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refactor(synthetic): remove usless logic

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This commit is contained in:
TinyOh
2019-02-28 16:44:55 +08:00
parent d09f037aee
commit f525c2063e
3 changed files with 42 additions and 71 deletions
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98
src/mynteye/api/synthetic.cc
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@@ -511,66 +511,60 @@ bool Synthetic::IsStreamEnabledSynthetic(const Stream &stream) const {
void Synthetic::InitProcessors() {
std::shared_ptr<Processor> rectify_processor = nullptr;
#ifdef WITH_CAM_MODELS
std::shared_ptr<RectifyProcessor> rectify_processor_imp = nullptr;
#endif
cv::Mat Q;
if (calib_model_ == CalibrationModel::PINHOLE) {
auto &&rectify_processor_ocv =
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
Q = rectify_processor_ocv->Q;
rectify_processor = rectify_processor_ocv;
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
rectify_processor_imp =
std::make_shared<RectifyProcessor>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_imp;
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
auto &&rectify_processor_ocv =
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_ocv;
}
std::shared_ptr<Processor> points_processor = nullptr;
std::shared_ptr<Processor> depth_processor = nullptr;
auto &&disparity_processor =
std::make_shared<DisparityProcessor>(DisparityComputingMethod::SGBM,
DISPARITY_PROC_PERIOD);
auto &&disparitynormalized_processor =
std::make_shared<DisparityNormalizedProcessor>(
DISPARITY_NORM_PROC_PERIOD);
std::shared_ptr<Processor> points_processor = nullptr;
if (calib_model_ == CalibrationModel::PINHOLE) {
auto root_processor =
std::make_shared<RootProcessor>(ROOT_PROC_PERIOD);
if (calib_model_ == CalibrationModel::PINHOLE) {
// PINHOLE
auto &&rectify_processor_ocv =
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_ocv;
points_processor = std::make_shared<PointsProcessorOCV>(
Q, POINTS_PROC_PERIOD);
rectify_processor_ocv->Q, POINTS_PROC_PERIOD);
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
root_processor->AddChild(rectify_processor);
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(points_processor);
points_processor->AddChild(depth_processor);
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
// KANNALA_BRANDT
auto rectify_processor_imp =
std::make_shared<RectifyProcessor>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_imp;
points_processor = std::make_shared<PointsProcessor>(
rectify_processor_imp -> getCalibInfoPair(),
POINTS_PROC_PERIOD);
#endif
} else {
points_processor = std::make_shared<PointsProcessorOCV>(
Q, POINTS_PROC_PERIOD);
}
std::shared_ptr<Processor> depth_processor = nullptr;
if (calib_model_ == CalibrationModel::PINHOLE) {
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
depth_processor = std::make_shared<DepthProcessor>(
rectify_processor_imp -> getCalibInfoPair(),
DEPTH_PROC_PERIOD);
root_processor->AddChild(rectify_processor);
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(depth_processor);
depth_processor->AddChild(points_processor);
#endif
} else {
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
// UNKNOW
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
return;
}
auto root_processor =
std::make_shared<RootProcessor>(ROOT_PROC_PERIOD);
root_processor->AddChild(rectify_processor);
rectify_processor->addTargetStreams(
{Stream::LEFT_RECTIFIED, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
@@ -618,25 +612,7 @@ void Synthetic::InitProcessors() {
depth_processor->SetPostProcessCallback(
std::bind(&Synthetic::OnDepthPostProcess, this, _1));
if (calib_model_ == CalibrationModel::PINHOLE) {
// PINHOLE
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(points_processor);
points_processor->AddChild(depth_processor);
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
// KANNALA_BRANDT
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(depth_processor);
depth_processor->AddChild(points_processor);
} else {
// UNKNOW
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
processor_ = rectify_processor;
processor_ = root_processor;
}
void Synthetic::ProcessNativeStream(