From 739c458942ac7d41d547b88af4e779e2d17a84be Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 2 Jun 2019 13:40:45 +0300
Subject: [PATCH] Virtual stream to GUI works
---
applications/reconstruct/src/main.cpp | 4 ++-
components/renderers/cpp/src/rgbd_display.cpp | 2 +-
.../include/ftl/rgbd_streamer.hpp | 1 +
components/rgbd-sources/src/rgbd_streamer.cpp | 32 ++++++++-----------
4 files changed, 19 insertions(+), 20 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 09791e3f1..1f6201403 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/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));
}
}
diff --git a/components/renderers/cpp/src/rgbd_display.cpp b/components/renderers/cpp/src/rgbd_display.cpp
index 473878548..edc8ada98 100644
--- a/components/renderers/cpp/src/rgbd_display.cpp
+++ b/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);
diff --git a/components/rgbd-sources/include/ftl/rgbd_streamer.hpp b/components/rgbd-sources/include/ftl/rgbd_streamer.hpp
index 8eb7460c7..8218518ed 100644
--- a/components/rgbd-sources/include/ftl/rgbd_streamer.hpp
+++ b/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);
diff --git a/components/rgbd-sources/src/rgbd_streamer.cpp b/components/rgbd-sources/src/rgbd_streamer.cpp
index b4e256169..06d40fd2e 100644
--- a/components/rgbd-sources/src/rgbd_streamer.cpp
+++ b/components/rgbd-sources/src/rgbd_streamer.cpp
@@ -113,34 +113,30 @@ void Streamer::stop() {
active_ = false;
}
+void Streamer::poll() {
+ 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)));
+}
+
void Streamer::run(bool block) {
active_ = true;
if (block) {
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();
}
} 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();
}
});
}
--
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