Virtual stream to GUI works

applications/reconstruct/src/main.cpp

@@ -426,7 +426,7 @@ static void run() {
 
 	ftl::rgbd::Streamer stream(config, &net);
 	stream.add(virt);
-	stream.run();
+	//stream.run();
 
 	unsigned char frameCount = 0;
 	bool paused = false;
@@ -472,7 +472,9 @@ static void run() {
 
 		frameCount++;
 
+		stream.poll();
 		display.update();
+		//sleep_for(milliseconds(10));
 	}
 }
 

components/renderers/cpp/src/rgbd_display.cpp

@@ -123,7 +123,7 @@ void Display::update() {
 	source_->setPose(viewPose);
 
 	Mat rgb, depth;
-	source_->grab();
+	//source_->grab();
 	source_->getRGBD(rgb, depth);
 	if (rgb.rows > 0) cv::imshow(name_, rgb);
 	wait(1);

components/rgbd-sources/include/ftl/rgbd_streamer.hpp

@@ -51,6 +51,7 @@ class Streamer : public ftl::Configurable {
 
 	void run(bool block=false);
 	void stop();
+	void poll();
 
 	RGBDSource *get(const std::string &uri);
 

components/rgbd-sources/src/rgbd_streamer.cpp

@@ -113,11 +113,7 @@ void Streamer::stop() {
 	active_ = false;
 }
 
-void Streamer::run(bool block) {
-	active_ = true;
-
-	if (block) {
-		while (active_) {
+void Streamer::poll() {
 	double wait = 1.0f / 25.0f;
 	auto start = std::chrono::high_resolution_clock::now();
 	// Create frame jobs at correct FPS interval
@@ -128,19 +124,19 @@ void Streamer::run(bool block) {
 
 	sleep_for(milliseconds((long long)((wait - elapsed.count()) * 1000.0f)));
 }
+
+void Streamer::run(bool block) {
+	active_ = true;
+
+	if (block) {
+		while (active_) {
+			poll();
+		}
 	} else {
 		// Create thread job for frame ticking
 		pool_.push([this](int id) {
 			while (active_) {
-				double wait = 1.0f / 25.0f;
-				auto start = std::chrono::high_resolution_clock::now();
-				// Create frame jobs at correct FPS interval
-				_schedule();
-
-				std::chrono::duration<double> elapsed =
-					std::chrono::high_resolution_clock::now() - start;
-
-				sleep_for(milliseconds((long long)((wait - elapsed.count()) * 1000.0f)));
+				poll();
 			}
 		});
 	}