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ev-mpev-mp
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Merge pull request #5353 from arilowen/timestamp-only-syncer
ds5 default sync by timestamp
2 parents 310b7b5 + c40c704 commit 684229e

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‎src/ds5/ds5-factory.cpp‎

Lines changed: 13 additions & 81 deletions
Original file line numberDiff line numberDiff line change
@@ -961,41 +961,24 @@ namespace librealsense
961961
std::shared_ptr<matcher> rs400_device::create_matcher(const frame_holder& frame) const
962962
{
963963
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get()};
964-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
965-
{
966-
return matcher_factory::create(RS2_MATCHER_DLR, streams);
967-
}
968964
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
969965
}
970966

971967
std::shared_ptr<matcher> rs405_device::create_matcher(const frame_holder& frame) const
972968
{
973969
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get()};
974-
975-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
976-
{
977-
return matcher_factory::create(RS2_MATCHER_DLR, streams);
978-
}
979970
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
980971
}
981972

982973
std::shared_ptr<matcher> rs410_device::create_matcher(const frame_holder& frame) const
983974
{
984975
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get()};
985-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
986-
{
987-
return matcher_factory::create(RS2_MATCHER_DLR, streams);
988-
}
989976
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
990977
}
991978

992979
std::shared_ptr<matcher> rs415_device::create_matcher(const frame_holder& frame) const
993980
{
994981
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
995-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
996-
{
997-
return matcher_factory::create(RS2_MATCHER_DLR_C, streams);
998-
}
999982
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
1000983
}
1001984

@@ -1004,114 +987,75 @@ namespace librealsense
1004987
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
1005988
// TODO - A proper matcher for High-FPS sensor is required
1006989
std::vector<stream_interface*> mm_streams = { _accel_stream.get(), _gyro_stream.get() };
1007-
1008-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1009-
{
1010-
return create_composite_matcher({ matcher_factory::create(RS2_MATCHER_DLR_C, streams),
1011-
matcher_factory::create(RS2_MATCHER_DEFAULT, mm_streams) });
1012-
}
1013-
1014990
streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
1015991
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
1016992
}
1017993

1018994
std::shared_ptr<matcher> rs416_device::create_matcher(const frame_holder& frame) const
1019995
{
1020996
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get() };
1021-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1022-
{
1023-
return matcher_factory::create(RS2_MATCHER_DLR, streams);
1024-
}
1025997
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
1026998
}
1027999

10281000
std::shared_ptr<matcher> rs416_rgb_device::create_matcher(const frame_holder& frame) const
10291001
{
10301002
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
1031-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1032-
{
1033-
return matcher_factory::create(RS2_MATCHER_DLR_C, streams);
1034-
}
10351003
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
10361004
}
10371005

10381006
std::shared_ptr<matcher> rs420_mm_device::create_matcher(const frame_holder& frame) const
10391007
{
10401008
//TODO: add matcher to mm
10411009
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get()};
1042-
std::vector<stream_interface*> mm_streams = { _fisheye_stream.get(),
1043-
_accel_stream.get(),
1044-
_gyro_stream.get()};
1045-
1046-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1047-
{
1048-
return create_composite_matcher({ matcher_factory::create(RS2_MATCHER_DLR, streams),
1049-
matcher_factory::create(RS2_MATCHER_DEFAULT, mm_streams) });
1050-
}
1010+
std::vector<stream_interface*> mm_streams = {
1011+
_fisheye_stream.get(),
1012+
_accel_stream.get(),
1013+
_gyro_stream.get()
1014+
};
10511015
streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
10521016
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
10531017
}
10541018

10551019
std::shared_ptr<matcher> rs420_device::create_matcher(const frame_holder& frame) const
10561020
{
10571021
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get()};
1058-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1059-
{
1060-
return matcher_factory::create(RS2_MATCHER_DLR, streams);
1061-
}
10621022
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
10631023
}
10641024

10651025
std::shared_ptr<matcher> rs430_device::create_matcher(const frame_holder& frame) const
10661026
{
10671027
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get() };
1068-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1069-
{
1070-
return matcher_factory::create(RS2_MATCHER_DLR, streams);
1071-
}
10721028
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
10731029
}
10741030

10751031
std::shared_ptr<matcher> rs430_mm_device::create_matcher(const frame_holder& frame) const
10761032
{
10771033
//TODO: add matcher to mm
10781034
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get() };
1079-
std::vector<stream_interface*> mm_streams = { _fisheye_stream.get(),
1035+
std::vector<stream_interface*> mm_streams = {
1036+
_fisheye_stream.get(),
10801037
_accel_stream.get(),
1081-
_gyro_stream.get()};
1082-
1083-
if (!frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1084-
{
1085-
return create_composite_matcher({ matcher_factory::create(RS2_MATCHER_DLR, streams),
1086-
matcher_factory::create(RS2_MATCHER_DEFAULT, mm_streams) });
1087-
}
1038+
_gyro_stream.get()
1039+
};
10881040
streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
10891041
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
10901042
}
10911043

10921044
std::shared_ptr<matcher> rs435_device::create_matcher(const frame_holder& frame) const
10931045
{
10941046
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
1095-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1096-
{
1097-
return matcher_factory::create(RS2_MATCHER_DLR_C, streams);
1098-
}
10991047
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
11001048
}
11011049

11021050
std::shared_ptr<matcher> rs430_rgb_mm_device::create_matcher(const frame_holder& frame) const
11031051
{
11041052
//TODO: add matcher to mm
11051053
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
1106-
std::vector<stream_interface*> mm_streams = { _fisheye_stream.get(),
1054+
std::vector<stream_interface*> mm_streams = {
1055+
_fisheye_stream.get(),
11071056
_accel_stream.get(),
1108-
_gyro_stream.get()};
1109-
1110-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1111-
{
1112-
return create_composite_matcher({ matcher_factory::create(RS2_MATCHER_DLR_C, streams),
1113-
matcher_factory::create(RS2_MATCHER_DEFAULT, mm_streams) });
1114-
}
1057+
_gyro_stream.get()
1058+
};
11151059
streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
11161060
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
11171061
}
@@ -1121,12 +1065,6 @@ namespace librealsense
11211065
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get() };
11221066
// TODO - A proper matcher for High-FPS sensor is required
11231067
std::vector<stream_interface*> mm_streams = { _accel_stream.get(), _gyro_stream.get() };
1124-
1125-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1126-
{
1127-
return create_composite_matcher({ matcher_factory::create(RS2_MATCHER_DLR, streams),
1128-
matcher_factory::create(RS2_MATCHER_DEFAULT, mm_streams) });
1129-
}
11301068
streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
11311069
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
11321070
}
@@ -1136,12 +1074,6 @@ namespace librealsense
11361074
std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
11371075
// TODO - A proper matcher for High-FPS sensor is required
11381076
std::vector<stream_interface*> mm_streams = { _accel_stream.get(), _gyro_stream.get()};
1139-
1140-
if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
1141-
{
1142-
return create_composite_matcher({ matcher_factory::create(RS2_MATCHER_DLR_C, streams),
1143-
matcher_factory::create(RS2_MATCHER_DEFAULT, mm_streams) });
1144-
}
11451077
streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
11461078
return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
11471079
}

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