From 7cebc7f0b6d69bfdb010e00aa912b9582f8fcc90 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Sat, 12 Oct 2019 09:14:50 +0300
Subject: [PATCH] Implements #203 skipping p-frames
---
components/rgbd-sources/src/file_source.cpp | 27 ++++++++++++++++++++-
components/rgbd-sources/src/file_source.hpp | 3 +++
2 files changed, 29 insertions(+), 1 deletion(-)
diff --git a/components/rgbd-sources/src/file_source.cpp b/components/rgbd-sources/src/file_source.cpp
index f5e0e7b30..bc0a5fc70 100644
--- a/components/rgbd-sources/src/file_source.cpp
+++ b/components/rgbd-sources/src/file_source.cpp
@@ -1,5 +1,7 @@
#include "file_source.hpp"
+#include <ftl/timer.hpp>
+
using ftl::rgbd::detail::FileSource;
using ftl::codecs::codec_t;
@@ -23,6 +25,8 @@ FileSource::FileSource(ftl::rgbd::Source *s, ftl::codecs::Reader *r, int sid) :
decoders_[1] = nullptr;
cache_read_ = -1;
cache_write_ = 0;
+ realtime_ = host_->value("realtime", true);
+ timestamp_ = r->getStartTime();
r->onPacket(sid, [this](const ftl::codecs::StreamPacket &spkt, ftl::codecs::Packet &pkt) {
if (pkt.codec == codec_t::POSE) {
@@ -34,6 +38,12 @@ FileSource::FileSource(ftl::rgbd::Source *s, ftl::codecs::Reader *r, int sid) :
params_ = *camera;
has_calibration_ = true;
} else {
+ if (pkt.codec == codec_t::HEVC) {
+ // Obtain NAL unit type
+ int nal_type = (pkt.data[4] >> 1) & 0x3F;
+ // A type of 32 = VPS unit, hence I-Frame in this case so skip past packets
+ if (nal_type == 32) _removeChannel(spkt.channel);
+ }
cache_[cache_write_].emplace_back();
auto &c = cache_[cache_write_].back();
@@ -48,8 +58,23 @@ FileSource::~FileSource() {
}
+void FileSource::_removeChannel(int channel) {
+ int c = 0;
+ for (auto i=cache_[cache_write_].begin(); i != cache_[cache_write_].end(); ++i) {
+ if ((*i).spkt.channel == channel) {
+ ++c;
+ i = cache_[cache_write_].erase(i);
+ }
+ }
+ DLOG(INFO) << "Skipped " << c << " packets";
+}
+
bool FileSource::capture(int64_t ts) {
- timestamp_ = ts;
+ if (realtime_) {
+ timestamp_ = ts;
+ } else {
+ timestamp_ += ftl::timer::getInterval();
+ }
return true;
}
diff --git a/components/rgbd-sources/src/file_source.hpp b/components/rgbd-sources/src/file_source.hpp
index 06f824884..810b1b56c 100644
--- a/components/rgbd-sources/src/file_source.hpp
+++ b/components/rgbd-sources/src/file_source.hpp
@@ -41,6 +41,9 @@ class FileSource : public detail::Source {
ftl::codecs::Decoder *decoders_[2];
+ bool realtime_;
+
+ void _removeChannel(int channel);
void _createDecoder(int ix, const ftl::codecs::Packet &pkt);
};
--
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