From 7bfd62f9788bdd6fd8a3bb18512123ac28637c0b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 19 Sep 2019 09:32:37 +0300
Subject: [PATCH] Fix colour clear and timestamp
---
applications/reconstruct/src/main.cpp | 3 ++-
components/renderers/cpp/src/splat_render.cpp | 2 ++
components/rgbd-sources/include/ftl/rgbd/virtual.hpp | 2 ++
components/rgbd-sources/src/streamer.cpp | 2 +-
4 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 72cdfe570..f7cdf4d37 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/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);
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 25dc21c01..55ddbe490 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/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);
diff --git a/components/rgbd-sources/include/ftl/rgbd/virtual.hpp b/components/rgbd-sources/include/ftl/rgbd/virtual.hpp
index f0ab3a93b..ed3530258 100644
--- a/components/rgbd-sources/include/ftl/rgbd/virtual.hpp
+++ b/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
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index 2b43f97a7..3691c36fd 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/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);
--
GitLab