fix(api): device stream data dup frames remove

samples/tutorials/data/get_depth.cc

@@ -43,9 +43,11 @@ int main(int argc, char *argv[]) {
     auto &&left_data = api->GetStreamData(Stream::LEFT);
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
 
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
       cv::Mat img;
       cv::hconcat(left_data.frame, right_data.frame, img);
       cv::imshow("frame", img);
+    }
 
     auto &&depth_data = api->GetStreamData(Stream::DEPTH);
     if (!depth_data.frame.empty()) {

samples/tutorials/data/get_disparity.cc

@@ -43,9 +43,11 @@ int main(int argc, char *argv[]) {
     auto &&left_data = api->GetStreamData(Stream::LEFT);
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
 
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
       cv::Mat img;
       cv::hconcat(left_data.frame, right_data.frame, img);
       cv::imshow("frame", img);
+    }
 
     // auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
     // if (!disp_data.frame.empty()) {

samples/tutorials/data/get_imu.cc

@@ -44,6 +44,7 @@ int main(int argc, char *argv[]) {
     auto &&left_data = api->GetStreamData(Stream::LEFT);
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
 
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
       cv::Mat img;
       cv::hconcat(left_data.frame, right_data.frame, img);
 
@@ -68,6 +69,7 @@ int main(int argc, char *argv[]) {
       }
 
       cv::imshow("frame", img);
+    }
 
     char key = static_cast<char>(cv::waitKey(1));
     if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q

samples/tutorials/data/get_imu_correspondence.cc

@@ -61,6 +61,10 @@ int main(int argc, char *argv[]) {
         << ", diff_prev=" << (img_stamp - prev_img_stamp);
     prev_img_stamp = img_stamp;
 
+    // if (left_data.frame.empty() || right_data.frame.empty()) {
+    //   continue;
+    // }
+
     cv::Mat img;
     cv::hconcat(left_data.frame, right_data.frame, img);
 

samples/tutorials/data/get_points.cc

@@ -41,10 +41,11 @@ int main(int argc, char *argv[]) {
 
     auto &&left_data = api->GetStreamData(Stream::LEFT);
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
-
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
       cv::Mat img;
       cv::hconcat(left_data.frame, right_data.frame, img);
       cv::imshow("frame", img);
+    }
 
     auto &&points_data = api->GetStreamData(Stream::POINTS);
     if (!points_data.frame.empty()) {

samples/tutorials/data/get_stereo.cc

@@ -37,8 +37,10 @@ int main(int argc, char *argv[]) {
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
 
     cv::Mat img;
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
       cv::hconcat(left_data.frame, right_data.frame, img);
       cv::imshow("frame", img);
+    }
 
     char key = static_cast<char>(cv::waitKey(1));
     if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q

src/mynteye/api/processor/depth_processor.h

@@ -34,9 +34,6 @@ class DepthProcessor : public Processor {
   std::string Name() override;
 
  protected:
-  inline Processor::process_type ProcessOutputConnection() override {
-    return Processor::WITHOUT_CLONE;
-  }
   inline Processor::process_type ProcessInputConnection() override {
     return Processor::WITHOUT_CLONE;
   }

src/mynteye/api/processor/depth_processor_ocv.h

@@ -29,9 +29,6 @@ class DepthProcessorOCV : public Processor {
   virtual ~DepthProcessorOCV();
 
   std::string Name() override;
-  inline Processor::process_type ProcessOutputConnection() override {
-    return Processor::WITHOUT_CLONE;
-  }
 
  protected:
   Object *OnCreateOutput() override;

src/mynteye/api/processor/disparity_processor.h

@@ -44,9 +44,6 @@ class DisparityProcessor : public Processor {
   inline Processor::process_type ProcessOutputConnection() override {
     return Processor::WITHOUT_CLONE;
   }
-  inline Processor::process_type ProcessInputConnection() override {
-    return Processor::WITHOUT_CLONE;
-  }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/root_camera_processor.cc

@@ -116,7 +116,15 @@ api::StreamData s1s2Processor::GetStreamData(const Stream &stream) {
     }
   }
   if (enable_mode == Synthetic::MODE_ON) {
-    return data2api(device_->GetStreamData(stream));
+    auto res = data2api(device_->GetStreamData(stream));
+    if (res.img == nullptr ||
+        res.img->timestamp == last_frame_id_cd ||
+        res.frame.empty()) {
+      return {};
+    }
+    last_frame_id_cd = res.img->timestamp;
+    return res;
+    // return data2api(device_->GetStreamData(stream));
   }
   LOG(ERROR) << "Failed to get device stream data of " << stream
                << ", unsupported or disabled";