Have streamer do some jobs directly

components/rgbd-sources/src/net.cpp

@@ -64,20 +64,19 @@ NetSource::~NetSource() {
 void NetSource::_recv(const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
 	cv::Mat tmp_rgb, tmp_depth;
 
-	auto start = std::chrono::high_resolution_clock::now();
 	cv::imdecode(jpg, cv::IMREAD_COLOR, &tmp_rgb);
 	//Mat(rgb_.size(), CV_16UC1);
 	cv::imdecode(d, cv::IMREAD_UNCHANGED, &tmp_depth);
 
+	auto start = std::chrono::high_resolution_clock::now();
 	unique_lock<shared_mutex> lk(host_->mutex());
+	std::chrono::duration<double> elapsed =
+		std::chrono::high_resolution_clock::now() - start;
+	LOG(INFO) << "ELAPSED LOCK: " << elapsed.count();
 	rgb_ = tmp_rgb;
 	tmp_depth.convertTo(depth_, CV_32FC1, 1.0f/(16.0f*100.0f));
 	N_--;
 	lk.unlock();
-
-	std::chrono::duration<double> elapsed =
-		std::chrono::high_resolution_clock::now() - start;
-	LOG(INFO) << "ELAPSED DECODE: " << elapsed.count();
 }
 
 void NetSource::setPose(const Eigen::Matrix4f &pose) {

components/rgbd-sources/src/streamer.cpp

@@ -291,6 +291,12 @@ void Streamer::_schedule() {
 		});
 	}
 
+	// Do some jobs in this thread, might as well...
+	std::function<void(int)> j;
+	while ((bool)(j=pool_.pop())) {
+		j(-1);
+	}
+
 	// Wait for all jobs to complete before finishing frame
 	unique_lock<mutex> lk(job_mtx);
 	job_cv.wait(lk, [&jobs]{ return jobs == 0; });