From 1733b5c785ae631ca28d2731a8557e055a1bc99a Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 16 Oct 2019 09:35:53 +0300
Subject: [PATCH] Do frame copy instead of swap
---
components/renderers/cpp/include/ftl/cuda/mask.hpp | 1 +
components/renderers/cpp/src/splat_render.cpp | 2 +-
components/rgbd-sources/include/ftl/rgbd/frame.hpp | 5 +++++
components/rgbd-sources/src/frame.cpp | 13 +++++++++++++
4 files changed, 20 insertions(+), 1 deletion(-)
diff --git a/components/renderers/cpp/include/ftl/cuda/mask.hpp b/components/renderers/cpp/include/ftl/cuda/mask.hpp
index 4e359e504..3f49f3bfc 100644
--- a/components/renderers/cpp/include/ftl/cuda/mask.hpp
+++ b/components/renderers/cpp/include/ftl/cuda/mask.hpp
@@ -9,6 +9,7 @@ namespace cuda {
*/
class Mask {
public:
+ __device__ inline Mask() : v_(0) {}
__device__ explicit inline Mask(int v) : v_(v) {}
#ifdef __CUDACC__
__device__ inline Mask(const ftl::cuda::TextureObject<int> &m, int x, int y) : v_(m.tex2D(x,y)) {}
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 5829ff055..80a6f2a1b 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -399,7 +399,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
if (aligned_source >= 0 && aligned_source < scene_->frames.size()) {
// FIXME: Output may not be same resolution as source!
cudaSafeCall(cudaStreamSynchronize(stream_));
- scene_->frames[aligned_source].swapTo(Channel::Depth + Channel::Colour, out);
+ scene_->frames[aligned_source].copyTo(Channel::Depth + Channel::Colour, out);
return true;
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 5e38fe5cc..b08673c97 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -59,6 +59,11 @@ public:
void swapChannels(ftl::codecs::Channel, ftl::codecs::Channel);
+ /**
+ * Does a host or device memory copy into the given frame.
+ */
+ void copyTo(ftl::codecs::Channels, Frame &);
+
/**
* Create a channel with a given format. This will discard any existing
* data associated with the channel and ensure all data structures and
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index 851e75af7..212ca5537 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -85,6 +85,19 @@ void Frame::swapChannels(ftl::codecs::Channel a, ftl::codecs::Channel b) {
m1.tex = std::move(temptex);
}
+void Frame::copyTo(ftl::codecs::Channels channels, Frame &f) {
+ f.reset();
+
+ // For all channels in this frame object
+ for (auto c : channels_) {
+ // Should we copy this channel?
+ if (channels.has(c)) {
+ if (isCPU(c)) get<cv::Mat>(c).copyTo(f.create<cv::Mat>(c));
+ else get<cv::cuda::GpuMat>(c).copyTo(f.create<cv::cuda::GpuMat>(c));
+ }
+ }
+}
+
template<> cv::Mat& Frame::get(ftl::codecs::Channel channel) {
if (channel == Channel::None) {
DLOG(WARNING) << "Cannot get the None channel from a Frame";
--
GitLab