From 19a387b1f64a53f1dc955f378c42ab39da441aab Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 5 Jul 2020 15:34:56 +0300
Subject: [PATCH] Use thread to do pipeline in vision
---
applications/vision/src/main.cpp | 44 ++++++++++++++++++++------------
1 file changed, 27 insertions(+), 17 deletions(-)
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index f567fa80f..a75f9cd64 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -179,28 +179,38 @@ static void run(ftl::Configurable *root) {
pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
pipeline->append<ftl::operators::DepthChannel>("depth"); // Ensure there is a depth channel
- auto h = creator.onFrameSet([sender,&stats_count,&latency,&frames,pipeline](const ftl::data::FrameSetPtr &fs) {
- // Make a frameset first
- //auto fs = ftl::data::FrameSet::fromFrame(f);
+ bool busy = false;
- // Lock and send colour right now to encode in parallel
+ auto h = creator.onFrameSet([sender,&stats_count,&latency,&frames,pipeline,&busy](const ftl::data::FrameSetPtr &fs) {
+ if (busy) return true;
+ busy = true;
+
+ // Lock colour right now to encode in parallel
fs->flush(ftl::codecs::Channel::Colour);
- sender->post(*fs, ftl::codecs::Channel::Colour);
- // Do pipeline here...
- pipeline->apply(*fs, *fs);
- if (fs->firstFrame().has(ftl::codecs::Channel::Depth)) sender->post(*fs, ftl::codecs::Channel::Depth);
+ // Do all processing in another thread...
+ ftl::pool.push([sender,&stats_count,&latency,&frames,pipeline,&busy,fs](int id) {
+ // Do pipeline here...
+ pipeline->apply(*fs, *fs);
+ if (fs->firstFrame().has(ftl::codecs::Channel::Depth)) sender->post(*fs, ftl::codecs::Channel::Depth);
+
+ ++frames;
+ latency += float(ftl::timer::get_time() - fs->timestamp());
+
+ if (--stats_count <= 0) {
+ latency /= float(frames);
+ LOG(INFO) << "Frame rate: " << frames << ", Latency: " << latency;
+ stats_count = 20;
+ frames = 0;
+ latency = 0.0f;
+ }
- ++frames;
- latency += float(ftl::timer::get_time() - fs->timestamp());
+ busy = false;
+ });
+
+ // Actually send colour in this original thread
+ sender->post(*fs, ftl::codecs::Channel::Colour);
- if (--stats_count <= 0) {
- latency /= float(frames);
- LOG(INFO) << "Frame rate: " << frames << ", Latency: " << latency;
- stats_count = 20;
- frames = 0;
- latency = 0.0f;
- }
return true;
});
--
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