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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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4
src/mynteye/api/api.cc
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@ -210,7 +210,7 @@ std::vector<std::string> get_plugin_paths() {
API::API(std::shared_ptr<Device> device) : device_(device) {
VLOG(2) << __func__;
std::dynamic_pointer_cast<StandardDevice>(device_);
// std::dynamic_pointer_cast<StandardDevice>(device_);
synthetic_.reset(new Synthetic(this));
}
@ -266,6 +266,7 @@ const std::vector<StreamRequest> &API::GetStreamRequests(
void API::ConfigStreamRequest(
const Capabilities &capability, const StreamRequest &request) {
device_->ConfigStreamRequest(capability, request);
synthetic_->NotifyImageParamsChanged();
}
const StreamRequest &API::GetStreamRequest(
@ -279,6 +280,7 @@ const std::vector<StreamRequest> &API::GetStreamRequests() const {
void API::ConfigStreamRequest(const StreamRequest &request) {
device_->ConfigStreamRequest(request);
synthetic_->NotifyImageParamsChanged();
}
const StreamRequest &API::GetStreamRequest() const {

13
src/mynteye/api/processor/rectify_processor.cc
View File

@ -27,11 +27,9 @@ const char RectifyProcessor::NAME[] = "RectifyProcessor";
RectifyProcessor::RectifyProcessor(
std::shared_ptr<Device> device, std::int32_t proc_period)
: Processor(std::move(proc_period)) {
: Processor(std::move(proc_period)), device_(device) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
InitParams(
device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
NotifyImageParamsChanged();
}
RectifyProcessor::~RectifyProcessor() {
@ -42,6 +40,13 @@ std::string RectifyProcessor::Name() {
return NAME;
}
void RectifyProcessor::NotifyImageParamsChanged() {
InitParams(
device_->GetIntrinsics(Stream::LEFT),
device_->GetIntrinsics(Stream::RIGHT),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
}
Object *RectifyProcessor::OnCreateOutput() {
return new ObjMat2();
}

4
src/mynteye/api/processor/rectify_processor.h
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@ -37,6 +37,8 @@ class RectifyProcessor : public Processor {
std::string Name() override;
void NotifyImageParamsChanged();
cv::Mat R1, P1, R2, P2, Q;
cv::Mat map11, map12, map21, map22;
@ -48,6 +50,8 @@ class RectifyProcessor : public Processor {
private:
void InitParams(
Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
std::shared_ptr<Device> device_;
};
MYNTEYE_END_NAMESPACE

29
src/mynteye/api/synthetic.cc
View File

@ -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";

2
src/mynteye/api/synthetic.h
View File

@ -43,6 +43,8 @@ class Synthetic {
explicit Synthetic(API *api);
~Synthetic();
void NotifyImageParamsChanged();
bool Supports(const Stream &stream) const;
mode_t SupportsMode(const Stream &stream) const;