refactor(synthetic): make switch of disable copy and disable unnessary copy

src/mynteye/api/processor.cc

@@ -42,9 +42,9 @@ Processor::Processor(std::int32_t proc_period)
 Processor::~Processor() {
   VLOG(2) << __func__;
   Deactivate();
-  input_.reset(nullptr);
-  output_.reset(nullptr);
-  output_result_.reset(nullptr);
+  input_ = nullptr;
+  output_ = nullptr;
+  output_result_ = nullptr;
   childs_.clear();
 }
 
@@ -122,7 +122,7 @@ bool Processor::IsIdle() {
   return idle_;
 }
 
-bool Processor::Process(const Object &in) {
+bool Processor::Process(std::shared_ptr<Object> in) {
   if (!activated_)
     return false;
   if (!idle_) {
@@ -132,13 +132,17 @@ bool Processor::Process(const Object &in) {
       return false;
     }
   }
-  if (!in.DecValidity()) {
+  if (in && !in->DecValidity()) {
     LOG(WARNING) << Name() << " process with invalid input";
     return false;
   }
   {
     std::lock_guard<std::mutex> lk(mtx_input_ready_);
-    input_.reset(in.Clone());
+    if (ProcessInputConnection() == WITH_CLONE) {
+      input_.reset(in->Clone());
+    } else {
+      input_ = in;
+    }
     input_ready_ = true;
   }
   cond_input_ready_.notify_all();
@@ -229,12 +233,16 @@ void Processor::Run() {
     }
     {
       std::unique_lock<std::mutex> lk(mtx_result_);
-      output_result_.reset(output_->Clone());
+      if (ProcessOutputConnection() == WITH_CLONE) {
+        output_result_.reset(output_->Clone());
+      } else {
+        output_result_ = output_;
+      }
     }
 
     if (!childs_.empty()) {
       for (auto child : childs_) {
-        child->Process(*output_);
+        child->Process(output_);
       }
     }
 
@@ -246,6 +254,14 @@ void Processor::Run() {
   VLOG(2) << Name() << " thread end";
 }
 
+Processor::process_type Processor::ProcessOutputConnection() {
+  return WITH_CLONE;
+}
+
+Processor::process_type Processor::ProcessInputConnection() {
+  return WITH_CLONE;
+}
+
 api::StreamData Processor::GetStreamData(const Stream &stream) {
   auto sum = getStreamsSum();
   auto &&out = GetOutput();

src/mynteye/api/processor.h

@@ -64,7 +64,7 @@ class Processor :
   bool IsIdle();
 
   /** Returns dropped or not. */
-  bool Process(const Object &in);
+  bool Process(std::shared_ptr<Object> in);
 
   virtual api::StreamData GetStreamData(const Stream &stream);
 
@@ -83,6 +83,13 @@ class Processor :
   virtual bool OnProcess(
       Object *const in, Object *const out,
       std::shared_ptr<Processor> const parent) = 0;
+  enum process_type{
+    WITH_CLONE,
+    WITHOUT_CLONE
+  };
+
+  virtual process_type ProcessOutputConnection();
+  virtual process_type ProcessInputConnection();
 
  private:
   /** Run in standalone thread. */
@@ -102,10 +109,10 @@ class Processor :
   std::uint64_t dropped_count_;
   std::mutex mtx_state_;
 
-  std::unique_ptr<Object> input_;
-  std::unique_ptr<Object> output_;
+  std::shared_ptr<Object> input_;
+  std::shared_ptr<Object> output_;
 
-  std::unique_ptr<Object> output_result_;
+  std::shared_ptr<Object> output_result_;
   std::mutex mtx_result_;
 
   PreProcessCallback pre_callback_;

src/mynteye/api/processor/depth_processor_ocv.h

@@ -31,6 +31,9 @@ class DepthProcessorOCV : public Processor {
   std::string Name() override;
 
  protected:
+  inline Processor::process_type ProcessOutputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/disparity_normalized_processor.h

@@ -31,6 +31,12 @@ class DisparityNormalizedProcessor : public Processor {
   std::string Name() override;
 
  protected:
+  inline Processor::process_type ProcessOutputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
+  inline Processor::process_type ProcessInputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/points_processor.h

@@ -36,6 +36,9 @@ class PointsProcessor : public Processor {
   std::string Name() override;
 
  protected:
+  inline Processor::process_type ProcessOutputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/rectify_processor.h

@@ -79,6 +79,12 @@ class RectifyProcessor : public Processor {
   bool OnProcess(
       Object *const in, Object *const out,
       std::shared_ptr<Processor> const parent) override;
+  inline Processor::process_type ProcessOutputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
+  inline Processor::process_type ProcessInputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
 
  private:
   void InitParams(IntrinsicsEquidistant in_left,

src/mynteye/api/processor/rectify_processor_ocv.h

@@ -49,6 +49,13 @@ class RectifyProcessorOCV : public Processor {
   cv::Mat map11, map12, map21, map22;
 
  protected:
+  inline Processor::process_type ProcessOutputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
+  inline Processor::process_type ProcessInputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
+
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/processor/root_camera_processor.cc

@@ -73,7 +73,7 @@ void s1s2Processor::ProcessNativeStream(
   }
   if (left_data.img && right_data.img &&
       left_data.img->frame_id == right_data.img->frame_id) {
-    Process(data_obj(left_data, right_data));
+    Process(std::make_shared<ObjMat2>(data_obj(left_data, right_data)));
   }
   return;
 }

src/mynteye/api/processor/root_camera_processor.h

@@ -56,6 +56,12 @@ class s1s2Processor : public RootProcessor {
   api::StreamData GetStreamData(const Stream &stream) override;
   std::vector<api::StreamData> GetStreamDatas(const Stream &stream) override; // NOLINT
  protected:
+  inline Processor::process_type ProcessOutputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
+  inline Processor::process_type ProcessInputConnection() override {
+    return Processor::WITHOUT_CLONE;
+  }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,

src/mynteye/api/synthetic.cc

@@ -364,6 +364,10 @@ void Synthetic::InitProcessors() {
     return;
   }
 
+  root_processor->addTargetStreams(
+      {Stream::LEFT, Mode::MODE_OFF, nullptr});
+  root_processor->addTargetStreams(
+      {Stream::RIGHT, Mode::MODE_OFF, nullptr});
   rectify_processor->addTargetStreams(
       {Stream::LEFT_RECTIFIED, Mode::MODE_OFF, nullptr});
   rectify_processor->addTargetStreams(
@@ -376,10 +380,6 @@ void Synthetic::InitProcessors() {
       {Stream::POINTS, Mode::MODE_OFF, nullptr});
   depth_processor->addTargetStreams(
       {Stream::DEPTH, Mode::MODE_OFF, nullptr});
-  root_processor->addTargetStreams(
-      {Stream::LEFT, Mode::MODE_OFF, nullptr});
-  root_processor->addTargetStreams(
-      {Stream::RIGHT, Mode::MODE_OFF, nullptr});
 
   processors_.push_back(root_processor);
   processors_.push_back(rectify_processor);
@@ -421,7 +421,8 @@ bool Synthetic::OnDeviceProcess(
     Object *const in, Object *const out,
     std::shared_ptr<Processor> const parent) {
   MYNTEYE_UNUSED(parent)
-  return GetStreamEnabledMode(Stream::LEFT) != MODE_ON;
+  return GetStreamEnabledMode(Stream::LEFT) != MODE_ON
+      || GetStreamEnabledMode(Stream::RIGHT) != MODE_ON;
 }
 
 bool Synthetic::OnRectifyProcess(
@@ -431,8 +432,8 @@ bool Synthetic::OnRectifyProcess(
   if (plugin_ && plugin_->OnRectifyProcess(in, out)) {
     return true;
   }
-  return GetStreamEnabledMode(Stream::LEFT_RECTIFIED) != MODE_ON;
-  // && GetStreamEnabledMode(Stream::RIGHT_RECTIFIED) != MODE_ON
+  return GetStreamEnabledMode(Stream::LEFT_RECTIFIED) != MODE_ON
+      && GetStreamEnabledMode(Stream::RIGHT_RECTIFIED) != MODE_ON;
 }
 
 bool Synthetic::OnDisparityProcess(