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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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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;
}