decoding (frames)

python/ftl/ftlstream.py

@@ -262,7 +262,7 @@ class FTLStreamReader:
         Reads data for until the next timestamp. Returns False if there is no
         more data to read, otherwise returns True.
 
-        todo: make decoding optional
+        todo: make (frame) decoding optional
         '''
         self._frame = None
         
@@ -276,22 +276,28 @@ class FTLStreamReader:
         if self._p.block_total != 1 or self._p.block_number != 0:
             raise Exception("Unsupported block format (todo)")
 
+        # calibration/pose cached
+        # todo: should be done by user instead?
+        
         if self._sp.channel == ftl.Channel.Calibration:
             self._update_calib(self._sp, self._p)
 
         elif self._sp.channel == ftl.Channel.Pose:
             self._update_pose(self._sp, self._p)
 
-        elif self._sp.channel in (ftl.Channel.Left,ftl.Channel.Left):
-            # Decode Left/Right
-            if self._p.codec == ftl.codec_t.HEVC:
-                self._decode_hevc(self._sp, self._p)
+        # decode if codec supported
+        if self._p.codec == ftl.codec_t.HEVC:
+            self._decode_hevc(self._sp, self._p)
+
+        elif self._p.codec == ftl.codec_t.PNG:
+            self._decode_opencv(self._sp, self._p)
 
-            elif self._p.codec == ftl.codec_t.PNG:
-                self._decode_opencv(self._sp, self._p)
+        elif self._p.codec == ftl.codec_t.JPG:
+            self._decode_opencv(self._sp, self._p)
 
-            elif self._p.codec == ftl.codec_t.JPG:
-                self._decode_opencv(self._sp, self._p)
+        else:
+            # todo (unsupported codec)
+            pass
 
         return True