EQ(request.format, Format::YUYV); CHECK_EQ(request.format, Format::YUYV);
CHECK_EQ(frame.format(), Format::GREY); CHECK_EQ(frame->format(), Format::GREY);
auto data_new = reinterpret_cast<const std::uint8_t *>(data); auto data_new = reinterpret_cast<const std::uint8_t *>(data);
std::size_t n = frame.width() * frame.height(); std::size_t n = frame->width() * frame->height();
for (std::size_t i = 0; i < n; i++) { for (std::size_t i = 0; i < n; i++) {
frame.data()[i] = *(data_new + (i * 2)); frame->data()[i] = *(data_new + (i * 2));
} }
return true; return true;
} }
bool unpack_right_img_pixels( bool unpack_right_img_pixels(
const void *data, const StreamRequest &request, const void *data, const StreamRequest &request, Streams::frame_t *frame) {
Streams::frame_t &frame) { // NOLINT CHECK_NOTNULL(frame);
CHECK_EQ(request.format, Format::YUYV); CHECK_EQ(request.format, Format::YUYV);
CHECK_EQ(frame.format(), Format::GREY); CHECK_EQ(frame->format(), Format::GREY);
auto data_new = reinterpret_cast<const std::uint8_t *>(data); auto data_new = reinterpret_cast<const std::uint8_t *>(data);
std::size_t n = frame.width() * frame.height(); std::size_t n = frame->width() * frame->height();
for (std::size_t i = 0; i < n; i++) { for (std::size_t i = 0; i < n; i++) {
frame.data()[i] = *(data_new + (i * 2 + 1)); frame->data()[i] = *(data_new + (i * 2 + 1));
} }
return true; return true;
} }
@ -141,15 +142,18 @@ void Streams::PushStream(const Capabilities &capability, const void *data) {
auto &&left_data = stream_datas_map_[Stream::LEFT].back(); auto &&left_data = stream_datas_map_[Stream::LEFT].back();
auto &&right_data = stream_datas_map_[Stream::RIGHT].back(); auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
// unpack img data // unpack img data
if (unpack_img_data_map_[Stream::LEFT](data, request, *left_data.img)) { if (unpack_img_data_map_[Stream::LEFT](
data, request, left_data.img.get())) {
// TODO(JohnZhao) // TODO(JohnZhao)
} else { } else {
LOG(WARNING) << "Image packet is unaccepted, frame dropped"; LOG(WARNING) << "Image packet is unaccepted, frame dropped";
} }
*right_data.img = *left_data.img; *right_data.img = *left_data.img;
// unpack frame // unpack frame
unpack_img_pixels_map_[Stream::LEFT](data, request, *left_data.frame); unpack_img_pixels_map_[Stream::LEFT](
unpack_img_pixels_map_[Stream::RIGHT](data, request, *right_data.frame); data, request, left_data.frame.get());
unpack_img_pixels_map_[Stream::RIGHT](
data, request, right_data.frame.get());
} break; } break;
default: default:
LOG(FATAL) << "Not supported " << capability << " now"; LOG(FATAL) << "Not supported " << capability << " now";

5
src/internal/streams.h
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@ -22,10 +22,9 @@ class Streams {
using stream_datas_t = std::vector<stream_data_t>; using stream_datas_t = std::vector<stream_data_t>;
using unpack_img_data_t = std::function<bool( using unpack_img_data_t = std::function<bool(
const void *data, const StreamRequest &request, ImgData &img)>; // NOLINT const void *data, const StreamRequest &request, ImgData *img)>;
using unpack_img_pixels_t = std::function<bool( using unpack_img_pixels_t = std::function<bool(
const void *data, const StreamRequest &request, const void *data, const StreamRequest &request, frame_t *frame)>;
frame_t &frame)>; // NOLINT
explicit Streams(const std::vector<Stream> key_streams); explicit Streams(const std::vector<Stream> key_streams);
~Streams(); ~Streams();