diff --git a/components/codecs/include/ftl/codecs/channels.hpp b/components/codecs/include/ftl/codecs/channels.hpp
index 17197c31b126e5e8bf373b139c8efd7e56e5d9b6..71c97dc9f8c5fb530c2387a62a5d0819a9c599cc 100644
--- a/components/codecs/include/ftl/codecs/channels.hpp
+++ b/components/codecs/include/ftl/codecs/channels.hpp
@@ -2,7 +2,7 @@
#define _FTL_RGBD_CHANNELS_HPP_
#include <bitset>
-#include <ftl/utility/msgpack.hpp>
+#include <msgpack.hpp>
namespace ftl {
namespace codecs {
diff --git a/components/codecs/include/ftl/codecs/codecs.hpp b/components/codecs/include/ftl/codecs/codecs.hpp
index ad49ef6e013c1e807b26d2aed9bf423e991d5da7..68d4591e63421fed546d2574ccbd7cd15f389157 100644
--- a/components/codecs/include/ftl/codecs/codecs.hpp
+++ b/components/codecs/include/ftl/codecs/codecs.hpp
@@ -2,7 +2,7 @@
#define _FTL_CODECS_BITRATES_HPP_
#include <cstdint>
-#include <ftl/utility/msgpack.hpp>
+#include <msgpack.hpp>
namespace ftl {
namespace codecs {
diff --git a/components/codecs/include/ftl/codecs/packet.hpp b/components/codecs/include/ftl/codecs/packet.hpp
index f19ffcba2f7ace52778a509b2c3e55b0cebf6d7b..02d0af71f4d46ebf7a2a6a196b46d3ffdf51d98a 100644
--- a/components/codecs/include/ftl/codecs/packet.hpp
+++ b/components/codecs/include/ftl/codecs/packet.hpp
@@ -5,7 +5,7 @@
#include <vector>
#include <ftl/codecs/codecs.hpp>
#include <ftl/codecs/channels.hpp>
-#include <ftl/utility/msgpack.hpp>
+#include <msgpack.hpp>
namespace ftl {
namespace codecs {
diff --git a/components/common/cpp/CMakeLists.txt b/components/common/cpp/CMakeLists.txt
index f129316c3bbb20e7627aaa4b8bb2c4d105c2fb3c..71715801d4e30b57f440d49b65de6445024a46de 100644
--- a/components/common/cpp/CMakeLists.txt
+++ b/components/common/cpp/CMakeLists.txt
@@ -30,8 +30,6 @@ target_include_directories(ftlcommon PUBLIC
target_link_libraries(ftlcommon Threads::Threads Eigen3::Eigen ${OS_LIBS} ${OpenCV_LIBS} ${URIPARSER_LIBRARIES} ${CUDA_LIBRARIES})
target_precompile_headers(ftlcommon
- PRIVATE include/ftl/utility/msgpack.hpp
- PRIVATE include/ftl/utility/msgpack_optional.hpp
PRIVATE include/ftl/cuda_common.hpp
PRIVATE include/loguru.hpp
)
diff --git a/components/operators/src/poser.cpp b/components/operators/src/poser.cpp
index 32948ac4a29a1100a7479685d8d0f810279d3873..2f8a166cff6c67979acf42d7ab375bad928b9b44 100644
--- a/components/operators/src/poser.cpp
+++ b/components/operators/src/poser.cpp
@@ -113,7 +113,7 @@ bool Poser::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_
auto p = pose_db__.find(pose_ident);
if (p != pose_db__.end()) {
(*p).second.locked = config()->value("locked",false);
- in.pose = (config()->value("inverse",false)) ? (*p).second.pose.inverse() : (*p).second.pose;
+ in.cast<ftl::rgbd::Frame>().setPose() = (config()->value("inverse",false)) ? (*p).second.pose.inverse() : (*p).second.pose;
} else {
LOG(WARNING) << "Pose not found: " << pose_ident;
}
diff --git a/components/renderers/cpp/src/CUDARender.cpp b/components/renderers/cpp/src/CUDARender.cpp
index c72d3dacea9684adb9abd26f458665b6c0079dbe..b3d07ac298125d39f206469b5c7472d3bbb54ce2 100644
--- a/components/renderers/cpp/src/CUDARender.cpp
+++ b/components/renderers/cpp/src/CUDARender.cpp
@@ -647,7 +647,7 @@ bool CUDARender::submit(ftl::data::FrameSet *in, Channels<0> chans, const Eigen:
bool success = true;
try {
- _renderPass1(in->pose);
+ _renderPass1(t);
//cudaSafeCall(cudaStreamSynchronize(stream_));
} catch (const ftl::exception &e) {
LOG(ERROR) << "Exception in render: " << e.what();
@@ -657,7 +657,7 @@ bool CUDARender::submit(ftl::data::FrameSet *in, Channels<0> chans, const Eigen:
auto &s = sets_.emplace_back();
s.fs = in;
s.channels = chans;
- s.transform = in->pose;
+ s.transform = t;
last_frame_ = scene_->timestamp();
scene_ = nullptr;
diff --git a/components/streams/src/builder.cpp b/components/streams/src/builder.cpp
index f4fc8b6a41c1e67fa47f12d22557b5727091fa5b..486823cadbaa3192663d758acc96771dd43ebcdb 100644
--- a/components/streams/src/builder.cpp
+++ b/components/streams/src/builder.cpp
@@ -104,7 +104,6 @@ std::shared_ptr<ftl::data::FrameSet> LocalBuilder::_allocate(int64_t timestamp)
newf->count = size_;
newf->mask = 0xFF;
newf->clearFlags();
- newf->pose.setIdentity();
return newf;
}
@@ -423,7 +422,6 @@ std::shared_ptr<ftl::data::FrameSet> ForeignBuilder::_addFrameset(int64_t timest
newf->count = 0;
newf->mask = 0;
newf->clearFlags();
- newf->pose.setIdentity(); // Deprecated?
// Insertion sort by timestamp
for (auto i=framesets_.begin(); i!=framesets_.end(); i++) {
diff --git a/components/streams/src/renderers/screen_render.cpp b/components/streams/src/renderers/screen_render.cpp
index c60bd704761e9d6f40ba725360e99844f03d4ad4..d06d57f7f243ac0acdbe0bb11786997b6b6ec932 100644
--- a/components/streams/src/renderers/screen_render.cpp
+++ b/components/streams/src/renderers/screen_render.cpp
@@ -133,10 +133,14 @@ bool ScreenRender::retrieve(ftl::data::Frame &frame_out) {
for (auto &s : sets) {
if (s->frameset() == my_id_) continue; // Skip self
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ if (s->hasChannel(Channel::Pose)) pose = s->cast<ftl::rgbd::Frame>().getPose();
+
if (!data_only) renderer_->submit(
s.get(),
ftl::codecs::Channels<0>(ftl::codecs::Channel::Colour),
- s->pose);
+ pose);
}
if (!data_only) renderer_->render();
diff --git a/components/structures/CMakeLists.txt b/components/structures/CMakeLists.txt
index 95cd7ba297b8d39cb6e38207fcd752c16fd4b8b0..c291ee7e2c33f187388173a50bb91e2ff8abce76 100644
--- a/components/structures/CMakeLists.txt
+++ b/components/structures/CMakeLists.txt
@@ -7,8 +7,6 @@ target_include_directories(ftldata PUBLIC
target_link_libraries(ftldata ftlcommon Eigen3::Eigen ftlcodecs)
target_precompile_headers(ftldata
- PRIVATE ../common/cpp/include/ftl/utility/msgpack.hpp
- PRIVATE ../common/cpp/include/ftl/utility/msgpack_optional.hpp
PRIVATE ../common/cpp/include/ftl/cuda_common.hpp
PRIVATE ../common/cpp/include/loguru.hpp
PRIVATE include/ftl/data/new_frame.hpp
diff --git a/components/structures/include/ftl/data/messages.hpp b/components/structures/include/ftl/data/messages.hpp
index f4e9ba27e964c8ae676c5724212302f7a50f63bf..9f90263fd8f3136fedbc91e50e65ec3d55864656 100644
--- a/components/structures/include/ftl/data/messages.hpp
+++ b/components/structures/include/ftl/data/messages.hpp
@@ -1,7 +1,7 @@
#ifndef _FTL_DATA_MESSAGES_HPP_
#define _FTL_DATA_MESSAGES_HPP_
-#include <ftl/utility/msgpack.hpp>
+#include <msgpack.hpp>
namespace ftl {
namespace data {
diff --git a/components/structures/include/ftl/data/new_frameset.hpp b/components/structures/include/ftl/data/new_frameset.hpp
index 368456f2057fd9a94853677a8dbc6340e7162eb3..096a02c2f616f404b97d7cbabc82796d5b14141c 100644
--- a/components/structures/include/ftl/data/new_frameset.hpp
+++ b/components/structures/include/ftl/data/new_frameset.hpp
@@ -45,7 +45,7 @@ class FrameSet : public ftl::data::Frame {
std::atomic<int> flush_count; // How many channels have been flushed
SHARED_MUTEX smtx;
- Eigen::Matrix4d pose; // Set to identity by default.
+ //Eigen::Matrix4d pose; // Set to identity by default.
inline int64_t localTimestamp() const { return timestamp() + originClockDelta; }
diff --git a/components/structures/src/frameset.cpp b/components/structures/src/frameset.cpp
index d804c68d0b96bc84857d6cf9e5e3dba7a22b0e38..4d4cbc88b03f5a149ba9d012af1f75182316ca69 100644
--- a/components/structures/src/frameset.cpp
+++ b/components/structures/src/frameset.cpp
@@ -50,7 +50,6 @@ void ftl::data::FrameSet::moveTo(ftl::data::FrameSet &fs) {
fs.count = static_cast<int>(count);
fs.flags_ = (int)flags_;
fs.mask = static_cast<unsigned int>(mask);
- fs.pose = pose;
fs.frames = std::move(frames);
count = 0;