From 39ae267e2bba17268f88e1746ec3c71d3e45dea2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 26 Oct 2019 21:16:03 +0300
Subject: [PATCH] Code tidy 1
---
.../rgbd-sources/src/sources/net/net.cpp | 125 +++---------------
.../rgbd-sources/src/sources/net/net.hpp | 1 +
2 files changed, 21 insertions(+), 105 deletions(-)
diff --git a/components/rgbd-sources/src/sources/net/net.cpp b/components/rgbd-sources/src/sources/net/net.cpp
index 2e672dc3f..d6d3c7804 100644
--- a/components/rgbd-sources/src/sources/net/net.cpp
+++ b/components/rgbd-sources/src/sources/net/net.cpp
@@ -90,55 +90,6 @@ void NetFrameQueue::freeFrame(NetFrame &f) {
// ===== NetSource =============================================================
-/*bool NetSource::_getCalibration(Universe &net, const UUID &peer, const string &src, ftl::rgbd::Camera &p, ftl::codecs::Channel chan) {
- try {
- while(true) {
- auto [cap,buf] = net.call<tuple<unsigned int,vector<unsigned char>>>(peer_, "source_details", src, chan);
-
- capabilities_ = cap;
-
- if (buf.size() > 0) {
- memcpy((char*)&p, buf.data(), buf.size());
-
- if (sizeof(p) != buf.size()) {
- LOG(ERROR) << "Corrupted calibration";
- return false;
- }
-
- LOG(INFO) << "Calibration received: " << p.cx << ", " << p.cy << ", " << p.fx << ", " << p.fy;
-
- if (chan == Channel::Left) {
- // Put calibration into config manually
- host_->getConfig()["focal"] = p.fx;
- host_->getConfig()["centre_x"] = p.cx;
- host_->getConfig()["centre_y"] = p.cy;
- host_->getConfig()["baseline"] = p.baseline;
- host_->getConfig()["doffs"] = p.doffs;
- } else {
- host_->getConfig()["focal_right"] = p.fx;
- host_->getConfig()["centre_x_right"] = p.cx;
- host_->getConfig()["centre_y_right"] = p.cy;
- host_->getConfig()["baseline_right"] = p.baseline;
- host_->getConfig()["doffs_right"] = p.doffs;
- }
-
- return true;
- } else {
- LOG(INFO) << "Could not get calibration, retrying";
- sleep_for(milliseconds(500));
- }
- }
-
- } catch (const std::exception& ex) {
- LOG(ERROR) << "Exception: " << ex.what();
- return false;
-
- } catch (...) {
- LOG(ERROR) << "Unknown exception";
- return false;
- }
-}*/
-
NetSource::NetSource(ftl::rgbd::Source *host)
: ftl::rgbd::detail::Source(host), active_(false), minB_(9), maxN_(1), adaptive_(0), queue_(3) {
@@ -306,10 +257,6 @@ void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spk
params_ = std::get<0>(params);
capabilities_ = std::get<2>(params);
has_calibration_ = true;
-
- //rgb_ = cv::Mat(cv::Size(params_.width, params_.height), CV_8UC3, cv::Scalar(0,0,0));
- //depth_ = cv::Mat(cv::Size(params_.width, params_.height), CV_32FC1, 0.0f);
-
LOG(INFO) << "Got Calibration channel: " << params_.width << "x" << params_.height;
} else {
params_right_ = std::get<0>(params);
@@ -380,36 +327,26 @@ void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spk
}
// Last chunk of both channels now received
- if (frame.channel_count == spkt.channel_count &&
- frame.chunk_count[0] == frame.chunk_total[0] &&
- frame.chunk_count[1] == frame.chunk_total[1]) {
- UNIQUE_LOCK(frame.mtx, flk);
+ if (frame.channel_count == spkt.channel_count) {
+ _completeFrame(frame, now-(spkt.timestamp+frame.tx_latency));
+ }
+}
- if (frame.timestamp >= 0 && frame.chunk_count[0] == frame.chunk_total[0] && frame.chunk_count[1] == frame.chunk_total[1]) {
- timestamp_ = frame.timestamp;
- frame.tx_latency = now-(spkt.timestamp+frame.tx_latency);
-
- adaptive_ = abr_.selectBitrate(frame);
- //LOG(INFO) << "Frame finished: " << frame.timestamp;
- host_->notify(frame.timestamp, frame.channel1, frame.channel2);
- /*auto cb = host_->callback();
- if (cb) {
- try {
- cb(frame.timestamp, frame.channel1, frame.channel2);
- } catch (...) {
- LOG(ERROR) << "Exception in net frame callback";
- }
- } else {
- LOG(ERROR) << "NO FRAME CALLBACK";
- }*/
-
- queue_.freeFrame(frame);
-
- {
- // Decrement expected frame counter
- N_--;
- }
- }
+void NetSource::_completeFrame(NetFrame &frame, int64_t latency) {
+ UNIQUE_LOCK(frame.mtx, flk);
+
+ // Frame must not have already been freed.
+ if (frame.timestamp >= 0) {
+ timestamp_ = frame.timestamp;
+ frame.tx_latency = latency;
+
+ // Note: Not used currently
+ adaptive_ = abr_.selectBitrate(frame);
+
+ host_->notify(frame.timestamp, frame.channel1, frame.channel2);
+
+ queue_.freeFrame(frame);
+ N_--;
}
}
@@ -429,12 +366,6 @@ void NetSource::setPose(const Eigen::Matrix4d &pose) {
ftl::rgbd::Camera NetSource::parameters(ftl::codecs::Channel chan) {
if (chan == ftl::codecs::Channel::Right) {
- /*if (params_right_.width == 0) {
- auto uri = host_->get<string>("uri");
- if (!uri) return params_;
-
- _getCalibration(*host_->getNet(), peer_, *uri, params_right_, chan);
- }*/
return params_right_;
} else {
return params_;
@@ -459,27 +390,11 @@ void NetSource::_updateURI() {
}
peer_ = *p;
- //has_calibration_ = _getCalibration(*host_->getNet(), peer_, *uri, params_, ftl::codecs::Channel::Left);
- //_getCalibration(*host_->getNet(), peer_, *uri, params_right_, ftl::codecs::Channel::Right);
-
host_->getNet()->bind(*uri, [this](short ttimeoff, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- //if (chunk == -1) {
- //#ifdef HAVE_NVPIPE
- //_recvVideo(frame, ttimeoff, bitrate, jpg, d);
- //#else
- //LOG(ERROR) << "Cannot receive HEVC, no NvPipe support";
- //#endif
- //} else {
- //_recvChunk(frame, ttimeoff, bitrate, chunk, jpg, d);
- _recvPacket(ttimeoff, spkt, pkt);
- //}
+ _recvPacket(ttimeoff, spkt, pkt);
});
N_ = 0;
-
- //d_rgb_ = cv::Mat(cv::Size(params_.width, params_.height), CV_8UC3, cv::Scalar(0,0,0));
- //d_depth_ = cv::Mat(cv::Size(params_.width, params_.height), CV_32FC1, 0.0f);
-
uri_ = *uri;
active_ = true;
} else {
diff --git a/components/rgbd-sources/src/sources/net/net.hpp b/components/rgbd-sources/src/sources/net/net.hpp
index 469902a57..5d0b4e9af 100644
--- a/components/rgbd-sources/src/sources/net/net.hpp
+++ b/components/rgbd-sources/src/sources/net/net.hpp
@@ -86,6 +86,7 @@ class NetSource : public detail::Source {
void _updateURI();
//void _checkAdaptive(int64_t);
void _createDecoder(int chan, const ftl::codecs::Packet &);
+ void _completeFrame(NetFrame &frame, int64_t now);
};
}
--
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