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fix(correspondence): also wait stream matched ready

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This commit is contained in:
John Zhao 2019-02-25 12:09:48 +08:00
parent e6d2d3ebe4
commit 5b5ded25c9
2 changed files with 16 additions and 2 deletions
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15
src/mynteye/api/correspondence.cc
View File

@ -171,9 +171,13 @@ void Correspondence::NotifyStreamDataReady() {
bool Correspondence::IsStreamDataReady() {
if (stream_datas_.empty()) return false;
if (stream_match_enabled_) {
if (stream_datas_match_.empty()) return false;
}
if (motion_datas_.empty()) return false;
std::uint64_t img_stamp = 0;
std::uint64_t img_macth_stamp = 0;
{
std::lock_guard<std::recursive_mutex> _(mtx_stream_datas_);
auto data = stream_datas_.front();
@ -181,6 +185,10 @@ bool Correspondence::IsStreamDataReady() {
LOG(FATAL) << "stream data image info is empty!";
}
img_stamp = data.img->timestamp;
if (stream_match_enabled_) {
img_macth_stamp = stream_datas_match_.front().img->timestamp;
}
}
std::uint64_t imu_stamp = 0;
{
@ -192,7 +200,12 @@ bool Correspondence::IsStreamDataReady() {
imu_stamp = data.imu->timestamp;
}
return img_stamp + stream_interval_us_half_ < imu_stamp;
if (stream_match_enabled_) {
return img_stamp + stream_interval_us_half_ < imu_stamp
&& img_macth_stamp + stream_interval_us_half_ < imu_stamp;
} else {
return img_stamp + stream_interval_us_half_ < imu_stamp;
}
}
std::vector<api::StreamData> Correspondence::GetReadyStreamData(bool matched) {

3
src/mynteye/api/correspondence.h
View File

@ -15,6 +15,7 @@
#define MYNTEYE_API_CONFIG_H_
#pragma once
#include <atomic>
#include <condition_variable>
#include <memory>
#include <mutex>
@ -57,7 +58,7 @@ class Correspondence {
std::shared_ptr<Device> device_;
Stream stream_;
Stream stream_match_;
bool stream_match_enabled_;
std::atomic_bool stream_match_enabled_;
float stream_interval_us_;
float stream_interval_us_half_;