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refactor(*): adapt stereo stream to different device

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This commit is contained in:
John Zhao 2018-12-21 00:23:42 +08:00
parent a38e6a782a
commit 91da3a3ca8
16 changed files with 453 additions and 164 deletions
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7
CMakeLists.txt
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@ -150,7 +150,7 @@ elseif(OS_MAC)
SET(OSX_EXTRA_LIBS ${VVUVCKIT_LIBRARY} ${USB_LIBRARY})
set(UVC_SRC src/mynteye/uvc/macosx/CameraEngine.cpp src/mynteye/uvc/macosx/AVfoundationCamera.mm src/mynteye/uvc/macosx/uvc-vvuvckit.cc )
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}")
find_package(libuvc REQUIRED)
set(UVC_LIB ${libuvc_LIBRARIES})
@ -171,8 +171,11 @@ set(MYNTEYE_SRCS
src/mynteye/device/config.cc
src/mynteye/device/context.cc
src/mynteye/device/device.cc
src/mynteye/device/device_s.cc
src/mynteye/device/motions.cc
src/mynteye/device/standard/device_s.cc
src/mynteye/device/standard/streams_adapter_s.cc
src/mynteye/device/standard2/device_s2.cc
src/mynteye/device/standard2/streams_adapter_s2.cc
src/mynteye/device/streams.cc
src/mynteye/device/types.cc
src/mynteye/device/utils.cc

3
include/mynteye/device/device.h
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@ -45,6 +45,7 @@ class API;
class Channels;
class Motions;
class Streams;
class StreamsAdapter;
template <class Data>
class AsyncCallback;
@ -300,7 +301,7 @@ class MYNTEYE_API Device {
virtual void OnStereoStreamUpdate();
virtual Capabilities GetKeyStreamCapability() const = 0;
virtual std::vector<Stream> GetKeyStreams() const = 0;
virtual std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const = 0;
std::map<Resolution, device::img_params_t> GetImgParams() const {
return all_img_params_;

2
include/mynteye/types.h
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@ -37,7 +37,7 @@ MYNTEYE_BEGIN_NAMESPACE
enum class Model : std::uint8_t {
/** Standard */
STANDARD,
/** Standard 2 */
/** Standard 2 generation */
STANDARD2,
/** Last guard */
LAST

1
src/mynteye/api/api.cc
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@ -26,7 +26,6 @@
#include "mynteye/api/plugin.h"
#include "mynteye/api/synthetic.h"
#include "mynteye/device/device.h"
#include "mynteye/device/device_s.h"
#include "mynteye/device/utils.h"
#if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)

2
src/mynteye/api/synthetic.cc
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@ -48,7 +48,7 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
} else if (frame->format() == Format::BGR888) {
cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
return img;
} else {
} else { // Format::GRAY
return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
}
}

84
src/mynteye/device/device.cc
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@ -23,8 +23,9 @@
#include "mynteye/device/async_callback.h"
#include "mynteye/device/channels.h"
#include "mynteye/device/config.h"
#include "mynteye/device/device_s.h"
#include "mynteye/device/motions.h"
#include "mynteye/device/standard/device_s.h"
#include "mynteye/device/standard2/device_s2.h"
#include "mynteye/device/streams.h"
#include "mynteye/device/types.h"
#include "mynteye/util/strings.h"
@ -108,7 +109,7 @@ std::shared_ptr<Device> Device::Create(
case '1':
return std::make_shared<StandardDevice>(device);
case '2':
return std::make_shared<StandardDevice>(device);
return std::make_shared<Standard2Device>(device);
default:
LOG(FATAL) << "No such generation now";
}
@ -470,51 +471,54 @@ void Device::StartVideoStreaming() {
return;
}
streams_ = std::make_shared<Streams>(GetKeyStreams());
streams_ = std::make_shared<Streams>(CreateStreamsAdapter());
// if stream capabilities are supported with subdevices of device_
/*
Capabilities stream_capabilities[] = {
Capabilities::STEREO, Capabilities::COLOR,
Capabilities::STEREO_COLOR, Capabilities::DEPTH,
Capabilities::STEREO, Capabilities::STEREO_COLOR,
Capabilities::COLOR, Capabilities::DEPTH,
Capabilities::POINTS, Capabilities::FISHEYE,
Capabilities::INFRARED, Capabilities::INFRARED2};
for (auto &&capability : stream_capabilities) {
if (Supports(capability)) {
// do stream request selection if more than one request of each stream
auto &&stream_request = GetStreamRequest(capability);
streams_->ConfigStream(capability, stream_request);
uvc::set_device_mode(
*device_, stream_request.width, stream_request.height,
static_cast<int>(stream_request.format), stream_request.fps,
[this, capability](
const void *data, std::function<void()> continuation) {
// drop the first stereo stream data
static std::uint8_t drop_count = 1;
if (drop_count > 0) {
--drop_count;
continuation();
return;
}
// auto &&time_beg = times::now();
{
std::lock_guard<std::mutex> _(mtx_streams_);
if (streams_->PushStream(capability, data)) {
CallbackPushedStreamData(Stream::LEFT);
CallbackPushedStreamData(Stream::RIGHT);
}
}
continuation();
OnStereoStreamUpdate();
// VLOG(2) << "Stereo video callback cost "
// << times::count<times::milliseconds>(times::now() - time_beg)
// << " ms";
});
} else {
// LOG(FATAL) << "Not any stream capabilities are supported by this
// device";
}
}
*/
auto &&stream_cap = GetKeyStreamCapability();
if (Supports(stream_cap)) {
// do stream request selection if more than one request of each stream
auto &&stream_request = GetStreamRequest(stream_cap);
streams_->ConfigStream(stream_cap, stream_request);
uvc::set_device_mode(
*device_, stream_request.width, stream_request.height,
static_cast<int>(stream_request.format), stream_request.fps,
[this, stream_cap](
const void *data, std::function<void()> continuation) {
// drop the first stereo stream data
static std::uint8_t drop_count = 1;
if (drop_count > 0) {
--drop_count;
continuation();
return;
}
// auto &&time_beg = times::now();
{
std::lock_guard<std::mutex> _(mtx_streams_);
if (streams_->PushStream(stream_cap, data)) {
CallbackPushedStreamData(Stream::LEFT);
CallbackPushedStreamData(Stream::RIGHT);
}
}
continuation();
OnStereoStreamUpdate();
// VLOG(2) << "Stereo video callback cost "
// << times::count<times::milliseconds>(times::now() - time_beg)
// << " ms";
});
} else {
LOG(FATAL) << "Not any stream capabilities are supported by this device";
}
uvc::start_streaming(*device_, 0);
video_streaming_ = true;
}

11
src/mynteye/device/device_s.cc → src/mynteye/device/standard/device_s.cc
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@ -11,15 +11,16 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/device/device_s.h"
#include "mynteye/device/standard/device_s.h"
#include "mynteye/logger.h"
#include "mynteye/device/motions.h"
#include "mynteye/device/standard/streams_adapter_s.h"
MYNTEYE_BEGIN_NAMESPACE
StandardDevice::StandardDevice(std::shared_ptr<uvc::device> device)
: Device(Model::STANDARD2, device) {
: Device(Model::STANDARD, device) {
VLOG(2) << __func__;
}
@ -28,11 +29,11 @@ StandardDevice::~StandardDevice() {
}
Capabilities StandardDevice::GetKeyStreamCapability() const {
return Capabilities::STEREO_COLOR;
return Capabilities::STEREO;
}
std::vector<Stream> StandardDevice::GetKeyStreams() const {
return {Stream::LEFT, Stream::RIGHT};
std::shared_ptr<StreamsAdapter> StandardDevice::CreateStreamsAdapter() const {
return std::make_shared<StandardStreamsAdapter>();
}
void StandardDevice::OnStereoStreamUpdate() {

8
src/mynteye/device/device_s.h → src/mynteye/device/standard/device_s.h
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@ -11,8 +11,8 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_DEVICE_DEVICE_S_H_
#define MYNTEYE_DEVICE_DEVICE_S_H_
#ifndef MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_
#define MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_
#pragma once
#include <memory>
@ -28,11 +28,11 @@ class StandardDevice : public Device {
virtual ~StandardDevice();
Capabilities GetKeyStreamCapability() const override;
std::vector<Stream> GetKeyStreams() const override;
std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
void OnStereoStreamUpdate() override;
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_DEVICE_S_H_
#endif // MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_

80
src/mynteye/device/standard/streams_adapter_s.cc Normal file
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@ -0,0 +1,80 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/device/standard/streams_adapter_s.h"
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE
namespace {
bool unpack_left_img_pixels(
const void *data, const StreamRequest &request, Streams::frame_t *frame) {
CHECK_NOTNULL(frame);
CHECK_EQ(request.format, Format::YUYV);
CHECK_EQ(frame->format(), Format::GREY);
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
std::size_t n = frame->width() * frame->height();
for (std::size_t i = 0; i < n; i++) {
frame->data()[i] = *(data_new + (i * 2));
}
return true;
}
bool unpack_right_img_pixels(
const void *data, const StreamRequest &request, Streams::frame_t *frame) {
CHECK_NOTNULL(frame);
CHECK_EQ(request.format, Format::YUYV);
CHECK_EQ(frame->format(), Format::GREY);
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
std::size_t n = frame->width() * frame->height();
for (std::size_t i = 0; i < n; i++) {
frame->data()[i] = *(data_new + (i * 2 + 1));
}
return true;
}
} // namespace
StandardStreamsAdapter::StandardStreamsAdapter() {
}
StandardStreamsAdapter::~StandardStreamsAdapter() {
}
std::vector<Stream> StandardStreamsAdapter::GetKeyStreams() {
return {Stream::LEFT, Stream::RIGHT};
}
std::vector<Capabilities> StandardStreamsAdapter::GetStreamCapabilities() {
return {Capabilities::STEREO};
}
std::map<Stream, Streams::unpack_img_data_t>
StandardStreamsAdapter::GetUnpackImgDataMap() {
return {
{Stream::LEFT, unpack_stereo_img_data},
{Stream::RIGHT, unpack_stereo_img_data}
};
}
std::map<Stream, Streams::unpack_img_pixels_t>
StandardStreamsAdapter::GetUnpackImgPixelsMap() {
return {
{Stream::LEFT, unpack_left_img_pixels},
{Stream::RIGHT, unpack_right_img_pixels}
};
}
MYNTEYE_END_NAMESPACE

42
src/mynteye/device/standard/streams_adapter_s.h Normal file
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@ -0,0 +1,42 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_DEVICE_STANDARD_STREAMS_ADAPTER_S_H_
#define MYNTEYE_DEVICE_STANDARD_STREAMS_ADAPTER_S_H_
#pragma once
#include <map>
#include <memory>
#include <vector>
#include "mynteye/device/streams.h"
MYNTEYE_BEGIN_NAMESPACE
class StandardStreamsAdapter : public StreamsAdapter {
public:
StandardStreamsAdapter();
virtual ~StandardStreamsAdapter();
std::vector<Stream> GetKeyStreams() override;
std::vector<Capabilities> GetStreamCapabilities() override;
std::map<Stream, Streams::unpack_img_data_t>
GetUnpackImgDataMap() override;
std::map<Stream, Streams::unpack_img_pixels_t>
GetUnpackImgPixelsMap() override;
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_STANDARD_STREAMS_ADAPTER_S_H_

46
src/mynteye/device/standard2/device_s2.cc Normal file
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@ -0,0 +1,46 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/device/standard2/device_s2.h"
#include "mynteye/logger.h"
#include "mynteye/device/motions.h"
#include "mynteye/device/standard2/streams_adapter_s2.h"
MYNTEYE_BEGIN_NAMESPACE
Standard2Device::Standard2Device(std::shared_ptr<uvc::device> device)
: Device(Model::STANDARD2, device) {
VLOG(2) << __func__;
}
Standard2Device::~Standard2Device() {
VLOG(2) << __func__;
}
Capabilities Standard2Device::GetKeyStreamCapability() const {
return Capabilities::STEREO_COLOR;
}
std::shared_ptr<StreamsAdapter> Standard2Device::CreateStreamsAdapter() const {
return std::make_shared<Standard2StreamsAdapter>();
}
void Standard2Device::OnStereoStreamUpdate() {
if (motion_tracking_) {
auto &&motions = this->motions();
motions->DoMotionTrack();
}
}
MYNTEYE_END_NAMESPACE

38
src/mynteye/device/standard2/device_s2.h Normal file
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@ -0,0 +1,38 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_DEVICE_STANDARD2_DEVICE_S2_H_
#define MYNTEYE_DEVICE_STANDARD2_DEVICE_S2_H_
#pragma once
#include <memory>
#include <vector>
#include "mynteye/device/device.h"
MYNTEYE_BEGIN_NAMESPACE
class Standard2Device : public Device {
public:
explicit Standard2Device(std::shared_ptr<uvc::device> device);
virtual ~Standard2Device();
Capabilities GetKeyStreamCapability() const override;
std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
void OnStereoStreamUpdate() override;
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_STANDARD2_DEVICE_S2_H_

98
src/mynteye/device/standard2/streams_adapter_s2.cc Normal file
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@ -0,0 +1,98 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/device/standard2/streams_adapter_s2.h"
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE
namespace {
bool unpack_left_img_pixels(
const void *data, const StreamRequest &request, Streams::frame_t *frame) {
CHECK_NOTNULL(frame);
CHECK_EQ(request.format, Format::BGR888);
CHECK_EQ(frame->format(), Format::BGR888);
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
std::size_t n = 3;
std::size_t w = frame->width();
std::size_t h = frame->height();
for (std::size_t i = 0; i < h; i++) {
for (std::size_t j = 0; j < w; j++) {
frame->data()[(i * w + j) * n] =
*(data_new + (2 * i * w + j) * n + 2);
frame->data()[(i * w + j) * n + 1] =
*(data_new + (2 * i * w + j) * n + 1);
frame->data()[(i * w + j) * n + 2] =
*(data_new + (2 * i * w + j) * n);
}
}
return true;
}
bool unpack_right_img_pixels(
const void *data, const StreamRequest &request, Streams::frame_t *frame) {
CHECK_NOTNULL(frame);
CHECK_EQ(request.format, Format::BGR888);
CHECK_EQ(frame->format(), Format::BGR888);
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
std::size_t n = 3;
std::size_t w = frame->width();
std::size_t h = frame->height();
for (std::size_t i = 0; i < h; i++) {
for (std::size_t j = 0; j < w; j++) {
frame->data()[(i * w + j) * n] =
*(data_new + ((2 * i + 1) * w + j) * n + 2);
frame->data()[(i * w + j) * n + 1] =
*(data_new + ((2 * i + 1) * w + j) * n + 1);
frame->data()[(i * w + j) * n + 2] =
*(data_new + ((2 * i + 1) * w + j) * n);
}
}
return true;
}
} // namespace
Standard2StreamsAdapter::Standard2StreamsAdapter() {
}
Standard2StreamsAdapter::~Standard2StreamsAdapter() {
}
std::vector<Stream> Standard2StreamsAdapter::GetKeyStreams() {
return {Stream::LEFT, Stream::RIGHT};
}
std::vector<Capabilities> Standard2StreamsAdapter::GetStreamCapabilities() {
return {Capabilities::STEREO_COLOR};
}
std::map<Stream, Streams::unpack_img_data_t>
Standard2StreamsAdapter::GetUnpackImgDataMap() {
return {
{Stream::LEFT, unpack_stereo_img_data},
{Stream::RIGHT, unpack_stereo_img_data}
};
}
std::map<Stream, Streams::unpack_img_pixels_t>
Standard2StreamsAdapter::GetUnpackImgPixelsMap() {
return {
{Stream::LEFT, unpack_left_img_pixels},
{Stream::RIGHT, unpack_right_img_pixels}
};
}
MYNTEYE_END_NAMESPACE

42
src/mynteye/device/standard2/streams_adapter_s2.h Normal file
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@ -0,0 +1,42 @@
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S2_H_
#define MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S2_H_
#pragma once
#include <map>
#include <memory>
#include <vector>
#include "mynteye/device/streams.h"
MYNTEYE_BEGIN_NAMESPACE
class Standard2StreamsAdapter : public StreamsAdapter {
public:
Standard2StreamsAdapter();
virtual ~Standard2StreamsAdapter();
std::vector<Stream> GetKeyStreams() override;
std::vector<Capabilities> GetStreamCapabilities() override;
std::map<Stream, Streams::unpack_img_data_t>
GetUnpackImgDataMap() override;
std::map<Stream, Streams::unpack_img_pixels_t>
GetUnpackImgPixelsMap() override;
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S2_H_

127
src/mynteye/device/streams.cc
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@ -23,11 +23,10 @@
MYNTEYE_BEGIN_NAMESPACE
namespace {
bool unpack_stereo_img_data(
const void *data, const StreamRequest &request, ImgData *img) {
CHECK_NOTNULL(img);
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
std::size_t data_n =
request.width * request.height * bytes_per_pixel(request.format);
@ -73,101 +72,11 @@ bool unpack_stereo_img_data(
return true;
}
bool unpack_left_img_pixels(
const void *data, const StreamRequest &request, Streams::frame_t *frame) {
CHECK_NOTNULL(frame);
CHECK_EQ(request.format, frame->format());
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
if (request.format == Format::YUYV) {
std::size_t n = 2;
std::size_t w = frame->width() * n;
std::size_t h = frame->height();
for (std::size_t i = 0; i < h; i++) {
for (std::size_t j = 0; j < w; j++) {
frame->data()[i * w + j] = *(data_new + 2 * i * w + j);
}
}
} else if (request.format == Format::BGR888) {
std::size_t n = 3;
std::size_t w = frame->width();
std::size_t h = frame->height();
for (std::size_t i = 0; i < h; i++) {
for (std::size_t j = 0; j < w; j++) {
frame->data()[(i * w + j) * n] =
*(data_new + (2 * i * w + j) * n + 2);
frame->data()[(i * w + j) * n + 1] =
*(data_new + (2 * i * w + j) * n + 1);
frame->data()[(i * w + j) * n + 2] =
*(data_new + (2 * i * w + j) * n);
}
}
} else if (request.format == Format::GREY) {
std::size_t n = frame->width() * frame->height();
for (std::size_t i = 0; i < n; i++) {
frame->data()[i] = *(data_new + (i * 2));
}
} else {
return false;
}
return true;
}
// TODO(Kalman): Too similar to 'unpack_left_img_pixels'
bool unpack_right_img_pixels(
const void *data, const StreamRequest &request, Streams::frame_t *frame) {
CHECK_NOTNULL(frame);
CHECK_EQ(request.format, frame->format());
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
if (request.format == Format::YUYV) {
std::size_t n = 2;
std::size_t w = frame->width() * n;
std::size_t h = frame->height();
for (std::size_t i = 0; i < h; i++) {
for (std::size_t j = 0; j < w; j++) {
frame->data()[i * w + j] = *(data_new + (2 * i + 1) * w + j);
}
}
} else if (request.format == Format::BGR888) {
std::size_t n = 3;
std::size_t w = frame->width();
std::size_t h = frame->height();
for (std::size_t i = 0; i < h; i++) {
for (std::size_t j = 0; j < w; j++) {
frame->data()[(i * w + j) * n] =
*(data_new + ((2 * i + 1) * w + j) * n + 2);
frame->data()[(i * w + j) * n + 1] =
*(data_new + ((2 * i + 1) * w + j) * n + 1);
frame->data()[(i * w + j) * n + 2] =
*(data_new + ((2 * i + 1) * w + j) * n);
}
}
} else if (request.format == Format::GREY) {
std::size_t n = frame->width() * frame->height();
for (std::size_t i = 0; i < n; i++) {
frame->data()[i] = *(data_new + (i * 2 + 1));
}
} else {
return false;
}
return true;
}
} // namespace
Streams::Streams(const std::vector<Stream> key_streams)
: key_streams_(key_streams),
stream_capabilities_(
{Capabilities::STEREO, Capabilities::COLOR, Capabilities::DEPTH,
Capabilities::POINTS, Capabilities::FISHEYE, Capabilities::INFRARED,
Capabilities::INFRARED2, Capabilities::STEREO_COLOR}),
unpack_img_data_map_(
{{Stream::LEFT, unpack_stereo_img_data},
{Stream::RIGHT, unpack_stereo_img_data}}),
unpack_img_pixels_map_(
{{Stream::LEFT, unpack_left_img_pixels},
{Stream::RIGHT, unpack_right_img_pixels}}) {
Streams::Streams(const std::shared_ptr<StreamsAdapter> &adapter)
: key_streams_(std::move(adapter->GetKeyStreams())),
stream_capabilities_(std::move(adapter->GetStreamCapabilities())),
unpack_img_data_map_(std::move(adapter->GetUnpackImgDataMap())),
unpack_img_pixels_map_(std::move(adapter->GetUnpackImgPixelsMap())) {
VLOG(2) << __func__;
}
@ -193,16 +102,17 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
auto &&request = GetStreamConfigRequest(capability);
bool pushed = false;
switch (capability) {
case Capabilities::STEREO:
case Capabilities::STEREO_COLOR: {
// alloc left
AllocStreamData(Stream::LEFT, request);
AllocStreamData(capability, Stream::LEFT, request);
auto &&left_data = stream_datas_map_[Stream::LEFT].back();
// unpack img data
if (unpack_img_data_map_[Stream::LEFT](
data, request, left_data.img.get())) {
left_data.frame_id = left_data.img->frame_id;
// alloc right
AllocStreamData(Stream::RIGHT, request);
AllocStreamData(capability, Stream::RIGHT, request);
auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
*right_data.img = *left_data.img;
right_data.frame_id = left_data.img->frame_id;
@ -306,12 +216,16 @@ bool Streams::HasStreamDatas(const Stream &stream) const {
!stream_datas_map_.at(stream).empty();
}
void Streams::AllocStreamData(
void Streams::AllocStreamData(const Capabilities &capability,
const Stream &stream, const StreamRequest &request) {
AllocStreamData(stream, request, request.format);
auto format = request.format;
if (capability == Capabilities::STEREO) {
format = Format::GREY;
}
AllocStreamData(capability, stream, request, format);
}
void Streams::AllocStreamData(
void Streams::AllocStreamData(const Capabilities &capability,
const Stream &stream, const StreamRequest &request, const Format &format) {
stream_data_t data;
@ -336,11 +250,12 @@ void Streams::AllocStreamData(
data.img = nullptr;
}
if (!data.frame) {
int width = request.width;
if (format != Format::GREY)
width /= 2;
auto width = request.width;
if (capability == Capabilities::STEREO_COLOR) {
width /= 2; // split to half
}
data.frame =
std::make_shared<frame_t>(width, request.height, format, nullptr);
std::make_shared<frame_t>(width, request.height, format, nullptr);
}
data.frame_id = 0;
stream_datas_map_[stream].push_back(data);

26
src/mynteye/device/streams.h
View File

@ -18,6 +18,7 @@
#include <condition_variable>
#include <functional>
#include <map>
#include <memory>
#include <mutex>
#include <vector>
@ -27,6 +28,11 @@
MYNTEYE_BEGIN_NAMESPACE
extern bool unpack_stereo_img_data(
const void *data, const StreamRequest &request, ImgData *img);
class StreamsAdapter;
class Streams {
public:
using frame_t = device::Frame;
@ -38,7 +44,7 @@ class Streams {
using unpack_img_pixels_t = std::function<bool(
const void *data, const StreamRequest &request, frame_t *frame)>;
explicit Streams(const std::vector<Stream> key_streams);
explicit Streams(const std::shared_ptr<StreamsAdapter> &adapter);
~Streams();
void ConfigStream(
@ -65,8 +71,9 @@ class Streams {
bool HasStreamDatas(const Stream &stream) const;
void AllocStreamData(const Stream &stream, const StreamRequest &request);
void AllocStreamData(
void AllocStreamData(const Capabilities &capability,
const Stream &stream, const StreamRequest &request);
void AllocStreamData(const Capabilities &capability,
const Stream &stream, const StreamRequest &request, const Format &format);
void DiscardStreamData(const Stream &stream);
@ -88,6 +95,19 @@ class Streams {
std::condition_variable cv_;
};
class StreamsAdapter {
public:
virtual ~StreamsAdapter() {}
virtual std::vector<Stream> GetKeyStreams() = 0;
virtual std::vector<Capabilities> GetStreamCapabilities() = 0;
virtual std::map<Stream, Streams::unpack_img_data_t>
GetUnpackImgDataMap() = 0;
virtual std::map<Stream, Streams::unpack_img_pixels_t>
GetUnpackImgPixelsMap() = 0;
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_STREAMS_H_