refactor(*): adapt stereo stream to different device

src/mynteye/device/standard2/device_s2.cc

@@ -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

src/mynteye/device/standard2/device_s2.h

@@ -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_

src/mynteye/device/standard2/streams_adapter_s2.cc

@@ -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

src/mynteye/device/standard2/streams_adapter_s2.h

@@ -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_