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refactor(*): change stream request and params interfaces

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This commit is contained in:
John Zhao
2018-12-20 17:10:18 +08:00
parent 098b307260
commit d2a32e0ec1
37 changed files with 491 additions and 375 deletions
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126
src/mynteye/device/device.cc
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@@ -172,6 +172,33 @@ void Device::ConfigStreamRequest(
return;
}
stream_config_requests_[capability] = request;
UpdateStreamIntrinsics(capability, request);
}
const StreamRequest &Device::GetStreamRequest(
const Capabilities &capability) const {
try {
return stream_config_requests_.at(capability);
} catch (const std::out_of_range &e) {
auto &&requests = GetStreamRequests(capability);
if (requests.size() >= 1) {
return requests[0];
} else {
LOG(FATAL) << "Please config the stream request of " << capability;
}
}
}
const std::vector<StreamRequest> &Device::GetStreamRequests() const {
return GetStreamRequests(GetKeyStreamCapability());
}
void Device::ConfigStreamRequest(const StreamRequest &request) {
ConfigStreamRequest(GetKeyStreamCapability(), request);
}
const StreamRequest &Device::GetStreamRequest() const {
return GetStreamRequest(GetKeyStreamCapability());
}
std::shared_ptr<DeviceInfo> Device::GetInfo() const {
@@ -406,6 +433,14 @@ void Device::WaitForStreams() {
streams_->WaitForStreams();
}
device::StreamData Device::GetStreamData(const Stream &stream) {
CHECK(video_streaming_);
CHECK_NOTNULL(streams_);
CheckSupports(this, stream);
std::lock_guard<std::mutex> _(mtx_streams_);
return streams_->GetLatestStreamData(stream);
}
std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
CHECK(video_streaming_);
CHECK_NOTNULL(streams_);
@@ -414,14 +449,6 @@ std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
return streams_->GetStreamDatas(stream);
}
device::StreamData Device::GetLatestStreamData(const Stream &stream) {
CHECK(video_streaming_);
CHECK_NOTNULL(streams_);
CheckSupports(this, stream);
std::lock_guard<std::mutex> _(mtx_streams_);
return streams_->GetLatestStreamData(stream);
}
void Device::EnableMotionDatas() {
EnableMotionDatas(std::numeric_limits<std::size_t>::max());
}
@@ -437,33 +464,6 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
return motions_->GetMotionDatas();
}
void Device::InitResolution(const Resolution &res) {
res_ = res;
ConfigIntrinsics(res_);
}
void Device::SetStreamRequest(const Format &format, const FrameRate &rate) {
StreamRequest request(res_, format, rate);
request_ = request;
}
const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
try {
return stream_config_requests_.at(capability);
} catch (const std::out_of_range &e) {
auto &&requests = GetStreamRequests(capability);
if (requests.size() >= 1) {
for (auto &&request : requests) {
if (request == request_)
return request;
}
return requests[0];
} else {
LOG(FATAL) << "Please config the stream request of " << capability;
}
}
}
void Device::StartVideoStreaming() {
if (video_streaming_) {
LOG(WARNING) << "Cannot start video streaming without first stopping it";
@@ -557,8 +557,9 @@ void Device::ReadAllInfos() {
device_info_ = std::make_shared<DeviceInfo>();
CHECK_NOTNULL(channels_);
all_img_params_.clear();
Device::imu_params_t imu_params;
if (!channels_->GetFiles(device_info_.get(), &img_params_, &imu_params)) {
if (!channels_->GetFiles(device_info_.get(), &all_img_params_, &imu_params)) {
#if defined(WITH_DEVICE_INFO_REQUIRED)
LOG(FATAL)
#else
@@ -579,14 +580,28 @@ void Device::ReadAllInfos() {
<< ", nominal_baseline: " << device_info_->nominal_baseline << "}";
device_info_->name = uvc::get_name(*device_);
if (img_params_.ok) {
SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params_.ex_right_to_left);
VLOG(2) << "Extrinsics left to right: {"
<< GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
} else {
bool img_params_ok = false;
for (auto &&params : all_img_params_) {
auto &&img_params = params.second;
if (img_params.ok) {
img_params_ok = true;
SetIntrinsics(Stream::LEFT, img_params.in_left);
SetIntrinsics(Stream::RIGHT, img_params.in_right);
SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
VLOG(2) << "Extrinsics left to right: {"
<< GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
break;
}
}
if (!img_params_ok) {
LOG(WARNING) << "Intrinsics & extrinsics not exist";
}
if (imu_params.ok) {
imu_params_ = imu_params;
SetMotionIntrinsics({imu_params.in_accel, imu_params.in_gyro});
SetMotionExtrinsics(Stream::LEFT, imu_params.ex_left_to_imu);
VLOG(2) << "Motion intrinsics: {" << GetMotionIntrinsics() << "}";
@@ -597,12 +612,25 @@ void Device::ReadAllInfos() {
}
}
void Device::ConfigIntrinsics(const Resolution &res) {
if (img_params_.ok) {
SetIntrinsics(Stream::LEFT, img_params_.in_left_map[res]);
SetIntrinsics(Stream::RIGHT, img_params_.in_right_map[res]);
VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
void Device::UpdateStreamIntrinsics(
const Capabilities &capability, const StreamRequest &request) {
if (capability != GetKeyStreamCapability()) {
return;
}
for (auto &&params : all_img_params_) {
auto &&img_res = params.first;
auto &&img_params = params.second;
if (img_params.ok && img_res == request.GetResolution()) {
SetIntrinsics(Stream::LEFT, img_params.in_left);
SetIntrinsics(Stream::RIGHT, img_params.in_right);
SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
VLOG(2) << "Extrinsics left to right: {"
<< GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
break;
}
}
}
@@ -629,8 +657,4 @@ void Device::CallbackMotionData(const device::MotionData &data) {
}
}
Device::img_params_t Device::GetImgParams() {
return img_params_;
}
MYNTEYE_END_NAMESPACE