diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 9aba01850bcc2b345e1a75463ad92fe2e49d28c7..8f2162dc860013aea1ed3fcf2355a59aa5bd0359 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -227,6 +227,10 @@ void ftl::gui::Camera::_draw(ftl::rgbd::FrameSet &fs) {
Eigen::Matrix4d t;
t.setIdentity();
renderer_->render(fs, frame_, channel_, t);
+
+ // TODO: Insert post-render pipeline.
+ // FXAA + Bad colour removal
+
_downloadFrames(&frame_);
if (record_stream_ && record_stream_->active()) {
diff --git a/applications/gui/src/main.cpp b/applications/gui/src/main.cpp
index cd52e88ba5510e3cdb8f4fca67261cc51558c42a..6b1867b06155d2735dbc8df56f890766f0cd199a 100644
--- a/applications/gui/src/main.cpp
+++ b/applications/gui/src/main.cpp
@@ -36,11 +36,16 @@ int main(int argc, char **argv) {
try {
nanogui::init();
- /* scoped variables */ {
+ {
nanogui::ref<ftl::gui::Screen> app = new ftl::gui::Screen(root, net, controller);
app->drawAll();
app->setVisible(true);
nanogui::mainloop();
+
+ LOG(INFO) << "Stopping...";
+ ftl::timer::stop(false);
+ ftl::pool.stop(true);
+ LOG(INFO) << "All threads stopped.";
}
nanogui::shutdown();
@@ -54,7 +59,8 @@ int main(int argc, char **argv) {
return -1;
}
- net->shutdown();
+
+ net->shutdown();
delete controller;
delete net;
delete root;
diff --git a/applications/gui/src/src_window.cpp b/applications/gui/src/src_window.cpp
index 01eaf3a178dd024e7009e3dad62e36c4a62ab520..9681239c3f84ae6709087ae938303e3300b329be 100644
--- a/applications/gui/src/src_window.cpp
+++ b/applications/gui/src/src_window.cpp
@@ -80,6 +80,13 @@ SourceWindow::SourceWindow(ftl::gui::Screen *screen)
cycle_ = 0;
receiver_->onFrameSet([this](ftl::rgbd::FrameSet &fs) {
+ // Enforce interpolated colour
+ for (int i=0; i<fs.frames.size(); ++i) {
+ fs.frames[i].createTexture<uchar4>(Channel::Colour, true);
+ }
+
+ pre_pipeline_->apply(fs, fs, 0);
+
fs.swapTo(frameset_);
// Request the channels required by current camera configuration
@@ -96,13 +103,6 @@ SourceWindow::SourceWindow(ftl::gui::Screen *screen)
//LOG(INFO) << "Channels = " << (unsigned int)cstream->available(fs.id);
- // Enforce interpolated colour
- for (int i=0; i<frameset_.frames.size(); ++i) {
- frameset_.frames[i].createTexture<uchar4>(Channel::Colour, true);
- }
-
- pre_pipeline_->apply(frameset_, frameset_, 0);
-
int i=0;
for (auto cam : cameras_) {
// Only update the camera periodically unless the active camera
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 9869a7915f0ecbdd5da96ac703535dc3ea25a053..afc9f92e2df1f22a0547325d03fbcbdcc1febc19 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -266,11 +266,11 @@ static void run(ftl::Configurable *root) {
LOG(INFO) << "Shutting down...";
ftl::timer::stop();
+ ftl::pool.stop(true);
ctrl.stop();
net->shutdown();
- ftl::pool.stop();
- cudaProfilerStop();
+ //cudaProfilerStop();
LOG(INFO) << "Deleting...";
diff --git a/components/audio/include/ftl/audio/frame.hpp b/components/audio/include/ftl/audio/frame.hpp
index 8546986093dd2693210edd4de3a53ac3fe26c216..efd3338494c264048264af881161baa4edee496c 100644
--- a/components/audio/include/ftl/audio/frame.hpp
+++ b/components/audio/include/ftl/audio/frame.hpp
@@ -30,6 +30,8 @@ struct AudioData {
throw ftl::exception("Type not valid for audio channel");
}
+ inline void reset() {}
+
Audio data;
};
diff --git a/components/audio/src/source.cpp b/components/audio/src/source.cpp
index 904433edffc15acfcda9cd00369701bf8adba4a5..97aeac77ddc329ff34e6ed8e8bab034262f515d5 100644
--- a/components/audio/src/source.cpp
+++ b/components/audio/src/source.cpp
@@ -47,13 +47,15 @@ Source::Source(nlohmann::json &config) : ftl::Configurable(config), buffer_(4800
#ifdef HAVE_PORTAUDIO
ftl::audio::pa_init();
+ int device = value("audio_device",-1);
+ if (device >= Pa_GetDeviceCount()) device = -1;
+
PaStreamParameters inputParameters;
//bzero( &inputParameters, sizeof( inputParameters ) );
inputParameters.channelCount = 2;
- inputParameters.device = value("audio_device",-1);
- //inputParameters.hostApiSpecificStreamInfo = NULL;
+ inputParameters.device = device;
inputParameters.sampleFormat = paInt16;
- inputParameters.suggestedLatency = (inputParameters.device >= 0) ? Pa_GetDeviceInfo(inputParameters.device)->defaultLowInputLatency : 0;
+ inputParameters.suggestedLatency = (device >= 0) ? Pa_GetDeviceInfo(device)->defaultLowInputLatency : 0;
inputParameters.hostApiSpecificStreamInfo = NULL;
PaError err;
diff --git a/components/control/cpp/src/master.cpp b/components/control/cpp/src/master.cpp
index 059dfe9144a91d0a7d706de811ce353f0050a2ac..4c1354bee685758eb40eeed9b76730dfe905f03f 100644
--- a/components/control/cpp/src/master.cpp
+++ b/components/control/cpp/src/master.cpp
@@ -99,7 +99,7 @@ Master::Master(Configurable *root, Universe *net)
}
Master::~Master() {
- net_->unbind("log");
+ stop();
}
void Master::restart() {
@@ -214,6 +214,7 @@ void Master::stop() {
net_->unbind("get_cfg");
net_->unbind("slave_details"); // TODO: Remove
net_->unbind("log_subscribe");
+ net_->unbind("log");
}
void Master::sendLog(const loguru::Message& message) {
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index b894cf07c80e80b51247a89a2b3162595b76e1d9..65837020fd2a95187623ebb4128b6125812d0d6d 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -51,6 +51,10 @@ struct VideoData {
T &make() {
throw ftl::exception("Unsupported type for Video data channel");
};
+
+ inline void reset() {
+ encoded.clear();
+ }
};
// Specialisations for cv mat types
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index 37ceb7b288296f2f890634b28dbdb5168678a58c..2a9765ceeb81a662924250c8fb65c351cc076fdd 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -56,9 +56,9 @@ cv::cuda::GpuMat &VideoData::make<cv::cuda::GpuMat>() {
for (size_t i=0u; i<Channels<0>::kMax; ++i) {
data_[i].encoded.clear();
}
-}
+}*/
-void Frame::resetFull() {
+/*void Frame::resetFull() {
origin_ = nullptr;
channels_.clear();
gpu_.clear();
diff --git a/components/rgbd-sources/src/frameset.cpp b/components/rgbd-sources/src/frameset.cpp
index 4c9a95eb5302208c2a685a1211a6f7d9b6383730..8064aaff0734e5b8a90d015f903c1541aef58614 100644
--- a/components/rgbd-sources/src/frameset.cpp
+++ b/components/rgbd-sources/src/frameset.cpp
@@ -37,6 +37,7 @@ void FrameSet::swapTo(ftl::rgbd::FrameSet &fs) {
fs.count = static_cast<int>(count);
fs.stale = stale;
fs.mask = static_cast<unsigned int>(mask);
+ fs.id = id;
for (size_t i=0; i<frames.size(); ++i) {
frames[i].swapTo(Channels<0>::All(), fs.frames[i]);
@@ -225,7 +226,7 @@ ftl::rgbd::FrameSet *Builder::_findFrameset(int64_t ts) {
* Note: Must occur inside a mutex lock.
*/
ftl::rgbd::FrameSet *Builder::_getFrameset() {
- LOG(INFO) << "BUF SIZE = " << framesets_.size();
+ //LOG(INFO) << "BUF SIZE = " << framesets_.size();
for (auto i=framesets_.begin(); i!=framesets_.end(); i++) {
auto *f = *i;
//LOG(INFO) << "GET: " << f->count << " of " << size_;
@@ -266,8 +267,11 @@ ftl::rgbd::FrameSet *Builder::_addFrameset(int64_t timestamp) {
if (framesets_.size() < kMaxFramesets) {
allocated_.push_back(new ftl::rgbd::FrameSet);
} else {
- LOG(ERROR) << "Could not allocate framesetL: " << timestamp;
- return nullptr;
+ LOG(WARNING) << "Frameset buffer full, resetting: " << timestamp;
+
+ // Do a complete reset
+ std::swap(framesets_, allocated_);
+ //return nullptr;
}
}
FrameSet *newf = allocated_.front();
diff --git a/components/streams/src/receiver.cpp b/components/streams/src/receiver.cpp
index 8ed25bf4c2eb7195c1895f4ba21283289d600c35..cba34010bf08fa1ec931695b26d274c52373bb69 100644
--- a/components/streams/src/receiver.cpp
+++ b/components/streams/src/receiver.cpp
@@ -22,7 +22,10 @@ Receiver::Receiver(nlohmann::json &config) : ftl::Configurable(config), stream_(
}
Receiver::~Receiver() {
-
+ //if (stream_) {
+ // stream_->onPacket(nullptr);
+ //}
+ builder_.onFrameSet(nullptr);
}
void Receiver::onAudio(const ftl::audio::FrameSet::Callback &cb) {
@@ -151,13 +154,15 @@ void Receiver::_processVideo(const StreamPacket &spkt, const Packet &pkt) {
//if (rchan != Channel::Colour && rchan != chan) return;
if (frame.frame.hasChannel(spkt.channel)) {
- // FIXME: Is this a corruption in recording or in playback?
- // Seems to occur in same place in ftl file, one channel is missing
- LOG(ERROR) << "Previous frame not complete: " << frame.timestamp;
- //LOG(ERROR) << " --- " << (string)spkt;
UNIQUE_LOCK(frame.mutex, lk);
- frame.frame.reset();
- frame.completed.clear();
+ //if (frame.frame.hasChannel(spkt.channel)) {
+ // FIXME: Is this a corruption in recording or in playback?
+ // Seems to occur in same place in ftl file, one channel is missing
+ LOG(WARNING) << "Previous frame not complete: " << frame.timestamp;
+ //LOG(ERROR) << " --- " << (string)spkt;
+ //frame.frame.reset();
+ //frame.completed.clear();
+ //}
}
frame.timestamp = spkt.timestamp;
diff --git a/components/structures/include/ftl/data/frame.hpp b/components/structures/include/ftl/data/frame.hpp
index eb8ae3e00bd05f59391d07d98a31c84cd457744d..5d717f6c4988aa6584ea8e76c119355361457e21 100644
--- a/components/structures/include/ftl/data/frame.hpp
+++ b/components/structures/include/ftl/data/frame.hpp
@@ -270,6 +270,9 @@ void ftl::data::Frame<BASE,N,STATE,DATA>::reset() {
origin_ = nullptr;
channels_.clear();
data_channels_.clear();
+ for (size_t i=0u; i<ftl::codecs::Channels<BASE>::kMax; ++i) {
+ data_[i].reset();
+ }
}
template <int BASE, int N, typename STATE, typename DATA>
@@ -283,7 +286,7 @@ void ftl::data::Frame<BASE,N,STATE,DATA>::swapTo(ftl::codecs::Channels<BASE> cha
// Should we swap this channel?
if (channels.has(c)) {
f.channels_ += c;
- f.getData(c) = std::move(getData(c));
+ std::swap(f.getData(c),getData(c));
}
}