Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

CMakeLists.txt

@@ -199,9 +199,6 @@ set(MYNTEYE_SRCS
   src/mynteye/device/standard2/channels_adapter_s2.cc
   src/mynteye/device/standard2/device_s2.cc
   src/mynteye/device/standard2/streams_adapter_s2.cc
-  src/mynteye/device/standard2/channels_adapter_s210a.cc
-  src/mynteye/device/standard2/device_s210a.cc
-  src/mynteye/device/standard2/streams_adapter_s210a.cc
   src/mynteye/device/streams.cc
   src/mynteye/device/types.cc
   src/mynteye/device/utils.cc

src/mynteye/device/device.cc

@@ -26,7 +26,6 @@
 #include "mynteye/device/motions.h"
 #include "mynteye/device/standard/device_s.h"
 #include "mynteye/device/standard2/device_s2.h"
-#include "mynteye/device/standard2/device_s210a.h"
 #include "mynteye/device/streams.h"
 #include "mynteye/device/types.h"
 #include "mynteye/util/strings.h"
@@ -104,7 +103,6 @@ std::shared_ptr<Device> Device::Create(
   if (name == "MYNTEYE") {
     return std::make_shared<StandardDevice>(device);
   } else if (strings::starts_with(name, "MYNT-EYE-")) {
-    // TODO(JohnZhao): Create different device by name, such as MYNT-EYE-S1000
     std::string model_s = name.substr(9, 5);
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
@@ -113,9 +111,9 @@ std::shared_ptr<Device> Device::Create(
         return std::make_shared<StandardDevice>(device);
       } else if (model.generation == '2') {
         if (model.custom_code == '0') {
-          return std::make_shared<Standard2Device>(device);
+          return std::make_shared<Standard2Device>(Model::STANDARD2, device);
         } else if (model.custom_code == 'A') {
-          return std::make_shared<Standard210aDevice>(device);
+          return std::make_shared<Standard2Device>(Model::STANDARD210A, device);
         } else {
           LOG(FATAL) << "No such custom code now";
         }

src/mynteye/device/standard2/channels_adapter_s2.cc

@@ -90,8 +90,8 @@ void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
 
 }  // namespace
 
-Standard2ChannelsAdapter::Standard2ChannelsAdapter()
+Standard2ChannelsAdapter::Standard2ChannelsAdapter(const Model &model)
-  : ChannelsAdapter(Model::STANDARD2) {
+  : ChannelsAdapter(model) {
 }
 
 Standard2ChannelsAdapter::~Standard2ChannelsAdapter() {

src/mynteye/device/standard2/channels_adapter_s2.h

@@ -25,7 +25,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class Standard2ChannelsAdapter : public ChannelsAdapter {
  public:
-  Standard2ChannelsAdapter();
+  explicit Standard2ChannelsAdapter(const Model &model);
   virtual ~Standard2ChannelsAdapter();
 
   std::int32_t GetAccelRangeDefault() override;

src/mynteye/device/standard2/channels_adapter_s210a.cc

@@ -1,121 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include "mynteye/device/standard2/channels_adapter_s210a.h"
-
-#include "mynteye/logger.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-namespace {
-
-#pragma pack(push, 1)
-struct ImuData {
-  std::uint32_t frame_id;
-  std::uint64_t timestamp;
-  std::uint8_t flag;
-  std::int16_t temperature;
-  std::int16_t accel_or_gyro[3];
-
-  ImuData() = default;
-  explicit ImuData(const std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(const std::uint8_t *data) {
-    std::uint32_t timestamp_l;
-    std::uint32_t timestamp_h;
-
-    frame_id = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
-                    *(data + 3);
-    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
-                  (*(data + 6) << 8) | *(data + 7);
-    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
-                  (*(data + 10) << 8) | *(data + 11);
-    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
-    flag = *(data + 12);
-    temperature = (*(data + 13) << 8) | *(data + 14);
-    accel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
-    accel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
-    accel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
-  }
-};
-#pragma pack(pop)
-
-void unpack_imu_segment(const ImuData &imu, ImuSegment *seg) {
-  seg->frame_id = imu.frame_id;
-  seg->timestamp = imu.timestamp;
-  seg->flag = imu.flag;
-  seg->temperature = imu.temperature;
-  seg->accel[0] = (seg->flag == 1) ? imu.accel_or_gyro[0] : 0;
-  seg->accel[1] = (seg->flag == 1) ? imu.accel_or_gyro[1] : 0;
-  seg->accel[2] = (seg->flag == 1) ? imu.accel_or_gyro[2] : 0;
-  seg->gyro[0] = (seg->flag == 2) ? imu.accel_or_gyro[0] : 0;
-  seg->gyro[1] = (seg->flag == 2) ? imu.accel_or_gyro[1] : 0;
-  seg->gyro[2] = (seg->flag == 2) ? imu.accel_or_gyro[2] : 0;
-}
-
-void unpack_imu_packet(const std::uint8_t *data, ImuPacket *pkg) {
-  std::size_t data_n = sizeof(ImuData);  // 21
-  for (std::size_t i = 0; i < pkg->count; i++) {
-    ImuSegment seg;
-    unpack_imu_segment(ImuData(data + data_n * i), &seg);
-    pkg->segments.push_back(seg);
-  }
-  pkg->serial_number = pkg->segments.back().frame_id;
-}
-
-void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
-  res->header = *data;
-  res->state = *(data + 1);
-  res->size = (*(data + 2) << 8) | *(data + 3);
-
-  std::size_t data_n = sizeof(ImuData);  // 21
-  ImuPacket packet;
-  packet.count = res->size / data_n;
-  unpack_imu_packet(data + 4, &packet);
-  res->packets.push_back(packet);
-  res->checksum = *(data + 4 + res->size);
-}
-
-}  // namespace
-
-Standard210aChannelsAdapter::Standard210aChannelsAdapter()
-  : ChannelsAdapter(Model::STANDARD210A) {
-}
-
-Standard210aChannelsAdapter::~Standard210aChannelsAdapter() {
-}
-
-std::int32_t Standard210aChannelsAdapter::GetAccelRangeDefault() {
-  return 12;
-}
-
-std::vector<std::int32_t> Standard210aChannelsAdapter::GetAccelRangeValues() {
-  return {6, 12, 24, 48};
-}
-
-std::int32_t Standard210aChannelsAdapter::GetGyroRangeDefault() {
-  return 1000;
-}
-
-std::vector<std::int32_t> Standard210aChannelsAdapter::GetGyroRangeValues() {
-  return {250, 500, 1000, 2000, 4000};
-}
-
-void Standard210aChannelsAdapter::GetImuResPacket(
-    const std::uint8_t *data, ImuResPacket *res) {
-  unpack_imu_res_packet(data, res);
-}
-
-MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/channels_adapter_s210a.h

@@ -1,42 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S210A_H_
-#define MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S210A_H_
-#pragma once
-
-#include <cstdint>
-#include <set>
-#include <vector>
-
-#include "mynteye/device/channel/channels.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-class Standard210aChannelsAdapter : public ChannelsAdapter {
- public:
-  Standard210aChannelsAdapter();
-  virtual ~Standard210aChannelsAdapter();
-
-  std::int32_t GetAccelRangeDefault() override;
-  std::vector<std::int32_t> GetAccelRangeValues() override;
-
-  std::int32_t GetGyroRangeDefault() override;
-  std::vector<std::int32_t> GetGyroRangeValues() override;
-
-  void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S210A_H_

src/mynteye/device/standard2/device_s2.cc

@@ -20,11 +20,13 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
-Standard2Device::Standard2Device(std::shared_ptr<uvc::device> device)
+Standard2Device::Standard2Device(const Model &model,
-  : Device(Model::STANDARD2, device,
+    std::shared_ptr<uvc::device> device)
-           std::make_shared<Standard2StreamsAdapter>(),
+  : Device(model, device,
-           std::make_shared<Standard2ChannelsAdapter>()) {
+           std::make_shared<Standard2StreamsAdapter>(model),
+           std::make_shared<Standard2ChannelsAdapter>(model)) {
   VLOG(2) << __func__;
+  CHECK(model == Model::STANDARD2 || model == Model::STANDARD210A);
 }
 
 Standard2Device::~Standard2Device() {

src/mynteye/device/standard2/device_s2.h

@@ -24,7 +24,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class Standard2Device : public Device {
  public:
-  explicit Standard2Device(std::shared_ptr<uvc::device> device);
+  Standard2Device(const Model &model, std::shared_ptr<uvc::device> device);
   virtual ~Standard2Device();
 
   Capabilities GetKeyStreamCapability() const override;

src/mynteye/device/standard2/device_s210a.cc

@@ -1,45 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include "mynteye/device/standard2/device_s210a.h"
-
-#include "mynteye/logger.h"
-#include "mynteye/device/motions.h"
-#include "mynteye/device/standard2/channels_adapter_s210a.h"
-#include "mynteye/device/standard2/streams_adapter_s210a.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-Standard210aDevice::Standard210aDevice(std::shared_ptr<uvc::device> device)
-  : Device(Model::STANDARD210A, device,
-           std::make_shared<Standard210aStreamsAdapter>(),
-           std::make_shared<Standard210aChannelsAdapter>()) {
-  VLOG(2) << __func__;
-}
-
-Standard210aDevice::~Standard210aDevice() {
-  VLOG(2) << __func__;
-}
-
-Capabilities Standard210aDevice::GetKeyStreamCapability() const {
-  return Capabilities::STEREO_COLOR;
-}
-
-void Standard210aDevice::OnStereoStreamUpdate() {
-  if (motion_tracking_) {
-    auto &&motions = this->motions();
-    motions->DoMotionTrack();
-  }
-}
-
-MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/device_s210a.h

@@ -1,37 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef MYNTEYE_DEVICE_STANDARD2_DEVICE_S210A_H_
-#define MYNTEYE_DEVICE_STANDARD2_DEVICE_S210A_H_
-#pragma once
-
-#include <memory>
-#include <vector>
-
-#include "mynteye/device/device.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-class Standard210aDevice : public Device {
- public:
-  explicit Standard210aDevice(std::shared_ptr<uvc::device> device);
-  virtual ~Standard210aDevice();
-
-  Capabilities GetKeyStreamCapability() const override;
-
-  void OnStereoStreamUpdate() override;
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_DEVICE_STANDARD2_DEVICE_S210A_H_

src/mynteye/device/standard2/streams_adapter_s2.cc

@@ -143,7 +143,58 @@ bool unpack_stereo_img_data(
 
 }  // namespace
 
-Standard2StreamsAdapter::Standard2StreamsAdapter() {
+namespace s210a {
+
+// image pixels
+
+bool unpack_left_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::BGR888);
+  CHECK_EQ(frame->format(), Format::BGR888);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = 3;
+  std::size_t w = frame->width();
+  std::size_t h = frame->height();
+  for (std::size_t i = 0; i < h; i++) {
+    for (std::size_t j = 0; j < w; j++) {
+      frame->data()[(i * w + j) * n] =
+        *(data_new + (2 * i * w + j) * n + 2);
+      frame->data()[(i * w + j) * n + 1] =
+        *(data_new + (2 * i * w + j) * n + 1);
+      frame->data()[(i * w + j) * n + 2] =
+        *(data_new + (2 * i * w + j) * n);
+    }
+  }
+  return true;
+}
+
+bool unpack_right_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::BGR888);
+  CHECK_EQ(frame->format(), Format::BGR888);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = 3;
+  std::size_t w = frame->width();
+  std::size_t h = frame->height();
+  for (std::size_t i = 0; i < h; i++) {
+    for (std::size_t j = 0; j < w; j++) {
+      frame->data()[(i * w + j) * n] =
+        *(data_new + ((2 * i + 1) * w + j) * n + 2);
+      frame->data()[(i * w + j) * n + 1] =
+        *(data_new + ((2 * i + 1) * w + j) * n + 1);
+      frame->data()[(i * w + j) * n + 2] =
+        *(data_new + ((2 * i + 1) * w + j) * n);
+    }
+  }
+  return true;
+}
+
+}  // namespace s210a
+
+Standard2StreamsAdapter::Standard2StreamsAdapter(const Model &model)
+  : model_(model) {
 }
 
 Standard2StreamsAdapter::~Standard2StreamsAdapter() {
@@ -167,10 +218,19 @@ Standard2StreamsAdapter::GetUnpackImgDataMap() {
 
 std::map<Stream, Streams::unpack_img_pixels_t>
 Standard2StreamsAdapter::GetUnpackImgPixelsMap() {
+  switch (model_) {
+    case Model::STANDARD210A:
+      return {
+        {Stream::LEFT, s210a::unpack_left_img_pixels},
+        {Stream::RIGHT, s210a::unpack_right_img_pixels}
+      };
+    case Model::STANDARD2:
+    default:
       return {
         {Stream::LEFT, unpack_left_img_pixels},
         {Stream::RIGHT, unpack_right_img_pixels}
       };
+  }
 }
 
 MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/streams_adapter_s2.h

@@ -25,7 +25,7 @@ MYNTEYE_BEGIN_NAMESPACE
 
 class Standard2StreamsAdapter : public StreamsAdapter {
  public:
-  Standard2StreamsAdapter();
+  explicit Standard2StreamsAdapter(const Model &model);
   virtual ~Standard2StreamsAdapter();
 
   std::vector<Stream> GetKeyStreams() override;
@@ -35,6 +35,9 @@ class Standard2StreamsAdapter : public StreamsAdapter {
   GetUnpackImgDataMap() override;
   std::map<Stream, Streams::unpack_img_pixels_t>
   GetUnpackImgPixelsMap() override;
+
+ private:
+  Model model_;
 };
 
 MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/streams_adapter_s210a.cc

@@ -1,186 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include "mynteye/device/standard2/streams_adapter_s210a.h"
-
-#include <iomanip>
-
-#include "mynteye/logger.h"
-#include "mynteye/device/types.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-namespace {
-
-// image info
-
-#pragma pack(push, 1)
-struct ImagePacket {
-  std::uint8_t header;
-  std::uint8_t size;
-  std::uint16_t frame_id;
-  std::uint64_t timestamp;
-  std::uint16_t exposure_time;
-  std::uint8_t checksum;
-
-  ImagePacket() = default;
-  explicit ImagePacket(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    std::uint32_t timestamp_l;
-    std::uint32_t timestamp_h;
-
-    header = *data;
-    size = *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
-                  (*(data + 6) << 8) | *(data + 7);
-    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
-                  (*(data + 10) << 8) | *(data + 11);
-    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
-    exposure_time = (*(data + 12) << 8) | *(data + 13);
-    checksum = *(data + 14);
-  }
-};
-#pragma pack(pop)
-
-// image pixels
-
-bool unpack_left_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::BGR888);
-  CHECK_EQ(frame->format(), Format::BGR888);
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = 3;
-  std::size_t w = frame->width();
-  std::size_t h = frame->height();
-  for (std::size_t i = 0; i < h; i++) {
-    for (std::size_t j = 0; j < w; j++) {
-      frame->data()[(i * w + j) * n] =
-        *(data_new + (2 * i * w + j) * n + 2);
-      frame->data()[(i * w + j) * n + 1] =
-        *(data_new + (2 * i * w + j) * n + 1);
-      frame->data()[(i * w + j) * n + 2] =
-        *(data_new + (2 * i * w + j) * n);
-    }
-  }
-  return true;
-}
-
-bool unpack_right_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::BGR888);
-  CHECK_EQ(frame->format(), Format::BGR888);
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = 3;
-  std::size_t w = frame->width();
-  std::size_t h = frame->height();
-  for (std::size_t i = 0; i < h; i++) {
-    for (std::size_t j = 0; j < w; j++) {
-      frame->data()[(i * w + j) * n] =
-        *(data_new + ((2 * i + 1) * w + j) * n + 2);
-      frame->data()[(i * w + j) * n + 1] =
-        *(data_new + ((2 * i + 1) * w + j) * n + 1);
-      frame->data()[(i * w + j) * n + 2] =
-        *(data_new + ((2 * i + 1) * w + j) * n);
-    }
-  }
-  return true;
-}
-
-bool unpack_stereo_img_data(
-    const void *data, const StreamRequest &request, ImgData *img) {
-  CHECK_NOTNULL(img);
-
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t data_n =
-      request.width * request.height * bytes_per_pixel(request.format);
-  auto data_end = data_new + data_n;
-
-  std::size_t packet_n = sizeof(ImagePacket);
-  std::vector<std::uint8_t> packet(packet_n);
-  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
-
-  ImagePacket img_packet(packet.data());
-  // LOG(INFO) << "ImagePacket: header=0x" << std::hex <<
-  // static_cast<int>(img_packet.header)
-  //   << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
-  //   << ", frame_id="<< std::dec << img_packet.frame_id
-  //   << ", timestamp="<< std::dec << img_packet.timestamp
-  //   << ", exposure_time="<< std::dec << img_packet.exposure_time
-  //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
-
-  if (img_packet.header != 0x3B) {
-    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
-            << std::uppercase << std::setw(2) << std::setfill('0')
-            << static_cast<int>(img_packet.header) << " now";
-    return false;
-  }
-
-  std::uint8_t checksum = 0;
-  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
-    checksum = (checksum ^ packet[i]);
-  }
-/*
-  if (img_packet.checksum != checksum) {
-    VLOG(2) << "Image packet checksum should be 0x" << std::hex
-            << std::uppercase << std::setw(2) << std::setfill('0')
-            << static_cast<int>(img_packet.checksum) << ", but 0x"
-            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
-            << " now";
-    return false;
-  }
-*/
-  img->frame_id = img_packet.frame_id;
-  img->timestamp = img_packet.timestamp;
-  img->exposure_time = img_packet.exposure_time;
-  return true;
-}
-
-}  // namespace
-
-Standard210aStreamsAdapter::Standard210aStreamsAdapter() {
-}
-
-Standard210aStreamsAdapter::~Standard210aStreamsAdapter() {
-}
-
-std::vector<Stream> Standard210aStreamsAdapter::GetKeyStreams() {
-  return {Stream::LEFT, Stream::RIGHT};
-}
-
-std::vector<Capabilities> Standard210aStreamsAdapter::GetStreamCapabilities() {
-  return {Capabilities::STEREO_COLOR};
-}
-
-std::map<Stream, Streams::unpack_img_data_t>
-Standard210aStreamsAdapter::GetUnpackImgDataMap() {
-  return {
-    {Stream::LEFT, unpack_stereo_img_data},
-    {Stream::RIGHT, unpack_stereo_img_data}
-  };
-}
-
-std::map<Stream, Streams::unpack_img_pixels_t>
-Standard210aStreamsAdapter::GetUnpackImgPixelsMap() {
-  return {
-    {Stream::LEFT, unpack_left_img_pixels},
-    {Stream::RIGHT, unpack_right_img_pixels}
-  };
-}
-
-MYNTEYE_END_NAMESPACE

src/mynteye/device/standard2/streams_adapter_s210a.h

@@ -1,42 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S210A_H_
-#define MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S210A_H_
-#pragma once
-
-#include <map>
-#include <memory>
-#include <vector>
-
-#include "mynteye/device/streams.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-class Standard210aStreamsAdapter : public StreamsAdapter {
- public:
-  Standard210aStreamsAdapter();
-  virtual ~Standard210aStreamsAdapter();
-
-  std::vector<Stream> GetKeyStreams() override;
-  std::vector<Capabilities> GetStreamCapabilities() override;
-
-  std::map<Stream, Streams::unpack_img_data_t>
-  GetUnpackImgDataMap() override;
-  std::map<Stream, Streams::unpack_img_pixels_t>
-  GetUnpackImgPixelsMap() override;
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S210A_H_