From 0fbb5e29b30caa687b19f5df206ed7b12f68a87a Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 15 Dec 2019 19:43:25 +0200
Subject: [PATCH] Switch to streams for snapshot source
---
.../src/sources/snapshot/snapshot_source.cpp | 15 ++++++++++-----
.../src/sources/snapshot/snapshot_source.hpp | 1 +
2 files changed, 11 insertions(+), 5 deletions(-)
diff --git a/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp b/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp
index 136a2e7df..61acdb9d8 100644
--- a/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp
+++ b/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp
@@ -53,6 +53,8 @@ SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, Snapshot &snapshot, cons
host->setPose(pose);
mspf_ = 1000 / host_->value("fps", 20);
+
+ cudaStreamCreate(&stream_);
}
bool SnapshotSource::compute(int n, int b) {
@@ -61,11 +63,14 @@ bool SnapshotSource::compute(int n, int b) {
//snap_rgb_.copyTo(rgb_);
//snap_depth_.copyTo(depth_);
- rgb_.upload(snap_rgb_);
- depth_.upload(snap_depth_);
-
- auto cb = host_->callback();
- if (cb) cb(timestamp_, rgb_, depth_);
+ cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream_);
+ rgb_.upload(snap_rgb_, cvstream);
+ depth_.upload(snap_depth_, cvstream);
+ cudaStreamSynchronize(stream_);
+
+ //auto cb = host_->callback();
+ //if (cb) cb(timestamp_, rgb_, depth_);
+ host_->notify(timestamp_, rgb_, depth_);
frame_idx_ = (frame_idx_ + 1) % snapshot_.getFramesCount();
diff --git a/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp b/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp
index de1b0df48..80a0bf392 100644
--- a/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp
+++ b/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp
@@ -32,6 +32,7 @@ class SnapshotSource : public detail::Source {
cv::Mat snap_rgb_;
cv::Mat snap_depth_;
int mspf_;
+ cudaStream_t stream_;
};
}
--
GitLab