diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 7f34ad8b3e4896c768a006d9c537e1c911292cd5..a4010c776b962b97ea02702a6a9ee9b8594e0c76 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -161,7 +161,7 @@ static void run(ftl::Configurable *root) {
ftl::rgbd::Streamer *stream = ftl::create<ftl::rgbd::Streamer>(root, "stream", net);
ftl::rgbd::VirtualSource *virt = ftl::create<ftl::rgbd::VirtualSource>(root, "virtual");
ftl::render::Splatter *splat = ftl::create<ftl::render::Splatter>(root, "renderer", &scene_B);
- ftl::rgbd::Group group;
+ ftl::rgbd::Group *group = new ftl::rgbd::Group;
ftl::ILW *align = ftl::create<ftl::ILW>(root, "merge");
int o = root->value("origin_pose", 0) % sources.size();
@@ -184,7 +184,7 @@ static void run(ftl::Configurable *root) {
for (size_t i=0; i<sources.size(); i++) {
Source *in = sources[i];
in->setChannel(Channel::Depth);
- group.addSource(in);
+ group->addSource(in);
}
// ---- Recording code -----------------------------------------------------
@@ -195,7 +195,7 @@ static void run(ftl::Configurable *root) {
ftl::codecs::StreamPacket s = spkt;
// Patch stream ID to match order in group
- s.streamID = group.streamID(src);
+ s.streamID = group->streamID(src);
writer.write(s, pkt);
};
@@ -212,14 +212,14 @@ static void run(ftl::Configurable *root) {
writer.begin();
// TODO: Write pose+calibration+config packets
- auto sources = group.sources();
+ auto sources = group->sources();
for (int i=0; i<sources.size(); ++i) {
writeSourceProperties(writer, i, sources[i]);
}
- group.addRawCallback(std::function(recorder));
+ group->addRawCallback(std::function(recorder));
} else {
- group.removeRawCallback(recorder);
+ group->removeRawCallback(recorder);
writer.end();
fileout.close();
}
@@ -228,14 +228,14 @@ static void run(ftl::Configurable *root) {
// -------------------------------------------------------------------------
stream->setLatency(5); // FIXME: This depends on source!?
- stream->add(&group);
+ stream->add(group);
stream->run();
bool busy = false;
- group.setLatency(5);
- group.setName("ReconGroup");
- group.sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align](ftl::rgbd::FrameSet &fs) -> bool {
+ group->setLatency(5);
+ group->setName("ReconGroup");
+ group->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align](ftl::rgbd::FrameSet &fs) -> bool {
//cudaSetDevice(scene->getCUDADevice());
if (slave.isPaused()) return true;
@@ -284,6 +284,9 @@ static void run(ftl::Configurable *root) {
delete stream;
delete virt;
delete net;
+ delete group;
+
+ ftl::config::cleanup(); // Remove any last configurable objects.
LOG(INFO) << "Done.";
}
diff --git a/components/common/cpp/include/ftl/configurable.hpp b/components/common/cpp/include/ftl/configurable.hpp
index 94a080eaed480fa2e57b113e9c8c3d7bc04388bd..6593119c794205e0bf901814437f79974bb81e00 100644
--- a/components/common/cpp/include/ftl/configurable.hpp
+++ b/components/common/cpp/include/ftl/configurable.hpp
@@ -39,7 +39,7 @@ class Configurable {
public:
Configurable();
explicit Configurable(nlohmann::json &config);
- virtual ~Configurable() {}
+ virtual ~Configurable();
/**
* Force the JSON object to have specific properties with a specific type.
diff --git a/components/common/cpp/include/ftl/configuration.hpp b/components/common/cpp/include/ftl/configuration.hpp
index c060b70382d0174d351d836d5476fa5a1f29db61..94fcc7dfa6b57e9bfd59fbcf36c5be80e0b82638 100644
--- a/components/common/cpp/include/ftl/configuration.hpp
+++ b/components/common/cpp/include/ftl/configuration.hpp
@@ -37,6 +37,10 @@ Configurable *configure(int argc, char **argv, const std::string &root);
Configurable *configure(json_t &);
+void cleanup();
+
+void removeConfigurable(Configurable *cfg);
+
/**
* Change a configuration value based upon a URI. Return true if changed,
* false if it was not able to change.
diff --git a/components/common/cpp/src/configurable.cpp b/components/common/cpp/src/configurable.cpp
index 7cea5adeb61162f83a62c5724e99b41186b6e8ff..f47e12195e00d6db0bce1ee65ec70339e062448f 100644
--- a/components/common/cpp/src/configurable.cpp
+++ b/components/common/cpp/src/configurable.cpp
@@ -21,6 +21,10 @@ Configurable::Configurable(nlohmann::json &config) : config_(&config) {
ftl::config::registerConfigurable(this);
}
+Configurable::~Configurable() {
+ ftl::config::removeConfigurable(this);
+}
+
void Configurable::required(const char *f, const std::vector<std::tuple<std::string, std::string, std::string>> &r) {
bool diderror = false;
for (auto i : r) {
diff --git a/components/common/cpp/src/configuration.cpp b/components/common/cpp/src/configuration.cpp
index 8a3849e8ee8799119f3d15700dc277e1dece7654..6881c181ded6db678bd450d19002f1a6ee8cfc26 100644
--- a/components/common/cpp/src/configuration.cpp
+++ b/components/common/cpp/src/configuration.cpp
@@ -470,6 +470,24 @@ Configurable *ftl::config::configure(ftl::config::json_t &cfg) {
return rootcfg;
}
+static bool doing_cleanup = false;
+void ftl::config::cleanup() {
+ doing_cleanup = true;
+ for (auto f : config_instance) {
+ delete f.second;
+ }
+ config_instance.clear();
+}
+
+void ftl::config::removeConfigurable(Configurable *cfg) {
+ if (doing_cleanup) return;
+
+ auto i = config_instance.find(cfg->getID());
+ if (i != config_instance.end()) {
+ config_instance.erase(i);
+ }
+}
+
Configurable *ftl::config::configure(int argc, char **argv, const std::string &root) {
loguru::g_preamble_date = false;
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 45bf3f4a9b8f862e3d70c22abfcddb096855d7c2..3bf2b87ce29fb53a1ef44de80556518c2667c410 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -151,9 +151,9 @@ public:
private:
struct ChannelData {
+ ftl::cuda::TextureObjectBase tex;
cv::Mat host;
cv::cuda::GpuMat gpu;
- ftl::cuda::TextureObjectBase tex;
};
std::array<ChannelData, Channels::kMax> data_;
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 32cff11c40de330caf788c2a0a7b54817a141995..5539ac612da8bcab109d18dd2a8fcf7afc9c35e9 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -59,7 +59,7 @@ Source::Source(ftl::config::json_t &cfg, ftl::net::Universe *net) : Configurable
}
Source::~Source() {
-
+ if (impl_) delete impl_;
}
cv::Mat Source::cameraMatrix() const {
@@ -338,6 +338,7 @@ void Source::setCallback(std::function<void(int64_t, cv::Mat &, cv::Mat &)> cb)
void Source::addRawCallback(const std::function<void(ftl::rgbd::Source*, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt)> &f) {
UNIQUE_LOCK(mutex_,lk);
+ LOG(INFO) << "ADD RAW";
rawcallbacks_.push_back(f);
}