From d3a67b7d29872c59acf328e69c270550bb2a621b Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Wed, 13 Jun 2018 18:00:31 +0800
Subject: [PATCH] Change output of processor to smart pointer

---
 src/api/processor/object.h     |  7 +++++
 src/api/processor/processor.cc |  4 +--
 src/api/processor/processor.h  |  2 +-
 src/api/synthetic.cc           | 48 +++++++++++++++++-----------------
 4 files changed, 34 insertions(+), 27 deletions(-)

diff --git a/src/api/processor/object.h b/src/api/processor/object.h
index f800ca1..8f43829 100644
--- a/src/api/processor/object.h
+++ b/src/api/processor/object.h
@@ -17,6 +17,8 @@
 
 #include <opencv2/core/core.hpp>
 
+#include <memory>
+
 #include "mynteye/mynteye.h"
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -41,6 +43,11 @@ struct MYNTEYE_API Object {
   static const T *Cast(const Object *obj) {
     return dynamic_cast<const T *>(obj);
   }
+
+  template <typename T>
+  static std::shared_ptr<T> Cast(const std::shared_ptr<Object> &obj) {
+    return std::dynamic_pointer_cast<T>(obj);
+  }
 };
 
 /**
diff --git a/src/api/processor/processor.cc b/src/api/processor/processor.cc
index 7d88bc9..851b464 100644
--- a/src/api/processor/processor.cc
+++ b/src/api/processor/processor.cc
@@ -139,9 +139,9 @@ bool Processor::Process(const Object &in) {
   return true;
 }
 
-Object *Processor::GetOutput() {
+std::shared_ptr<Object> Processor::GetOutput() {
   std::lock_guard<std::mutex> lk(mtx_result_);
-  return output_result_.get();
+  return std::shared_ptr<Object>(std::move(output_result_));
 }
 
 std::uint64_t Processor::GetDroppedCount() {
diff --git a/src/api/processor/processor.h b/src/api/processor/processor.h
index 505b38d..82b2681 100644
--- a/src/api/processor/processor.h
+++ b/src/api/processor/processor.h
@@ -65,7 +65,7 @@ class Processor /*: public std::enable_shared_from_this<Processor>*/ {
    * Returns the last output.
    * @note Returns null if not output now.
    */
-  Object *GetOutput();
+  std::shared_ptr<Object> GetOutput();
 
   std::uint64_t GetDroppedCount();
 
diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index d408be4..3c5a194 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -155,30 +155,30 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
     auto &&device = api_->device();
     return data2api(device->GetLatestStreamData(stream));
   } else if (mode == MODE_SYNTHETIC) {
-    switch (stream) {
-      case Stream::LEFT_RECTIFIED: {
-        auto &&processor = find_processor<RectifyProcessor>(processor_);
-        Object *out = processor->GetOutput();
-        if (out != nullptr) {
-          ObjMat2 *output = Object::Cast<ObjMat2>(out);
+    if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
+      static std::shared_ptr<ObjMat2> output = nullptr;
+      auto &&processor = find_processor<RectifyProcessor>(processor_);
+      auto &&out = processor->GetOutput();
+      if (out != nullptr) {
+        // Obtain the output, out will be nullptr if get again immediately.
+        output = Object::Cast<ObjMat2>(out);
+      }
+      if (output != nullptr) {
+        if (stream == Stream::LEFT_RECTIFIED) {
           return {nullptr, output->first, nullptr};
-        }
-        VLOG(2) << "Rectify not ready now";
-      } break;
-      case Stream::RIGHT_RECTIFIED: {
-        auto &&processor = find_processor<RectifyProcessor>(processor_);
-        Object *out = processor->GetOutput();
-        if (out != nullptr) {
-          ObjMat2 *output = Object::Cast<ObjMat2>(out);
+        } else {
           return {nullptr, output->second, nullptr};
         }
-        VLOG(2) << "Rectify not ready now";
-      } break;
+      }
+      VLOG(2) << "Rectify not ready now";
+      return {};
+    }
+    switch (stream) {
       case Stream::DISPARITY: {
         auto &&processor = find_processor<DisparityProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
         if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
+          auto &&output = Object::Cast<ObjMat>(out);
           return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Disparity not ready now";
@@ -186,27 +186,27 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
       case Stream::DISPARITY_NORMALIZED: {
         auto &&processor =
             find_processor<DisparityNormalizedProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
         if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
+          auto &&output = Object::Cast<ObjMat>(out);
           return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Disparity normalized not ready now";
       } break;
       case Stream::POINTS: {
         auto &&processor = find_processor<PointsProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
         if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
+          auto &&output = Object::Cast<ObjMat>(out);
           return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Points not ready now";
       } break;
       case Stream::DEPTH: {
         auto &&processor = find_processor<DepthProcessor>(processor_);
-        Object *out = processor->GetOutput();
+        auto &&out = processor->GetOutput();
         if (out != nullptr) {
-          ObjMat *output = Object::Cast<ObjMat>(out);
+          auto &&output = Object::Cast<ObjMat>(out);
           return {nullptr, output->value, nullptr};
         }
         VLOG(2) << "Depth not ready now";