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fix(api): Remove duplicate frames,change samples after disparity with enum BM

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This commit is contained in:
TinyOh
2019-03-11 16:28:31 +08:00
parent e85321130e
commit f08dda33b5
8 changed files with 33 additions and 11 deletions
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26
src/mynteye/api/processor.cc
View File

@@ -24,7 +24,9 @@
MYNTEYE_BEGIN_NAMESPACE
Processor::Processor(std::int32_t proc_period)
: proc_period_(std::move(proc_period)),
: last_frame_id_cd(0),
last_frame_id_cd_vice(0),
proc_period_(std::move(proc_period)),
activated_(false),
input_ready_(false),
idle_(true),
@@ -278,11 +280,16 @@ api::StreamData Processor::GetStreamData(const Stream &stream) {
if (enable_mode == Synthetic::MODE_ON) {
if (sum == 1) {
if (out != nullptr) {
auto &&output = Object::Cast<ObjMat>(out);
auto output = Object::Cast<ObjMat>(out);
if (output != nullptr) {
if (last_frame_id_cd == output->data->frame_id) {
// cut the duplicate frame.
return {};
}
last_frame_id_cd = output->data->frame_id;
return obj_data(output);
}
VLOG(2) << "Rectify not ready now";
VLOG(2) << "Frame not ready now";
}
} else if (sum == 2) {
static std::shared_ptr<ObjMat2> output = nullptr;
@@ -295,15 +302,26 @@ api::StreamData Processor::GetStreamData(const Stream &stream) {
for (auto it : streams) {
if (it.stream == stream) {
if (num == 1) {
if (last_frame_id_cd == output->first_data->frame_id) {
// cut the duplicate frame.
return {};
}
last_frame_id_cd = output->first_data->frame_id;
return obj_data_first(output);
} else {
// last_frame_id_cd = output->second_data->frame_id;
if (last_frame_id_cd_vice == output->second_data->frame_id) {
// cut the duplicate frame.
return {};
}
last_frame_id_cd_vice = output->second_data->frame_id;
return obj_data_second(output);
}
}
num++;
}
}
VLOG(2) << "Rectify not ready now";
VLOG(2) << "Frame not ready now";
} else {
LOG(ERROR) << "error: invalid sum!";
}

3
src/mynteye/api/processor.h
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@@ -90,7 +90,8 @@ class Processor :
virtual process_type ProcessOutputConnection();
virtual process_type ProcessInputConnection();
std::uint16_t last_frame_id_cd;
std::uint16_t last_frame_id_cd_vice;
private:
/** Run in standalone thread. */
void Run();

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

@@ -90,10 +90,6 @@ void s1s2Processor::StartVideoStreaming() {
[this, stream, callback](const device::StreamData &data) {
auto &&stream_data = data2api(data);
ProcessNativeStream(stream, stream_data);
// Need mutex if set callback after start
// if (callback) {
// callback(stream_data);
// }
},
true);
}