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Add processor files

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This commit is contained in:
John Zhao
2018-04-27 09:58:53 +08:00
parent 81be95db12
commit a5ce17a987
15 changed files with 396 additions and 1 deletions
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82
src/api/synthetic.cc
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@@ -2,21 +2,91 @@
#include <glog/logging.h>
#include <stdexcept>
#include "api/processor/depth_processor.h"
#include "api/processor/disparity_normalized_processor.h"
#include "api/processor/disparity_processor.h"
#include "api/processor/points_processor.h"
#include "api/processor/processor.h"
#include "api/processor/rectify_processor.h"
#include "device/device.h"
MYNTEYE_BEGIN_NAMESPACE
Synthetic::Synthetic(API *api) : api_(api) {
VLOG(2) << __func__;
CHECK_NOTNULL(api_);
InitStreamSupports();
}
Synthetic::~Synthetic() {
VLOG(2) << __func__;
}
Synthetic::mode_t Synthetic::GetMode(const Stream &stream) const {
try {
return stream_supports_mode_.at(stream);
} catch (const std::out_of_range &e) {
return MODE_LAST;
}
}
bool Synthetic::Supports(const Stream &stream) const {
return api_->device()->Supports(stream);
return GetMode(stream) != MODE_LAST;
}
void Synthetic::EnableStreamData(const Stream &stream) {
if (Supports(stream))
return;
switch (stream) {
case Stream::LEFT_RECTIFIED: {
if (Supports(Stream::LEFT)) {
stream_supports_mode_[stream] = MODE_SYNTHETIC;
return;
}
} break;
case Stream::RIGHT_RECTIFIED: {
if (Supports(Stream::RIGHT)) {
stream_supports_mode_[stream] = MODE_SYNTHETIC;
return;
}
} break;
case Stream::DISPARITY: {
if (Supports(Stream::LEFT) && Supports(Stream::RIGHT)) {
stream_supports_mode_[stream] = MODE_SYNTHETIC;
return;
}
} break;
case Stream::DISPARITY_NORMALIZED: {
if ((Supports(Stream::LEFT) && Supports(Stream::RIGHT)) ||
Supports(Stream::DISPARITY)) {
stream_supports_mode_[stream] = MODE_SYNTHETIC;
return;
}
} break;
case Stream::DEPTH: {
if ((Supports(Stream::LEFT) && Supports(Stream::RIGHT)) ||
Supports(Stream::DISPARITY) || Supports(Stream::POINTS)) {
stream_supports_mode_[stream] = MODE_SYNTHETIC;
return;
}
} break;
case Stream::POINTS: {
if ((Supports(Stream::LEFT) && Supports(Stream::RIGHT)) ||
Supports(Stream::DISPARITY)) {
stream_supports_mode_[stream] = MODE_SYNTHETIC;
return;
}
} break;
default:
break;
}
LOG(WARNING) << "Enable stream data of " << stream << " failed";
}
void Synthetic::DisableStreamData(const Stream &stream) {
UNUSED(stream)
}
void Synthetic::SetStreamCallback(
@@ -46,4 +116,14 @@ std::vector<api::StreamData> Synthetic::GetStreamDatas(const Stream &stream) {
return {};
}
void Synthetic::InitStreamSupports() {
auto &&device = api_->device();
for (Stream s = Stream::LEFT; s < Stream::LAST;) {
if (device->Supports(s)) {
stream_supports_mode_[s] = MODE_NATIVE;
}
s = static_cast<Stream>(static_cast<std::uint8_t>(s) + 1);
}
}
MYNTEYE_END_NAMESPACE