From 1c07dccdcb88ec5df396f914854962031ffd2a61 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 17 Jul 2020 21:55:31 +0300
Subject: [PATCH] Code tidy of rgbd source
---
applications/vision/src/main.cpp | 2 +-
.../rgbd-sources/include/ftl/rgbd/source.hpp | 70 -------------------
components/rgbd-sources/src/source.cpp | 62 +---------------
components/streams/src/feed.cpp | 2 +-
4 files changed, 5 insertions(+), 131 deletions(-)
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 4be44e5d0..88069323f 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -140,7 +140,7 @@ static void run(ftl::Configurable *root) {
uri.to_json(root->getConfig()["source"]);
}
Source *source = nullptr;
- source = ftl::create<Source>(root, "source", net);
+ source = ftl::create<Source>(root, "source");
ftl::stream::Sender *sender = ftl::create<ftl::stream::Sender>(root, "sender");
ftl::stream::Net *outstream = ftl::create<ftl::stream::Net>(root, "stream", net);
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index 11299a536..7773756f2 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -42,7 +42,6 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
public:
template <typename T, typename... ARGS>
friend T *ftl::config::create(ftl::config::json_t &, ARGS ...);
- friend class VirtualSource;
// This class cannot be constructed directly, use ftl::create
Source()=delete;
@@ -53,7 +52,6 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
protected:
explicit Source(ftl::config::json_t &cfg);
- Source(ftl::config::json_t &cfg, ftl::net::Universe *net);
public:
virtual ~Source();
@@ -63,16 +61,6 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
*/
bool isReady();
- /**
- * Change the second channel source.
- */
- [[deprecated]] bool setChannel(ftl::codecs::Channel c);
-
- /**
- * Get the channel allocated to the second source.
- */
- [[deprecated]] ftl::codecs::Channel getChannel() const { return channel_; }
-
/**
* Perform the hardware or virtual frame grab operation. This should be
* fast and non-blocking.
@@ -84,52 +72,15 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
*/
bool retrieve(ftl::data::Frame &) override;
- /**
- * Generate a thread job using the provided callback for the most recently
- * retrieved frame (matching the provided timestamp). If already busy
- * dispatching, returns false.
- */
- bool dispatch(ftl::data::Frame &);
-
- /**
- * Between frames, do any required buffer swaps.
- */
- //void swap() { if (impl_) impl_->swap(); }
-
- /**
- * Do any post-grab processing. This function
- * may take considerable time to return, especially for sources requiring
- * software stereo correspondance.
- */
- //bool compute(int64_t ts);
-
- //bool isVirtual() const { return impl_ == nullptr; }
-
- /**
- * Change the camera extrinsics by providing a new pose matrix. For virtual
- * cameras this will move the camera, for physical cameras it is set by the
- * registration process as it attempts to work out a cameras relative pose.
- */
- //[[deprecated]] virtual void setPose(const Eigen::Matrix4d &pose);
-
/**
* Force the internal implementation to be reconstructed.
*/
void reset();
- [[deprecated]] ftl::net::Universe *getNet() const { return net_; }
-
std::string getURI() { return value("uri", std::string("")); }
SHARED_MUTEX &mutex() { return mutex_; }
- /**
- * Set the callback that receives decoded frames as they are generated.
- * There can be only a single such callback as the buffers can be swapped
- * by the callback.
- */
- ftl::Handle onFrame(const std::function<bool(ftl::data::Frame&)> &cb);
-
/**
* Check whether a given device URI is supported. This will check hardware
* for physical availability of devices.
@@ -139,34 +90,13 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
private:
BaseSourceImpl *impl_;
- Eigen::Matrix4d pose_;
- ftl::net::Universe *net_;
SHARED_MUTEX mutex_;
- ftl::codecs::Channel channel_;
cudaStream_t stream_;
- ftl::SingletonHandler<ftl::data::Frame&> callback_;
- //ftl::rgbd::Frame frames_[2];
- bool is_dispatching;
bool is_retrieving;
void _swap();
};
-class SourceGenerator : public ftl::data::Generator {
- public:
- explicit SourceGenerator(Source *src) : source_(src) {}
-
- inline ftl::Handle onFrameSet(const ftl::data::FrameSetCallback &cb) override {
- return source_->onFrame([this,cb](ftl::data::Frame &frame) {
- auto fs = ftl::data::FrameSet::fromFrame(frame);
- return cb(fs);
- });
- }
-
- private:
- Source *source_;
-};
-
}
}
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index cb2b04eec..45018ee89 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -26,30 +26,12 @@ using ftl::rgbd::detail::StereoVideoSource;
using ftl::rgbd::detail::ImageSource;
using ftl::rgbd::detail::MiddleburySource;
using ftl::rgbd::detail::ScreenCapture;
-using ftl::rgbd::capability_t;
using ftl::codecs::Channel;
-//using ftl::rgbd::detail::FileSource;
using ftl::rgbd::Camera;
-Source::Source(ftl::config::json_t &cfg) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(nullptr) {
+Source::Source(ftl::config::json_t &cfg) : Configurable(cfg) {
impl_ = nullptr;
- //params_ = {};
stream_ = 0;
- is_dispatching = false;
- is_retrieving = false;
- reset();
-
- on("uri", [this](const ftl::config::Event &e) {
- LOG(INFO) << "URI change for source: " << getURI();
- reset();
- });
-}
-
-Source::Source(ftl::config::json_t &cfg, ftl::net::Universe *net) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(net) {
- impl_ = nullptr;
- //params_ = {};
- stream_ = 0;
- is_dispatching = false;
is_retrieving = false;
reset();
@@ -142,7 +124,6 @@ static ftl::rgbd::BaseSourceImpl *createImplementation(const std::string &uristr
void Source::reset() {
UNIQUE_LOCK(mutex_,lk);
- channel_ = Channel::None;
if (impl_) delete impl_;
impl_ = nullptr;
@@ -170,7 +151,6 @@ void Source::reset() {
}
bool Source::capture(int64_t ts) {
- //timestamp_ = ts;
if (impl_) return impl_->capture(ts);
else return true;
}
@@ -181,43 +161,7 @@ bool Source::retrieve(ftl::data::Frame &f) {
bool status = false;
if (impl_) status = impl_->retrieve(f.cast<ftl::rgbd::Frame>());
is_retrieving = false;
- return status; // && dispatch(f);
-}
-
-// TODO: Remove, unused
-bool Source::dispatch(ftl::data::Frame &f) {
- if (!callback_) return true;
- if (is_dispatching || is_retrieving) {
- LOG(WARNING) << "Previous dispatch not completed";
- return false;
- }
- is_dispatching = true;
-
- /*ftl::pool.push([this, ff = std::move(f)] (int id) mutable {
- try {
- callback_.trigger(ff.cast<ftl::rgbd::Frame>());
- } catch (const std::exception &e) {
- LOG(ERROR) << "Source dispatch exception: " << e.what();
- }
- is_dispatching = false;
- });*/
- return true;
-}
-
-/*void Source::_swap() {
- auto tmp = std::move(frames_[0]);
- frames_[0] = std::move(frames_[1]);
- frames_[1] = std::move(tmp);
-}*/
-
-bool Source::setChannel(ftl::codecs::Channel c) {
- channel_ = c;
- // FIXME:(Nick) Verify channel is supported by this source...
- return true;
-}
-
-ftl::Handle Source::onFrame(const std::function<bool(ftl::data::Frame&)> &cb) {
- return callback_.on(cb);
+ return status;
}
bool Source::supports(const std::string &puri) {
@@ -225,7 +169,7 @@ bool Source::supports(const std::string &puri) {
if (uri.getPathSegment(0) == "video") {
return StereoVideoSource::supported(uri.getPathSegment(0));
- } else if (uri.getPathSegment(0) == "camera") {
+ } else if (uri.getPathSegment(0) == "camera" || uri.getPathSegment(0) == "stereo") {
return StereoVideoSource::supported(uri.getPathSegment(0));
} else if (uri.getPathSegment(0) == "pylon") {
return StereoVideoSource::supported(uri.getPathSegment(0));
diff --git a/components/streams/src/feed.cpp b/components/streams/src/feed.cpp
index 694f2353d..7a2fedd0d 100644
--- a/components/streams/src/feed.cpp
+++ b/components/streams/src/feed.cpp
@@ -645,7 +645,7 @@ uint32_t Feed::add(const std::string &path) {
// FIXME: pointer is deleted when removed from receiver
render_builders_.push_back(creator);
} else {
- auto *dsource = ftl::create<ftl::rgbd::Source>(this, srcname, net_);
+ auto *dsource = ftl::create<ftl::rgbd::Source>(this, srcname);
devices_[fsid] = dsource;
source = dsource;
_createPipeline(fsid);
--
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