From 24069150038bde69f686b973cead60bf950f5db0 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 13 Jun 2019 06:49:17 +0300
Subject: [PATCH] Fixes #79 infinite loop in vision node
---
applications/vision/src/main.cpp | 20 +++++++++++--------
.../renderers/cpp/include/ftl/display.hpp | 2 ++
components/renderers/cpp/src/display.cpp | 4 ++++
3 files changed, 18 insertions(+), 8 deletions(-)
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 620ebd738..0119a659a 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -95,16 +95,20 @@ static void run(ftl::Configurable *root) {
Streamer *stream = ftl::create<Streamer>(root, "stream", net);
stream->add(source);
- stream->run();
-
+
net->start();
- LOG(INFO) << "Running...";
- while (ftl::running && display->active()) {
- cv::Mat rgb, depth;
- source->getFrames(rgb, depth);
- if (!rgb.empty()) display->render(rgb, depth, source->parameters());
- display->wait(10);
+ LOG(INFO) << "Running...";
+ if (display->hasDisplays()) {
+ stream->run();
+ while (ftl::running && display->active()) {
+ cv::Mat rgb, depth;
+ source->getFrames(rgb, depth);
+ if (!rgb.empty()) display->render(rgb, depth, source->parameters());
+ display->wait(10);
+ }
+ } else {
+ stream->run(true);
}
LOG(INFO) << "Stopping...";
diff --git a/components/renderers/cpp/include/ftl/display.hpp b/components/renderers/cpp/include/ftl/display.hpp
index 2e56c459b..05ae0bf11 100644
--- a/components/renderers/cpp/include/ftl/display.hpp
+++ b/components/renderers/cpp/include/ftl/display.hpp
@@ -43,6 +43,8 @@ class Display : public ftl::Configurable {
bool render(const cv::Mat &img, style_t s=STYLE_NORMAL);
bool active() const;
+
+ bool hasDisplays();
void wait(int ms);
diff --git a/components/renderers/cpp/src/display.cpp b/components/renderers/cpp/src/display.cpp
index c255a8bcc..0f838df75 100644
--- a/components/renderers/cpp/src/display.cpp
+++ b/components/renderers/cpp/src/display.cpp
@@ -243,6 +243,10 @@ bool Display::render(const cv::Mat &img, style_t s) {
return true;
}
+bool Display::hasDisplays() {
+ return value("depth", false) || value("left", false) || value("right", false) || value("points", false);
+}
+
void Display::wait(int ms) {
if (value("points", false)) {
#if defined HAVE_PCL
--
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