Working receiver

applications/reconstruct/src/main.cpp

@@ -158,9 +158,10 @@ static void run(ftl::Configurable *root) {
 
 	ftl::codecs::Channels channels;
 
+	std::vector<Source*> sources;
 	// Create a vector of all input RGB-Depth sources
-	auto sources = ftl::createArray<Source>(root, "sources", net);
-	if (sources.size() > 0) {
+	if (root->getConfig()["sources"].size() > 0) {
+		sources = ftl::createArray<Source>(root, "sources", net);
 		auto *gen = createSourceGenerator(sources);
 		auto reconstr = ftl::create<ftl::Reconstruction>(root, "0", "0");
 		reconstr->setGenerator(gen);
@@ -224,8 +225,8 @@ static void run(ftl::Configurable *root) {
 	tags.push_back(root->getID()+"/virtual");
 	root->set("tags", tags);
 
-	int o = root->value("origin_pose", 0) % sources.size();
-	vs->setPose(sources[o]->getPose());
+	//int o = root->value("origin_pose", 0) % sources.size();
+	//vs->setPose(sources[o]->getPose());
 
 	
 

components/rgbd-sources/src/frameset.cpp

@@ -144,6 +144,8 @@ void Builder::onFrameSet(const std::function<bool(ftl::rgbd::FrameSet &)> &cb) {
 				// The buffers are invalid after callback so mark stale
 				fs->stale = true;
 
+				LOG(INFO) << "PROCESS FRAMESET";
+
 				//ftl::pool.push([this,fs,cb](int) {
 					try {
 						cb(*fs);

components/streams/include/ftl/streams/receiver.hpp

@@ -47,10 +47,12 @@ class Receiver : public ftl::Configurable, public ftl::rgbd::Generator {
 	int64_t timestamp_;
 
 	struct InternalStates {
+		InternalStates();
+
 		int64_t timestamp;
 		ftl::rgbd::FrameState state;
 		ftl::rgbd::Frame frame;
-		std::vector<ftl::codecs::Decoder*> decoders;
+		ftl::codecs::Decoder* decoders[32];
 	};
 
 	std::vector<InternalStates> frames_;
@@ -59,6 +61,7 @@ class Receiver : public ftl::Configurable, public ftl::rgbd::Generator {
 	void _processCalibration(InternalStates &frame, const ftl::codecs::Packet &pkt);
 	void _processConfig(InternalStates &frame, const ftl::codecs::Packet &pkt);
 	void _createDecoder(InternalStates &frame, int chan, const ftl::codecs::Packet &pkt);
+	InternalStates &_getFrame(const ftl::codecs::StreamPacket &spkt);
 };
 
 }

components/streams/src/filestream.cpp

@@ -53,6 +53,8 @@ bool File::tick() {
 		return false;
 	}
 
+	LOG(INFO) << "FILE TICK";
+
 	//UNIQUE_LOCK(mtx_, lk);
 	std::unique_lock<std::mutex> lk(mutex_, std::defer_lock);
 	if (!lk.try_lock()) return true;

components/streams/src/receiver.cpp

@@ -8,6 +8,7 @@ using ftl::codecs::Channel;
 
 Receiver::Receiver(nlohmann::json &config) : ftl::Configurable(config), stream_(nullptr) {
 	timestamp_ = 0;
+	second_channel_ = Channel::Depth;
 }
 
 Receiver::~Receiver() {
@@ -70,6 +71,17 @@ void Receiver::_createDecoder(InternalStates &frame, int chan, const ftl::codecs
 	frame.decoders[chan] = ftl::codecs::allocateDecoder(pkt);
 }
 
+Receiver::InternalStates::InternalStates() {
+	for (int i=0; i<32; ++i) decoders[i] = nullptr;
+}
+
+Receiver::InternalStates &Receiver::_getFrame(const StreamPacket &spkt) {
+	if (frames_.size() <= spkt.frameNumber()) frames_.resize(spkt.frameNumber()+1);
+	auto &f = frames_[spkt.frameNumber()];
+	if (!f.frame.origin()) f.frame.setOrigin(&f.state);
+	return f;
+}
+
 void Receiver::setStream(ftl::stream::Stream *s) {
 	stream_ = s;
 
@@ -83,8 +95,7 @@ void Receiver::setStream(ftl::stream::Stream *s) {
 		const cv::Size size = cv::Size(ftl::codecs::getWidth(pkt.definition), ftl::codecs::getHeight(pkt.definition));
 		//NetFrame &frame = queue_.getFrame(spkt.timestamp, size, CV_8UC4, (isFloatChannel(chan) ? CV_32FC1 : CV_8UC4));
 
-		InternalStates &frame = frames_[spkt.frameNumber()];
-		if (!frame.frame.origin()) frame.frame.setOrigin(&frame.state);
+		InternalStates &frame = _getFrame(spkt);
 
 		// Deal with the special channels...
 		switch (rchan) {
@@ -93,13 +104,15 @@ void Receiver::setStream(ftl::stream::Stream *s) {
 		case Channel::Pose				: _processPose(frame, pkt); return;
 		}
 
+		if (rchan != Channel::Colour && rchan != chan) return;
+
 		if (frame.state.getLeft().width == 0) {
 			LOG(WARNING) << "Missing calibration, skipping frame";
 			return;
 		}
 
 		frame.timestamp = spkt.timestamp;
-		if (timestamp_ > 0 && frame.timestamp <= timestamp_) {
+		if (frame.frame.hasChannel(spkt.channel)) {
 			LOG(ERROR) << "Duplicate frame - " << frame.timestamp << " received=" << int(rchan) << " uri=";
 			return;
 		}