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fix(api): update rectify params after config stream request

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This commit is contained in:
John Zhao
2018-12-20 22:08:29 +08:00
parent 1652d976bf
commit a38e6a782a
5 changed files with 31 additions and 21 deletions
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29
src/mynteye/api/synthetic.cc
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@@ -83,6 +83,11 @@ Synthetic::~Synthetic() {
}
}
void Synthetic::NotifyImageParamsChanged() {
auto &&processor = find_processor<RectifyProcessor>(processor_);
if (processor) processor->NotifyImageParamsChanged();
}
bool Synthetic::Supports(const Stream &stream) const {
return stream_supports_mode_.find(stream) != stream_supports_mode_.end();
}
@@ -311,42 +316,35 @@ void Synthetic::EnableStreamData(const Stream &stream, std::uint32_t depth) {
break;
stream_enabled_mode_[stream] = MODE_SYNTHETIC;
CHECK(ActivateProcessor<RectifyProcessor>());
}
return;
} return;
case Stream::RIGHT_RECTIFIED: {
if (!IsStreamDataEnabled(Stream::RIGHT))
break;
stream_enabled_mode_[stream] = MODE_SYNTHETIC;
CHECK(ActivateProcessor<RectifyProcessor>());
}
return;
} return;
case Stream::DISPARITY: {
stream_enabled_mode_[stream] = MODE_SYNTHETIC;
EnableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
EnableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
CHECK(ActivateProcessor<DisparityProcessor>());
}
return;
} return;
case Stream::DISPARITY_NORMALIZED: {
stream_enabled_mode_[stream] = MODE_SYNTHETIC;
EnableStreamData(Stream::DISPARITY, depth + 1);
CHECK(ActivateProcessor<DisparityNormalizedProcessor>());
}
return;
} return;
case Stream::POINTS: {
stream_enabled_mode_[stream] = MODE_SYNTHETIC;
EnableStreamData(Stream::DISPARITY, depth + 1);
CHECK(ActivateProcessor<PointsProcessor>());
}
return;
} return;
case Stream::DEPTH: {
stream_enabled_mode_[stream] = MODE_SYNTHETIC;
EnableStreamData(Stream::POINTS, depth + 1);
CHECK(ActivateProcessor<DepthProcessor>());
}
return;
default:
break;
} return;
default: break;
}
if (depth == 0) {
LOG(WARNING) << "Enable stream data of " << stream << " failed";
@@ -399,8 +397,7 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
case Stream::DEPTH: {
DeactivateProcessor<DepthProcessor>();
} break;
default:
return;
default: return;
}
if (depth > 0) {
LOG(WARNING) << "Disable synthetic stream data of " << stream << " too";