MYNT-EYE-S-SDK/src/mynteye/api/processor/root_camera_processor.cc

155 lines
4.7 KiB
C++

// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// 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 "mynteye/api/processor/root_camera_processor.h"
#include <utility>
#include <vector>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "mynteye/logger.h"
#include "mynteye/api/synthetic.h"
#include "mynteye/device/device.h"
#include "mynteye/api/data_tools.h"
MYNTEYE_BEGIN_NAMESPACE
const char RootProcessor::NAME[] = "RootProcessor";
RootProcessor::RootProcessor(std::shared_ptr<Device> device,
std::int32_t proc_period)
: Processor(std::move(proc_period)),
device_(device) {}
RootProcessor::~RootProcessor() {
VLOG(2) << __func__;
}
std::string RootProcessor::Name() {
return NAME;
}
s1s2Processor::s1s2Processor(std::shared_ptr<Device> device,
std::int32_t proc_period)
: RootProcessor(device, std::move(proc_period)) {}
s1s2Processor::~s1s2Processor() {
VLOG(2) << __func__;
}
Object *s1s2Processor::OnCreateOutput() {
return new ObjMat2();
}
bool s1s2Processor::OnProcess(
Object *const in, Object *const out,
std::shared_ptr<Processor> const parent) {
const ObjMat2 *input = Object::Cast<ObjMat2>(in);
ObjMat2 *output = Object::Cast<ObjMat2>(out);
output->second = input->second;
output->first = input->first;
output->first_id = input->first_id;
output->first_data = input->first_data;
output->second_id = input->second_id;
output->second_data = input->second_data;
MYNTEYE_UNUSED(parent)
return true;
}
void s1s2Processor::ProcessNativeStream(
const Stream &stream, const api::StreamData &data) {
std::unique_lock<std::mutex> lk(mtx_left_right_ready_);
static api::StreamData left_data, right_data;
if (stream == Stream::LEFT) {
left_data = data;
} else if (stream == Stream::RIGHT) {
right_data = data;
}
if (left_data.img && right_data.img &&
left_data.img->frame_id == right_data.img->frame_id) {
Process(std::make_shared<ObjMat2>(data_obj(left_data, right_data)));
}
return;
}
void s1s2Processor::StartVideoStreaming() {
Activate();
auto streams = getTargetStreams();
for (unsigned int j =0; j< streams.size(); j++) {
auto stream = streams[j].stream;
auto callback = streams[j].stream_callback;
target_streams_[j].enabled_mode_ = Synthetic::MODE_ON;
device_->SetStreamCallback(
stream,
[this, stream, callback](const device::StreamData &data) {
auto &&stream_data = data2api(data);
ProcessNativeStream(stream, stream_data);
},
true);
}
device_->Start(Source::VIDEO_STREAMING);
}
void s1s2Processor::StopVideoStreaming() {
Deactivate();
auto streams = getTargetStreams();
for (unsigned int j =0; j< streams.size(); j++) {
auto stream = streams[j].stream;
target_streams_[j].enabled_mode_ = Synthetic::MODE_OFF;
device_->SetStreamCallback(stream, nullptr);
}
device_->Stop(Source::VIDEO_STREAMING);
}
api::StreamData s1s2Processor::GetStreamData(const Stream &stream) {
Synthetic::Mode enable_mode = Synthetic::MODE_OFF;
auto streams = getTargetStreams();
for (auto it_s : streams) {
if (it_s.stream == stream) {
enable_mode = it_s.enabled_mode_;
break;
}
}
if (enable_mode == Synthetic::MODE_ON) {
auto res = data2api(device_->GetStreamData(stream));
if (res.img == nullptr ||
res.img->timestamp == last_frame_id_cd ||
res.frame.empty()) {
return {};
}
last_frame_id_cd = res.img->timestamp;
return res;
// return data2api(device_->GetStreamData(stream));
}
LOG(ERROR) << "Failed to get device stream data of " << stream
<< ", unsupported or disabled";
LOG(ERROR) << "Make sure you have enable " << stream;
return {};
}
std::vector<api::StreamData> s1s2Processor::GetStreamDatas(
const Stream &stream) {
Synthetic::Mode enable_mode = Synthetic::MODE_OFF;
auto streams = getTargetStreams();
for (auto it_s : streams) {
if (it_s.stream == stream) {
enable_mode = it_s.enabled_mode_;
break;
}
}
if (enable_mode == Synthetic::MODE_ON) {
std::vector<api::StreamData> datas;
for (auto &&data : device_->GetStreamDatas(stream)) {
datas.push_back(data2api(data));
}
return datas;
}
}
MYNTEYE_END_NAMESPACE