246 lines
8.4 KiB
C++
246 lines
8.4 KiB
C++
#include "internal/streams.h"
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#include <glog/logging.h>
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#include <algorithm>
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#include <chrono>
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#include <iomanip>
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#include "internal/types.h"
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MYNTEYE_BEGIN_NAMESPACE
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namespace {
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bool unpack_stereo_img_data(
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const void *data, const StreamRequest &request, ImgData &img) { // NOLINT
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CHECK_EQ(request.format, Format::YUYV);
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auto data_new = reinterpret_cast<const std::uint8_t *>(data);
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std::size_t data_n =
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request.width * request.height * bytes_per_pixel(request.format);
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auto data_end = data_new + data_n;
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// LOG(INFO) << "ImagePacket (raw): header=0x" << std::hex <<
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// static_cast<int>(*(data_end - 1))
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// << ", size=0x" << std::hex << static_cast<int>(*(data_end - 2))
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// << ", frame_id="<< std::dec << ((*(data_end - 3) << 8) + *(data_end - 4))
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// << ", timestamp="<< std::dec << ((*(data_end - 5) << 24) + (*(data_end -
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// 6) << 16) + (*(data_end - 7) << 8) + *(data_end - 8))
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// << ", exposure_time="<< std::dec << ((*(data_end - 9) << 8) + *(data_end
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// - 10))
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// << ", checksum=0x" << std::hex << static_cast<int>(*(data_end - 11));
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std::size_t packet_n = sizeof(ImagePacket);
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// LOG(INFO) << "ImagePacket Size: " << packet_n;
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std::vector<std::uint8_t> packet(packet_n);
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std::reverse_copy(data_end - packet_n, data_end, packet.begin());
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ImagePacket img_packet(packet.data());
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// LOG(INFO) << "ImagePacket (new): header=0x" << std::hex <<
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// static_cast<int>(img_packet.header)
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// << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
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// << ", frame_id="<< std::dec << img_packet.frame_id
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// << ", timestamp="<< std::dec << img_packet.timestamp
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// << ", exposure_time="<< std::dec << img_packet.exposure_time
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// << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
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if (img_packet.header != 0x3B) {
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LOG(WARNING) << "Image packet header must be 0x3B, but 0x" << std::hex
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<< std::uppercase << std::setw(2) << std::setfill('0')
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<< static_cast<int>(img_packet.header) << " now";
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return false;
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}
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std::uint8_t checksum = 0;
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for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) { // content: [2,9]
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checksum = (checksum ^ packet[i]);
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}
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if (checksum != img_packet.checksum) {
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LOG(WARNING) << "Image packet checksum should be 0x" << std::hex
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<< std::uppercase << std::setw(2) << std::setfill('0')
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<< static_cast<int>(img_packet.checksum) << ", but 0x"
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<< std::setw(2) << std::setfill('0')
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<< static_cast<int>(img_packet.checksum) << " now";
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return false;
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}
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img.frame_id = img_packet.frame_id;
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img.timestamp = img_packet.timestamp;
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img.exposure_time = img_packet.exposure_time;
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return true;
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}
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bool unpack_left_img_pixels(
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const void *data, const StreamRequest &request,
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Streams::frame_t &frame) { // NOLINT
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CHECK_EQ(request.format, Format::YUYV);
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CHECK_EQ(frame.format(), Format::GREY);
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auto data_new = reinterpret_cast<const std::uint8_t *>(data);
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std::size_t n = frame.width() * frame.height();
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for (std::size_t i = 0; i < n; i++) {
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frame.data()[i] = *(data_new + (i * 2));
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}
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return true;
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}
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bool unpack_right_img_pixels(
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const void *data, const StreamRequest &request,
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Streams::frame_t &frame) { // NOLINT
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CHECK_EQ(request.format, Format::YUYV);
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CHECK_EQ(frame.format(), Format::GREY);
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auto data_new = reinterpret_cast<const std::uint8_t *>(data);
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std::size_t n = frame.width() * frame.height();
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for (std::size_t i = 0; i < n; i++) {
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frame.data()[i] = *(data_new + (i * 2 + 1));
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}
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return true;
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}
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} // namespace
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Streams::Streams(const std::vector<Stream> key_streams)
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: key_streams_(key_streams),
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stream_capabilities_(
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{Capabilities::STEREO, Capabilities::COLOR, Capabilities::DEPTH,
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Capabilities::POINTS, Capabilities::FISHEYE, Capabilities::INFRARED,
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Capabilities::INFRARED2}),
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unpack_img_data_map_(
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{{Stream::LEFT, unpack_stereo_img_data},
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{Stream::RIGHT, unpack_stereo_img_data}}),
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unpack_img_pixels_map_(
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{{Stream::LEFT, unpack_left_img_pixels},
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{Stream::RIGHT, unpack_right_img_pixels}}) {
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VLOG(2) << __func__;
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}
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Streams::~Streams() {
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VLOG(2) << __func__;
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}
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void Streams::ConfigStream(
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const Capabilities &capability, const StreamRequest &request) {
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if (!IsStreamCapability(capability)) {
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LOG(FATAL) << "Cannot config stream without stream capability";
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}
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VLOG(2) << "Config stream request of " << capability << ", " << request;
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stream_config_requests_[capability] = request;
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}
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void Streams::PushStream(const Capabilities &capability, const void *data) {
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if (!HasStreamConfigRequest(capability)) {
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LOG(FATAL) << "Cannot push stream without stream config request";
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}
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std::unique_lock<std::mutex> lock(mtx_);
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auto &&request = GetStreamConfigRequest(capability);
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switch (capability) {
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case Capabilities::STEREO: {
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// alloc
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AllocStreamData(Stream::LEFT, request, Format::GREY);
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AllocStreamData(Stream::RIGHT, request, Format::GREY);
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auto &&left_data = stream_datas_map_[Stream::LEFT].back();
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auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
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// unpack img data
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if (unpack_img_data_map_[Stream::LEFT](data, request, *left_data.img)) {
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// TODO(JohnZhao)
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} else {
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LOG(WARNING) << "Image packet is unaccepted, frame dropped";
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}
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*right_data.img = *left_data.img;
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// unpack frame
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unpack_img_pixels_map_[Stream::LEFT](data, request, *left_data.frame);
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unpack_img_pixels_map_[Stream::RIGHT](data, request, *right_data.frame);
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} break;
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default:
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LOG(FATAL) << "Not supported " << capability << " now";
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}
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if (HasKeyStreamDatas())
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cv_.notify_one();
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}
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void Streams::WaitForStreams() {
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std::unique_lock<std::mutex> lock(mtx_);
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auto ready = std::bind(&Streams::HasKeyStreamDatas, this);
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if (!ready() && !cv_.wait_for(lock, std::chrono::seconds(2), ready)) {
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LOG(FATAL) << "Timeout waiting for key frames";
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}
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}
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Streams::stream_datas_t Streams::GetStreamDatas(const Stream &stream) {
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std::unique_lock<std::mutex> lock(mtx_);
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if (!HasStreamDatas(stream) || stream_datas_map_.at(stream).empty()) {
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LOG(WARNING) << "There are stream datas of " << stream
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<< ", do you first call WaitForStreams?";
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return {};
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}
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stream_datas_t datas = stream_datas_map_.at(stream);
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stream_datas_map_[stream].clear();
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return datas;
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}
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Streams::stream_data_t Streams::GetLatestStreamData(const Stream &stream) {
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return GetStreamDatas(stream).back();
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}
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const Streams::stream_datas_t &Streams::stream_datas(
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const Stream &stream) const {
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return stream_datas_map_.at(stream);
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}
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bool Streams::IsStreamCapability(const Capabilities &capability) const {
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return std::find(
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stream_capabilities_.begin(), stream_capabilities_.end(),
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capability) != stream_capabilities_.end();
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}
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bool Streams::HasStreamConfigRequest(const Capabilities &capability) const {
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return stream_config_requests_.find(capability) !=
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stream_config_requests_.end();
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}
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const StreamRequest &Streams::GetStreamConfigRequest(
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const Capabilities &capability) const {
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return stream_config_requests_.at(capability);
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}
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bool Streams::HasStreamDatas(const Stream &stream) const {
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return stream_datas_map_.find(stream) != stream_datas_map_.end();
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}
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void Streams::AllocStreamData(
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const Stream &stream, const StreamRequest &request) {
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AllocStreamData(stream, request, request.format);
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}
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void Streams::AllocStreamData(
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const Stream &stream, const StreamRequest &request, const Format &format) {
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static std::size_t stream_data_limits_max = 4;
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stream_data_t data;
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if (stream == Stream::LEFT || stream == Stream::RIGHT) {
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data.img = std::make_shared<ImgData>();
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} else {
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data.img = nullptr;
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}
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data.frame =
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std::make_shared<frame_t>(request.width, request.height, format, nullptr);
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stream_datas_map_[stream].push_back(data);
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// If cached more then limits_max, drop the oldest one.
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if (stream_datas_map_.at(stream).size() > stream_data_limits_max) {
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auto &&datas = stream_datas_map_[stream];
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datas.erase(datas.begin());
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VLOG(2) << "Stream data of " << stream << " is dropped";
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}
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}
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bool Streams::HasKeyStreamDatas() const {
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for (auto &&s : key_streams_) {
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if (!HasStreamDatas(s))
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return false;
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if (stream_datas_map_.at(s).empty())
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return false;
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}
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return true;
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}
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MYNTEYE_END_NAMESPACE
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