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refactor(channels): sepreate bytes and file channel

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This commit is contained in:
John Zhao
2019-01-05 20:02:08 +08:00
parent ca51d2cf94
commit e539cb9fe0
21 changed files with 940 additions and 624 deletions
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60
src/mynteye/device/standard2/channels_adapter_s2.cc
View File

@@ -122,64 +122,4 @@ void Standard2ChannelsAdapter::GetImuResPacket(
unpack_imu_res_packet(data, res);
}
std::size_t Standard2ChannelsAdapter::GetImgParamsFromData(
const std::uint8_t *data, const Version *version,
Channels::img_params_t *img_params) {
std::size_t i = 0;
Extrinsics ex_right_to_left;
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
(*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
}
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
(*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
}
{
i += bytes::from_data(&ex_right_to_left, data + i, version);
(*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
(*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
}
return i;
}
std::size_t Standard2ChannelsAdapter::SetImgParamsToData(
const Channels::img_params_t *img_params, const Version *version,
std::uint8_t *data) {
std::size_t i = 3; // skip id, size
{
auto params = (*img_params).at({1280, 400});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
}
{
auto params = (*img_params).at({2560, 800});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
i += bytes::to_data(&params.ex_right_to_left, data + i, version);
}
// others
std::size_t size = i - 3;
data[0] = Channels::FID_IMG_PARAMS;
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
return size + 3;
}
MYNTEYE_END_NAMESPACE

9
src/mynteye/device/standard2/channels_adapter_s2.h
View File

@@ -19,7 +19,7 @@
#include <set>
#include <vector>
#include "mynteye/device/channels/channels.h"
#include "mynteye/device/channel/channels.h"
MYNTEYE_BEGIN_NAMESPACE
@@ -37,13 +37,6 @@ class Standard2ChannelsAdapter : public ChannelsAdapter {
std::vector<std::int32_t> GetGyroRangeValues() override;
void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
std::size_t GetImgParamsFromData(
const std::uint8_t *data, const Version *version,
Channels::img_params_t *img_params) override;
std::size_t SetImgParamsToData(
const Channels::img_params_t *img_params, const Version *version,
std::uint8_t *data) override;
};
MYNTEYE_END_NAMESPACE

60
src/mynteye/device/standard2/channels_adapter_s210a.cc
View File

@@ -122,64 +122,4 @@ void Standard210aChannelsAdapter::GetImuResPacket(
unpack_imu_res_packet(data, res);
}
std::size_t Standard210aChannelsAdapter::GetImgParamsFromData(
const std::uint8_t *data, const Version *version,
Channels::img_params_t *img_params) {
std::size_t i = 0;
Extrinsics ex_right_to_left;
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
(*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
}
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
(*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
}
{
i += bytes::from_data(&ex_right_to_left, data + i, version);
(*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
(*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
}
return i;
}
std::size_t Standard210aChannelsAdapter::SetImgParamsToData(
const Channels::img_params_t *img_params, const Version *version,
std::uint8_t *data) {
std::size_t i = 3; // skip id, size
{
auto params = (*img_params).at({1280, 400});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
}
{
auto params = (*img_params).at({2560, 800});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
i += bytes::to_data(&params.ex_right_to_left, data + i, version);
}
// others
std::size_t size = i - 3;
data[0] = Channels::FID_IMG_PARAMS;
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
return size + 3;
}
MYNTEYE_END_NAMESPACE

9
src/mynteye/device/standard2/channels_adapter_s210a.h
View File

@@ -19,7 +19,7 @@
#include <set>
#include <vector>
#include "mynteye/device/channels/channels.h"
#include "mynteye/device/channel/channels.h"
MYNTEYE_BEGIN_NAMESPACE
@@ -37,13 +37,6 @@ class Standard210aChannelsAdapter : public ChannelsAdapter {
std::vector<std::int32_t> GetGyroRangeValues() override;
void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
std::size_t GetImgParamsFromData(
const std::uint8_t *data, const Version *version,
Channels::img_params_t *img_params) override;
std::size_t SetImgParamsToData(
const Channels::img_params_t *img_params, const Version *version,
std::uint8_t *data) override;
};
MYNTEYE_END_NAMESPACE