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

samples/tutorials/data/get_depth.cc

@@ -11,7 +11,9 @@
 // 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 <string>
 #include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/api/api.h"
 
@@ -26,13 +28,15 @@ int main(int argc, char *argv[]) {
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
   api->EnableStreamData(Stream::DEPTH);
 
   api->Start(Source::VIDEO_STREAMING);
 
   cv::namedWindow("frame");
   cv::namedWindow("depth");
-
+  double t = 0;
+  double fps;
   while (true) {
     api->WaitForStreams();
 

samples/tutorials/data/get_points.cc

@@ -27,6 +27,7 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->EnableStreamData(Stream::POINTS);
 

samples/tutorials/data/get_stereo.cc

@@ -25,7 +25,7 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
-
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
   api->Start(Source::VIDEO_STREAMING);
 
   cv::namedWindow("frame");

samples/tutorials/data/get_stereo_rectified.cc

@@ -25,6 +25,7 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->EnableStreamData(Stream::LEFT_RECTIFIED);
   api->EnableStreamData(Stream::RIGHT_RECTIFIED);

samples/tutorials/intermediate/get_depth_and_points.cc

@@ -154,6 +154,7 @@ int main(int argc, char *argv[]) {
   auto &&request = api->SelectStreamRequest(&ok);
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
+  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->SetOptionValue(Option::IR_CONTROL, 80);
 

src/mynteye/api/processor.cc

@@ -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!";
     }

src/mynteye/api/processor.h

@@ -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();

src/mynteye/api/processor/root_camera_processor.cc

@@ -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);
   }