Move frameset

components/rgbd-sources/include/ftl/rgbd/frame.hpp

@@ -12,6 +12,7 @@ namespace rgbd {
 typedef unsigned int channel_t;
 
 static const channel_t kChanNone = 0;
+static const channel_t kChanColour = 0x0001;
 static const channel_t kChanLeft = 0x0001;		// CV_8UC3
 static const channel_t kChanDepth = 0x0002;		// CV_32FC1
 static const channel_t kChanRight = 0x0004;		// CV_8UC3

components/rgbd-sources/include/ftl/rgbd/frameset.hpp

+#ifndef _FTL_RGBD_FRAMESET_HPP_
+#define _FTL_RGBD_FRAMESET_HPP_
+
+#include <ftl/rgbd/frame.hpp>
+
+#include <opencv2/opencv.hpp>
+#include <vector>
+
+namespace ftl {
+namespace rgbd {
+
+class Source;
+
+/**
+ * Represents a set of synchronised frames, each with two channels. This is
+ * used to collect all frames from multiple computers that have the same
+ * timestamp.
+ */
+struct FrameSet {
+	int64_t timestamp;				// Millisecond timestamp of all frames
+	std::vector<Source*> sources;	// All source objects involved.
+	std::vector<ftl::rgbd::Frame> frames;
+	std::atomic<int> count;				// Number of valid frames
+	std::atomic<unsigned int> mask;		// Mask of all sources that contributed
+	bool stale;						// True if buffers have been invalidated
+	SHARED_MUTEX mtx;
+};
+
+}
+}
+
+#endif  // _FTL_RGBD_FRAMESET_HPP_

components/rgbd-sources/include/ftl/rgbd/group.hpp

@@ -3,6 +3,8 @@
 
 #include <ftl/threads.hpp>
 #include <ftl/timer.hpp>
+#include <ftl/rgbd/frame.hpp>
+#include <ftl/rgbd/frameset.hpp>
 
 #include <opencv2/opencv.hpp>
 #include <vector>
@@ -12,22 +14,6 @@ namespace rgbd {
 
 class Source;
 
-/**
- * Represents a set of synchronised frames, each with two channels. This is
- * used to collect all frames from multiple computers that have the same
- * timestamp.
- */
-struct FrameSet {
-	int64_t timestamp;				// Millisecond timestamp of all frames
-	std::vector<Source*> sources;	// All source objects involved.
-	std::vector<cv::Mat> channel1;	// RGB
-	std::vector<cv::Mat> channel2;	// Depth (usually)
-	std::atomic<int> count;				// Number of valid frames
-	std::atomic<unsigned int> mask;		// Mask of all sources that contributed
-	bool stale;						// True if buffers have been invalidated
-	SHARED_MUTEX mtx;
-};
-
 // Allows a latency of 20 frames maximum
 static const size_t kFrameBufferSize = 20;