Fix colour clear and timestamp

applications/reconstruct/src/main.cpp

@@ -104,7 +104,8 @@ static void run(ftl::Configurable *root) {
 	ftl::ILW *align = ftl::create<ftl::ILW>(root, "merge");
 
 	// Generate virtual camera render when requested by streamer
-	virt->onRender([splat,virt](ftl::rgbd::Frame &out) {
+	virt->onRender([splat,virt,&scene_B](ftl::rgbd::Frame &out) {
+		virt->setTimestamp(scene_B.timestamp);
 		splat->render(virt, out);
 	});
 	stream->add(virt);

components/renderers/cpp/src/splat_render.cpp

@@ -76,6 +76,8 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
 	// Clear all channels to 0 or max depth
 	temp_.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
 	temp_.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
+	temp_.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
+	temp_.get<GpuMat>(Channel::Contribution).setTo(cv::Scalar(0.0f), cvstream);
 	out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
 	out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(76,76,76), cvstream);
 

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

@@ -13,6 +13,8 @@ class VirtualSource : public ftl::rgbd::Source {
 
 	void onRender(const std::function<void(ftl::rgbd::Frame &)> &);
 
+	void setTimestamp(int64_t ts) { timestamp_ = ts; }
+
     /**
 	 * Write frames into source buffers from an external renderer. Virtual
 	 * sources do not have an internal generator of frames but instead have

components/rgbd-sources/src/streamer.cpp

@@ -47,7 +47,7 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
 	hq_devices_ = (value("disable_hardware_encode", false)) ? device_t::Software : device_t::Any;
 
 	//group_.setFPS(value("fps", 20));
-	group_.setLatency(10);
+	group_.setLatency(3);
 
 	compress_level_ = value("compression", 1);