Cleanup source code; add depth_color_h fps limitation

host/core/disparity_stream_post_processor.cpp

@@ -7,34 +7,22 @@
 
 
 DisparityStreamPostProcessor::DisparityStreamPostProcessor(
-    bool produce_d_color,
-    bool produce_d_mm
+    bool produce_d_color
 )
     : _produce_depth_color(produce_d_color)
-    , _produce_depth_mm(produce_d_mm)
 {
-    // TODO: remove hardcode
-    _lut_disp_to_depth_mm = generateLUTDisparityToDepthMM(1280, 69.0f, 0.035f);
-}
 
-std::vector<uint16_t> DisparityStreamPostProcessor::getLutDisparityToMillimeters() const
-{
-    return _lut_disp_to_depth_mm;
 }
 
 
+
 void  DisparityStreamPostProcessor::onNewData(
     const StreamInfo &data_info,
     const StreamData &data
 )
 {
     assert(data_info.name == c_stream_in);
 
-    if (_produce_depth_mm)
-    {
-        prepareDepthMMAndNotifyObservers(data_info, data);
-    }
-
     if (_produce_depth_color)
     {
         prepareDepthColorAndNotifyObservers(data_info, data);
@@ -67,29 +55,3 @@ void DisparityStreamPostProcessor::prepareDepthColorAndNotifyObservers(
 
     notifyObservers(depth_si, depth_d);
 }
-
-
-void DisparityStreamPostProcessor::prepareDepthMMAndNotifyObservers(
-    const StreamInfo &data_info,
-    const StreamData &data
-)
-{
-    // TODO: remove hardcode
-    StreamInfo depth_si(c_stream_out_mm.c_str(), 720*1280*2, { 720, 1280}, 2);
-
-    std::vector<uint16_t> depth_raw(depth_si.size);
-    const unsigned char* disp_uc = (const unsigned char*) data.data;
-
-    for (int i = 0; i < data.size; ++i)
-    {
-        const unsigned char &disp = *(disp_uc + i);
-        depth_raw[i] = _lut_disp_to_depth_mm[disp];
-    }
-
-    StreamData depth_d;
-    depth_d.packet_number = data.packet_number;
-    depth_d.data = depth_raw.data();
-    depth_d.size = depth_raw.size();
-
-    notifyObservers(depth_si, depth_d);
-}

host/core/disparity_stream_post_processor.hpp

@@ -1,7 +1,5 @@
 #pragma once
 
-// This file is created as temporary solution for calculation
-// of distance data from disparity
 
 #include <vector>
 
@@ -16,10 +14,7 @@ class DisparityStreamPostProcessor
     , public DataObserver<StreamInfo, StreamData>
 {
 public:
-    DisparityStreamPostProcessor(bool produce_d_color, bool produce_d_mm);
-
-    std::vector<uint16_t> getLutDisparityToMillimeters() const;
-
+    DisparityStreamPostProcessor(bool produce_d_color);
 
 protected:
     // class DataObserver
@@ -29,18 +24,8 @@ class DisparityStreamPostProcessor
 private:
     const std::string c_stream_in        = "disparity";
     const std::string c_stream_out_color = "depth_color_h";
-    const std::string c_stream_out_mm    = "depth_mm_h";
 
     const bool _produce_depth_color = false;
-    const bool _produce_depth_mm = false;
-
-
-    std::vector<uint16_t> _lut_disp_to_depth_mm;
-
-    std::vector<uint16_t> generateDispToDepthMM(
-        unsigned width, float fov, float base_line_dist) const;
-
 
     void prepareDepthColorAndNotifyObservers(const StreamInfo &data_info, const StreamData &data);
-    void prepareDepthMMAndNotifyObservers(const StreamInfo &data_info, const StreamData &data);
 };