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fix(api): device stream data dup frames remove

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This commit is contained in:
TinyOh 2019-03-13 14:04:24 +08:00
parent af8e188ae1
commit d453f98b6d
10 changed files with 56 additions and 44 deletions
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8
samples/tutorials/data/get_depth.cc
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@ -43,9 +43,11 @@ int main(int argc, char *argv[]) {
auto &&left_data = api->GetStreamData(Stream::LEFT); auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT); 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::Mat img;
cv::imshow("frame", img); cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
}
auto &&depth_data = api->GetStreamData(Stream::DEPTH); auto &&depth_data = api->GetStreamData(Stream::DEPTH);
if (!depth_data.frame.empty()) { if (!depth_data.frame.empty()) {

8
samples/tutorials/data/get_disparity.cc
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@ -43,9 +43,11 @@ int main(int argc, char *argv[]) {
auto &&left_data = api->GetStreamData(Stream::LEFT); auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT); 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::Mat img;
cv::imshow("frame", img); cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
}
// auto &&disp_data = api->GetStreamData(Stream::DISPARITY); // auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
// if (!disp_data.frame.empty()) { // if (!disp_data.frame.empty()) {

46
samples/tutorials/data/get_imu.cc
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@ -44,30 +44,32 @@ int main(int argc, char *argv[]) {
auto &&left_data = api->GetStreamData(Stream::LEFT); auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT); 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::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
auto &&motion_datas = api->GetMotionDatas(); auto &&motion_datas = api->GetMotionDatas();
/* /*
for (auto &&data : motion_datas) { for (auto &&data : motion_datas) {
LOG(INFO) << "Imu frame_id: " << data.imu->frame_id LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0] << ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1] << ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2] << ", accel_z: " << data.imu->accel[2]
<< ", gyro_x: " << data.imu->gyro[0] << ", gyro_x: " << data.imu->gyro[0]
<< ", gyro_y: " << data.imu->gyro[1] << ", gyro_y: " << data.imu->gyro[1]
<< ", gyro_z: " << data.imu->gyro[2] << ", gyro_z: " << data.imu->gyro[2]
<< ", temperature: " << data.imu->temperature; << ", temperature: " << data.imu->temperature;
}
*/
painter.DrawImgData(img, *left_data.img);
if (!motion_datas.empty()) {
painter.DrawImuData(img, *motion_datas[0].imu);
}
cv::imshow("frame", img);
} }
*/
painter.DrawImgData(img, *left_data.img);
if (!motion_datas.empty()) {
painter.DrawImuData(img, *motion_datas[0].imu);
}
cv::imshow("frame", img);
char key = static_cast<char>(cv::waitKey(1)); char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q

4
samples/tutorials/data/get_imu_correspondence.cc
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@ -61,6 +61,10 @@ int main(int argc, char *argv[]) {
<< ", diff_prev=" << (img_stamp - prev_img_stamp); << ", diff_prev=" << (img_stamp - prev_img_stamp);
prev_img_stamp = img_stamp; prev_img_stamp = img_stamp;
// if (left_data.frame.empty() || right_data.frame.empty()) {
// continue;
// }
cv::Mat img; cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img); cv::hconcat(left_data.frame, right_data.frame, img);

9
samples/tutorials/data/get_points.cc
View File

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

6
samples/tutorials/data/get_stereo.cc
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@ -37,8 +37,10 @@ int main(int argc, char *argv[]) {
auto &&right_data = api->GetStreamData(Stream::RIGHT); auto &&right_data = api->GetStreamData(Stream::RIGHT);
cv::Mat img; cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img); if (!left_data.frame.empty() && !right_data.frame.empty()) {
cv::imshow("frame", img); cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
}
char key = static_cast<char>(cv::waitKey(1)); char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q

3
src/mynteye/api/processor/depth_processor.h
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@ -34,9 +34,6 @@ class DepthProcessor : public Processor {
std::string Name() override; std::string Name() override;
protected: protected:
inline Processor::process_type ProcessOutputConnection() override {
return Processor::WITHOUT_CLONE;
}
inline Processor::process_type ProcessInputConnection() override { inline Processor::process_type ProcessInputConnection() override {
return Processor::WITHOUT_CLONE; return Processor::WITHOUT_CLONE;
} }

3
src/mynteye/api/processor/depth_processor_ocv.h
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@ -29,9 +29,6 @@ class DepthProcessorOCV : public Processor {
virtual ~DepthProcessorOCV(); virtual ~DepthProcessorOCV();
std::string Name() override; std::string Name() override;
inline Processor::process_type ProcessOutputConnection() override {
return Processor::WITHOUT_CLONE;
}
protected: protected:
Object *OnCreateOutput() override; Object *OnCreateOutput() override;

3
src/mynteye/api/processor/disparity_processor.h
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@ -44,9 +44,6 @@ class DisparityProcessor : public Processor {
inline Processor::process_type ProcessOutputConnection() override { inline Processor::process_type ProcessOutputConnection() override {
return Processor::WITHOUT_CLONE; return Processor::WITHOUT_CLONE;
} }
inline Processor::process_type ProcessInputConnection() override {
return Processor::WITHOUT_CLONE;
}
Object *OnCreateOutput() override; Object *OnCreateOutput() override;
bool OnProcess( bool OnProcess(
Object *const in, Object *const out, Object *const in, Object *const out,

10
src/mynteye/api/processor/root_camera_processor.cc
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@ -116,7 +116,15 @@ api::StreamData s1s2Processor::GetStreamData(const Stream &stream) {
} }
} }
if (enable_mode == Synthetic::MODE_ON) { 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 LOG(ERROR) << "Failed to get device stream data of " << stream
<< ", unsupported or disabled"; << ", unsupported or disabled";