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2c92a2b0703ef9a37c653797b133de2a5371a5b7

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This commit is contained in:
TinyOh 2019-01-22 18:26:21 +08:00
parent 4011880148
commit f98fe1b4ec
2 changed files with 59 additions and 259 deletions
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28
src/mynteye/api/processor.h
View File

@ -133,18 +133,36 @@ void iterate_processors_PtoC_before(
}
template <typename T>
void iterate_processors_CtoP_before(
void iterate_processor_PtoC_after(
T processor, std::function<void(std::shared_ptr<Processor>)> fn) {
if (processor->GetParent() != nullptr)
iterate_processors_CtoP_before(processor->GetParent(), fn);
fn(processor);
auto chids = processor->GetChilds();
for (auto it : chids) {
iterate_processor_PtoC_after(it, fn);
}
}
template <typename T>
void iterate_processor_PtoC_before(
T processor, std::function<void(std::shared_ptr<Processor>)> fn) {
auto chids = processor->GetChilds();
for (auto it : chids) {
iterate_processor_PtoC_before(it, fn);
}
fn(processor);
}
template <typename T>
void iterate_processors_CtoP_after(
void iterate_processor_CtoP_before(
T processor, std::function<void(std::shared_ptr<Processor>)> fn) {
if (processor->GetParent() != nullptr)
iterate_processor_CtoP_before(processor->GetParent(), fn);
fn(processor);
}
template <typename T>
void iterate_processor_CtoP_after(
T processor, std::function<void(std::shared_ptr<Processor>)> fn) {
fn(processor);
if (processor->GetParent() != nullptr)
iterate_processors_CtoP_after(processor->GetParent(), fn);
iterate_processor_CtoP_after(processor->GetParent(), fn);
}
MYNTEYE_END_NAMESPACE

290
src/mynteye/api/synthetic.cc
View File

@ -42,6 +42,7 @@
#define DISPARITY_NORM_PROC_PERIOD 0
#define POINTS_PROC_PERIOD 0
#define DEPTH_PROC_PERIOD 0
#define ROOT_PROC_PERIOD 0
MYNTEYE_BEGIN_NAMESPACE
@ -183,21 +184,6 @@ void Synthetic::setControlDateCallbackWithStream(
LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
}
// void Synthetic::setControlDateModeWithStream(
// const struct stream_control_t& ctr_data) {
// for (auto &&it : processors_) {
// int i = 0;
// for (auto it_s : it->getTargetStreams()) {
// if (it_s.stream == ctr_data.stream) {
// it->target_streams_[i].mode = ctr_data.mode;
// return;
// }
// i++;
// }
// }
// LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
// }
bool Synthetic::checkControlDateWithStream(const Stream& stream) const {
for (auto &&it : processors_) {
for (auto it_s : it->getTargetStreams()) {
@ -209,40 +195,25 @@ bool Synthetic::checkControlDateWithStream(const Stream& stream) const {
return false;
}
// bool Synthetic::Supports(const Stream &stream) const {
// return checkControlDateWithStream(stream);
// }
// Synthetic::status_mode_t Synthetic::GetStreamStatusMode(
// const Stream &stream) const {
// if (checkControlDateWithStream(stream)) {
// auto ctrData = getControlDateWithStream(stream);
// return ctrData.mode;
// } else {
// return MODE_STATUS_LAST;
// }
// }
// void Synthetic::EnableStreamData(const Stream &stream) {
// // Activate processors of synthetic stream
// auto processor = getProcessorWithStream(stream);
// iterate_processors_CtoP_before(processor,
// [](std::shared_ptr<Processor> proce){
// auto streams = proce->getTargetStreams();
// int act_tag = 0;
// for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
// if (proce->target_streams_[i].mode == MODE_STATUS_DISABLE) {
// act_tag++;
// proce->target_streams_[i].mode = MODE_STATUS_ENABLE;
// }
// }
// if (act_tag > 0) {
// std::cout << proce->Name() << "active" << std::endl;
// proce->Activate();
// }
// // std::cout <<std::endl;
// });
// }
void Synthetic::EnableStreamData(const Stream &stream) {
// Activate processors of synthetic stream
auto processor = getProcessorWithStream(stream);
iterate_processor_CtoP_before(processor,
[](std::shared_ptr<Processor> proce){
auto streams = proce->getTargetStreams();
int act_tag = 0;
for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
if (proce->target_streams_[i].enabled_mode_ == MODE_LAST) {
act_tag++;
proce->target_streams_[i].enabled_mode_ = MODE_SYNTHETIC;
}
}
if (act_tag > 0 && !proce->IsActivated()) {
// std::cout << proce->Name() << " Active now" << std::endl;
proce->Activate();
}
});
}
bool Synthetic::Supports(const Stream &stream) const {
@ -257,12 +228,23 @@ Synthetic::mode_t Synthetic::SupportsMode(const Stream &stream) const {
return MODE_LAST;
}
void Synthetic::EnableStreamData(const Stream &stream) {
EnableStreamData(stream, 0);
}
void Synthetic::DisableStreamData(const Stream &stream) {
DisableStreamData(stream, 0);
auto processor = getProcessorWithStream(stream);
iterate_processor_PtoC_before(processor,
[](std::shared_ptr<Processor> proce){
auto streams = proce->getTargetStreams();
int act_tag = 0;
for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
if (proce->target_streams_[i].enabled_mode_ == MODE_SYNTHETIC) {
act_tag++;
proce->target_streams_[i].enabled_mode_ = MODE_LAST;
}
}
if (act_tag > 0 && proce->IsActivated()) {
// std::cout << proce->Name() << "Deactive now" << std::endl;
proce->Deactivate();
}
});
}
bool Synthetic::IsStreamDataEnabled(const Stream &stream) const {
@ -349,7 +331,6 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
auto sum = processor->getStreamsSum();
auto &&out = processor->GetOutput();
static std::shared_ptr<ObjMat2> output = nullptr;
std::cout << processor->Name() << stream <<std::endl;
if (sum == 1) {
if (out != nullptr) {
auto &&output = Object::Cast<ObjMat>(out);
@ -469,205 +450,6 @@ bool Synthetic::IsStreamEnabledSynthetic(const Stream &stream) const {
return GetStreamEnabledMode(stream) == MODE_SYNTHETIC;
}
void Synthetic::EnableStreamData(const Stream &stream, std::uint32_t depth) {
if (IsStreamDataEnabled(stream))
return;
// Activate processors of synthetic stream
auto processor = getProcessorWithStream(stream);
for (unsigned int i = 0; i< processor->target_streams_.size(); i++) {
if (processor->target_streams_[i].stream == stream) {
processor->target_streams_[i].enabled_mode_ = MODE_SYNTHETIC;
}
}
switch (stream) {
case Stream::LEFT_RECTIFIED: {
if (!IsStreamDataEnabled(Stream::LEFT))
break;
if (calib_model_ == CalibrationModel::PINHOLE) {
CHECK(ActivateProcessor<RectifyProcessorOCV>());
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
CHECK(ActivateProcessor<RectifyProcessor>());
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
CHECK(ActivateProcessor<RectifyProcessorOCV>());
}
} return;
case Stream::RIGHT_RECTIFIED: {
if (!IsStreamDataEnabled(Stream::RIGHT))
break;
if (calib_model_ == CalibrationModel::PINHOLE) {
CHECK(ActivateProcessor<RectifyProcessorOCV>());
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
CHECK(ActivateProcessor<RectifyProcessor>());
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
CHECK(ActivateProcessor<RectifyProcessorOCV>());
}
} return;
case Stream::DISPARITY: {
EnableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
EnableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
CHECK(ActivateProcessor<DisparityProcessor>());
} return;
case Stream::DISPARITY_NORMALIZED: {
EnableStreamData(Stream::DISPARITY, depth + 1);
CHECK(ActivateProcessor<DisparityNormalizedProcessor>());
} return;
case Stream::POINTS: {
if (calib_model_ == CalibrationModel::PINHOLE) {
EnableStreamData(Stream::DISPARITY, depth + 1);
CHECK(ActivateProcessor<PointsProcessorOCV>());
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
EnableStreamData(Stream::DEPTH, depth + 1);
CHECK(ActivateProcessor<PointsProcessor>());
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} return;
case Stream::DEPTH: {
if (calib_model_ == CalibrationModel::PINHOLE) {
EnableStreamData(Stream::POINTS, depth + 1);
CHECK(ActivateProcessor<DepthProcessorOCV>());
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
EnableStreamData(Stream::DISPARITY, depth + 1);
CHECK(ActivateProcessor<DepthProcessor>());
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} return;
default: break;
}
if (depth == 0) {
LOG(WARNING) << "Enable stream data of " << stream << " failed";
}
}
void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
if (!IsStreamDataEnabled(stream))
return;
// Deactivate processors of synthetic stream
auto data = getControlDateWithStream(stream);
if (data.enabled_mode_ != MODE_NATIVE) {
data.enabled_mode_ = MODE_LAST;
switch (stream) {
case Stream::LEFT_RECTIFIED: {
if (IsStreamEnabledSynthetic(Stream::DISPARITY)) {
DisableStreamData(Stream::DISPARITY, depth + 1);
}
if (IsStreamEnabledSynthetic(Stream::RIGHT_RECTIFIED)) {
DisableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
}
if (calib_model_ == CalibrationModel::PINHOLE) {
DeactivateProcessor<RectifyProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
DeactivateProcessor<RectifyProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
DeactivateProcessor<RectifyProcessorOCV>();
}
} break;
case Stream::RIGHT_RECTIFIED: {
if (IsStreamEnabledSynthetic(Stream::DISPARITY)) {
DisableStreamData(Stream::DISPARITY, depth + 1);
}
if (IsStreamEnabledSynthetic(Stream::LEFT_RECTIFIED)) {
DisableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
}
if (calib_model_ == CalibrationModel::PINHOLE) {
DeactivateProcessor<RectifyProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
DeactivateProcessor<RectifyProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
DeactivateProcessor<RectifyProcessorOCV>();
}
} break;
case Stream::DISPARITY: {
if (calib_model_ == CalibrationModel::PINHOLE) {
if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
DisableStreamData(Stream::DISPARITY_NORMALIZED, depth + 1);
}
if (IsStreamEnabledSynthetic(Stream::POINTS)) {
DisableStreamData(Stream::POINTS, depth + 1);
}
DeactivateProcessor<DisparityProcessor>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
DisableStreamData(Stream::DISPARITY_NORMALIZED, depth + 1);
}
if (IsStreamEnabledSynthetic(Stream::DEPTH)) {
DisableStreamData(Stream::DEPTH, depth + 1);
}
DeactivateProcessor<DisparityProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} break;
case Stream::DISPARITY_NORMALIZED: {
DeactivateProcessor<DisparityNormalizedProcessor>();
} break;
case Stream::POINTS: {
if (calib_model_ == CalibrationModel::PINHOLE) {
if (IsStreamEnabledSynthetic(Stream::DEPTH)) {
DisableStreamData(Stream::DEPTH, depth + 1);
}
DeactivateProcessor<PointsProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
DeactivateProcessor<PointsProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} break;
case Stream::DEPTH: {
if (calib_model_ == CalibrationModel::PINHOLE) {
DeactivateProcessor<DepthProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
if (IsStreamEnabledSynthetic(Stream::POINTS)) {
DisableStreamData(Stream::POINTS, depth + 1);
}
DeactivateProcessor<DepthProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} break;
default: return;
}
if (depth > 0) {
LOG(WARNING) << "Disable synthetic stream data of " << stream << " too";
}
} else if (depth == 0) {
LOG(WARNING) << "Disable native stream data of " << stream << " failed";
}
}
void Synthetic::InitProcessors() {
std::shared_ptr<Processor> rectify_processor = nullptr;
#ifdef WITH_CAM_MODELS