tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Change output of processor to smart pointer

Browse Source
This commit is contained in:
John Zhao 2018-06-13 18:00:31 +08:00
parent a119b36f72
commit d3a67b7d29
4 changed files with 34 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/api/processor/object.h
View File

@ -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);
}
};
/**

4
src/api/processor/processor.cc
View File

@ -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() {

2
src/api/processor/processor.h
View File

@ -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();

42
src/api/synthetic.cc
View File

@ -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: {
if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
static std::shared_ptr<ObjMat2> output = nullptr;
auto &&processor = find_processor<RectifyProcessor>(processor_);
Object *out = processor->GetOutput();
auto &&out = processor->GetOutput();
if (out != nullptr) {
ObjMat2 *output = Object::Cast<ObjMat2>(out);
return {nullptr, output->first, nullptr};
// Obtain the output, out will be nullptr if get again immediately.
output = Object::Cast<ObjMat2>(out);
}
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);
if (output != nullptr) {
if (stream == Stream::LEFT_RECTIFIED) {
return {nullptr, output->first, nullptr};
} else {
return {nullptr, output->second, nullptr};
}
}
VLOG(2) << "Rectify not ready now";
} break;
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";