From 688f2465adc461222a761123878ff3901678b69e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 18 Jul 2019 10:15:17 +0300
Subject: [PATCH] Allow grab batch and bitrate setting
---
components/rgbd-sources/include/ftl/rgbd/source.hpp | 2 +-
components/rgbd-sources/src/source.cpp | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index c11bc83fe..440f566ed 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -82,7 +82,7 @@ class Source : public ftl::Configurable {
/**
* Perform the hardware or virtual frame grab operation.
*/
- bool grab();
+ bool grab(int N=-1, int B=-1);
/**
* Do any post-grab processing. This function
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index c2b5dc5a9..8747b60fb 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -222,14 +222,14 @@ void Source::reset() {
impl_ = _createImplementation();
}
-bool Source::grab() {
+bool Source::grab(int N, int B) {
UNIQUE_LOCK(mutex_,lk);
if (!impl_ && stream_ != 0) {
cudaSafeCall(cudaStreamSynchronize(stream_));
if (depth_.type() == CV_32SC1) depth_.convertTo(depth_, CV_32F, 1.0f / 1000.0f);
stream_ = 0;
return true;
- } else if (impl_ && impl_->grab(-1,-1)) {
+ } else if (impl_ && impl_->grab(N,B)) {
timestamp_ = impl_->timestamp_;
impl_->rgb_.copyTo(rgb_);
impl_->depth_.copyTo(depth_);
--
GitLab