remove unnecessary conversion function

introlab · Jul 17, 2023 · 0b4f5d2 · 0b4f5d2
1 parent 7d2272b
commit 0b4f5d2
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Showing 2 changed files with 2 additions and 30 deletions.
diff --git a/corelib/include/rtabmap/core/camera/CameraDepthAI.h b/corelib/include/rtabmap/core/camera/CameraDepthAI.h
@@ -104,8 +104,6 @@ class RTABMAP_CORE_EXPORT CameraDepthAI :
 	std::map<double, cv::Vec3f> accBuffer_;
 	std::map<double, cv::Vec3f> gyroBuffer_;
 	UMutex imuMutex_;
-
-	static std::string ProtocolToStr(XLinkProtocol_t val);
 #endif
 };
 

diff --git a/corelib/src/camera/CameraDepthAI.cpp b/corelib/src/camera/CameraDepthAI.cpp
@@ -327,7 +327,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
 	monoRight->out.link(stereo->right);
 
 	// Using VideoEncoder on PoE devices, Subpixel is not supported
-	if(ProtocolToStr(deviceToUse.protocol) == "X_LINK_TCP_IP")
+	if(deviceToUse.protocol == X_LINK_TCP_IP)
 	{
 		auto leftEnc  = p.create<dai::node::VideoEncoder>();
 		auto depthOrRightEnc  = p.create<dai::node::VideoEncoder>();
@@ -560,7 +560,7 @@ SensorData CameraDepthAI::captureImage(CameraInfo * info)
 		rectifRightOrDepth = rightOrDepthQueue_->get<dai::ImgFrame>();
 
 	double stamp = std::chrono::duration<double>(rectifL->getTimestampDevice(dai::CameraExposureOffset::MIDDLE).time_since_epoch()).count();
-	if(ProtocolToStr(device_->getDeviceInfo().protocol) == "X_LINK_TCP_IP")
+	if(device_->getDeviceInfo().protocol == X_LINK_TCP_IP)
 	{
 		left = cv::imdecode(rectifL->getData(), cv::IMREAD_GRAYSCALE);
 		depthOrRight = cv::imdecode(rectifRightOrDepth->getData(), cv::IMREAD_GRAYSCALE);
@@ -703,30 +703,4 @@ SensorData CameraDepthAI::captureImage(CameraInfo * info)
 	return data;
 }
 
-#ifdef RTABMAP_DEPTHAI
-std::string CameraDepthAI::ProtocolToStr(XLinkProtocol_t val)
-{
-	switch (val)
-	{
-	case X_LINK_USB_VSC:
-		return "X_LINK_USB_VSC";
-	case X_LINK_USB_CDC:
-		return "X_LINK_USB_CDC";
-	case X_LINK_PCIE:
-		return "X_LINK_PCIE";
-	case X_LINK_IPC:
-		return "X_LINK_IPC";
-	case X_LINK_TCP_IP:
-		return "X_LINK_TCP_IP";
-	case X_LINK_NMB_OF_PROTOCOLS:
-		return "X_LINK_NMB_OF_PROTOCOLS";
-	case X_LINK_ANY_PROTOCOL:
-		return "X_LINK_ANY_PROTOCOL";
-	default:
-		return "INVALID_ENUM_VALUE";
-		break;
-	}
-}
-#endif
-
 } // namespace rtabmap