From c49342f9f700653226cb7f95e9c67c8413edb35c Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Sat, 28 Apr 2018 13:37:25 +0800
Subject: [PATCH] Add process return bool

---
 src/api/processor/depth_processor.cc                |  3 ++-
 src/api/processor/depth_processor.h                 |  2 +-
 src/api/processor/disparity_normalized_processor.cc |  4 +++-
 src/api/processor/disparity_normalized_processor.h  |  2 +-
 src/api/processor/disparity_processor.cc            |  3 ++-
 src/api/processor/disparity_processor.h             |  2 +-
 src/api/processor/points_processor.cc               |  3 ++-
 src/api/processor/points_processor.h                |  2 +-
 src/api/processor/processor.cc                      | 13 ++++++++++---
 src/api/processor/processor.h                       |  2 +-
 src/api/processor/rectify_processor.cc              |  3 ++-
 src/api/processor/rectify_processor.h               |  2 +-
 12 files changed, 27 insertions(+), 14 deletions(-)

diff --git a/src/api/processor/depth_processor.cc b/src/api/processor/depth_processor.cc
index 3c6e12a..0031c70 100644
--- a/src/api/processor/depth_processor.cc
+++ b/src/api/processor/depth_processor.cc
@@ -20,11 +20,12 @@ Object *DepthProcessor::OnCreateOutput() {
   return nullptr;
 }
 
-void DepthProcessor::OnProcess(
+bool DepthProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
   UNUSED(in)
   UNUSED(out)
   UNUSED(parent)
+  return true;
 }
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/api/processor/depth_processor.h b/src/api/processor/depth_processor.h
index 616cc76..135944b 100644
--- a/src/api/processor/depth_processor.h
+++ b/src/api/processor/depth_processor.h
@@ -19,7 +19,7 @@ class DepthProcessor : public Processor {
 
  protected:
   Object *OnCreateOutput() override;
-  void OnProcess(
+  bool OnProcess(
       Object *const in, Object *const out, Processor *const parent) override;
 };
 
diff --git a/src/api/processor/disparity_normalized_processor.cc b/src/api/processor/disparity_normalized_processor.cc
index 65bc03f..1f49583 100644
--- a/src/api/processor/disparity_normalized_processor.cc
+++ b/src/api/processor/disparity_normalized_processor.cc
@@ -22,12 +22,14 @@ Object *DisparityNormalizedProcessor::OnCreateOutput() {
   return new ObjMat();
 }
 
-void DisparityNormalizedProcessor::OnProcess(
+bool DisparityNormalizedProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
   UNUSED(parent)
   const ObjMat *input = Object::Cast<ObjMat>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
   cv::normalize(input->value, output->value, 0, 255, cv::NORM_MINMAX, CV_8UC1);
+  // cv::normalize maybe return empty ==
+  return !output->value.empty();
 }
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/api/processor/disparity_normalized_processor.h b/src/api/processor/disparity_normalized_processor.h
index f218cb8..bcaf83d 100644
--- a/src/api/processor/disparity_normalized_processor.h
+++ b/src/api/processor/disparity_normalized_processor.h
@@ -19,7 +19,7 @@ class DisparityNormalizedProcessor : public Processor {
 
  protected:
   Object *OnCreateOutput() override;
-  void OnProcess(
+  bool OnProcess(
       Object *const in, Object *const out, Processor *const parent) override;
 };
 
diff --git a/src/api/processor/disparity_processor.cc b/src/api/processor/disparity_processor.cc
index 96ea67a..2d1c22a 100644
--- a/src/api/processor/disparity_processor.cc
+++ b/src/api/processor/disparity_processor.cc
@@ -54,7 +54,7 @@ Object *DisparityProcessor::OnCreateOutput() {
   return new ObjMat();
 }
 
-void DisparityProcessor::OnProcess(
+bool DisparityProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
   UNUSED(parent)
   const ObjMat2 *input = Object::Cast<ObjMat2>(in);
@@ -81,6 +81,7 @@ void DisparityProcessor::OnProcess(
   sgbm_->compute(input->first, input->second, disparity);
 #endif
   output->value = disparity / 16 + 1;
+  return true;
 }
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/api/processor/disparity_processor.h b/src/api/processor/disparity_processor.h
index 892c506..7cc66d4 100644
--- a/src/api/processor/disparity_processor.h
+++ b/src/api/processor/disparity_processor.h
@@ -25,7 +25,7 @@ class DisparityProcessor : public Processor {
 
  protected:
   Object *OnCreateOutput() override;
-  void OnProcess(
+  bool OnProcess(
       Object *const in, Object *const out, Processor *const parent) override;
 
  private:
diff --git a/src/api/processor/points_processor.cc b/src/api/processor/points_processor.cc
index 9b8c500..a400339 100644
--- a/src/api/processor/points_processor.cc
+++ b/src/api/processor/points_processor.cc
@@ -20,11 +20,12 @@ Object *PointsProcessor::OnCreateOutput() {
   return nullptr;
 }
 
-void PointsProcessor::OnProcess(
+bool PointsProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
   UNUSED(in)
   UNUSED(out)
   UNUSED(parent)
+  return true;
 }
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/api/processor/points_processor.h b/src/api/processor/points_processor.h
index 636bf84..e73f41c 100644
--- a/src/api/processor/points_processor.h
+++ b/src/api/processor/points_processor.h
@@ -19,7 +19,7 @@ class PointsProcessor : public Processor {
 
  protected:
   Object *OnCreateOutput() override;
-  void OnProcess(
+  bool OnProcess(
       Object *const in, Object *const out, Processor *const parent) override;
 };
 
diff --git a/src/api/processor/processor.cc b/src/api/processor/processor.cc
index 2a3e7c5..c6640a2 100644
--- a/src/api/processor/processor.cc
+++ b/src/api/processor/processor.cc
@@ -151,12 +151,19 @@ void Processor::Run() {
     if (pre_callback_) {
       pre_callback_(input_.get());
     }
+    bool ok = false;
     if (callback_) {
-      if (!callback_(input_.get(), output_.get(), parent_)) {
-        OnProcess(input_.get(), output_.get(), parent_);
+      if (callback_(input_.get(), output_.get(), parent_)) {
+        ok = true;
+      } else {
+        ok = OnProcess(input_.get(), output_.get(), parent_);
       }
     } else {
-      OnProcess(input_.get(), output_.get(), parent_);
+      ok = OnProcess(input_.get(), output_.get(), parent_);
+    }
+    if (!ok) {
+      VLOG(2) << Name() << " process failed";
+      continue;
     }
     if (post_callback_) {
       post_callback_(output_.get());
diff --git a/src/api/processor/processor.h b/src/api/processor/processor.h
index 970b02e..b973818 100644
--- a/src/api/processor/processor.h
+++ b/src/api/processor/processor.h
@@ -58,7 +58,7 @@ class Processor /*: public std::enable_shared_from_this<Processor>*/ {
 
  protected:
   virtual Object *OnCreateOutput() = 0;
-  virtual void OnProcess(
+  virtual bool OnProcess(
       Object *const in, Object *const out, Processor *const parent) = 0;
 
  private:
diff --git a/src/api/processor/rectify_processor.cc b/src/api/processor/rectify_processor.cc
index 4a9b34b..0201d92 100644
--- a/src/api/processor/rectify_processor.cc
+++ b/src/api/processor/rectify_processor.cc
@@ -29,13 +29,14 @@ Object *RectifyProcessor::OnCreateOutput() {
   return new ObjMat2();
 }
 
-void RectifyProcessor::OnProcess(
+bool RectifyProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
   UNUSED(parent)
   const ObjMat2 *input = Object::Cast<ObjMat2>(in);
   ObjMat2 *output = Object::Cast<ObjMat2>(out);
   cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
   cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
+  return true;
 }
 
 void RectifyProcessor::InitParams(
diff --git a/src/api/processor/rectify_processor.h b/src/api/processor/rectify_processor.h
index c79a1c0..987501a 100644
--- a/src/api/processor/rectify_processor.h
+++ b/src/api/processor/rectify_processor.h
@@ -25,7 +25,7 @@ class RectifyProcessor : public Processor {
 
  protected:
   Object *OnCreateOutput() override;
-  void OnProcess(
+  bool OnProcess(
       Object *const in, Object *const out, Processor *const parent) override;
 
  private: