Verified performance in release mode

components/rgbd-sources/src/rgbd_streamer.cpp

@@ -196,11 +196,15 @@ void Streamer::_schedule() {
 		pool_.push([this,uri,&jobs,&job_mtx,&job_cv](int id) {
 			StreamSource *src = sources_[uri];
 
-			try {
+			//auto start = std::chrono::high_resolution_clock::now();
+			//try {
 				src->src->grab();
-			} catch(...) {
-				LOG(ERROR) << "Grab Exception for: " << uri;
-			}
+			//} catch(...) {
+			//	LOG(ERROR) << "Grab Exception for: " << uri;
+			//}
+			/*std::chrono::duration<double> elapsed =
+					std::chrono::high_resolution_clock::now() - start;
+			LOG(INFO) << "GRAB Elapsed: " << elapsed.count();*/
 
 			unique_lock<shared_mutex> lk(src->mutex);
 			src->state |= ftl::rgbd::detail::kGrabbed;
@@ -218,6 +222,8 @@ void Streamer::_schedule() {
 		pool_.push([this,uri,&jobs,&job_mtx,&job_cv](int id) {
 			StreamSource *src = sources_[uri];
 
+			//auto start = std::chrono::high_resolution_clock::now();
+
 			if (src->rgb.rows > 0 && src->depth.rows > 0 && src->clients[0].size() > 0) {
 				vector<unsigned char> rgb_buf;
 				cv::imencode(".jpg", src->rgb, rgb_buf);
@@ -247,6 +253,10 @@ void Streamer::_schedule() {
 				}
 			}
 
+			/*std::chrono::duration<double> elapsed =
+					std::chrono::high_resolution_clock::now() - start;
+			LOG(INFO) << "Stream Elapsed: " << elapsed.count();*/
+
 			unique_lock<shared_mutex> lk(src->mutex);
 			DLOG(1) << "Tx Frame: " << uri;
 			src->state |= ftl::rgbd::detail::kTransmitted;

components/rgbd-sources/src/stereovideo_source.cpp

@@ -111,15 +111,12 @@ static void disparityToDepth(const cv::Mat &disparity, cv::Mat &depth, const cv:
 }
 
 void StereoVideoSource::grab() {
-	// TODO(Nick) find a way to move this to last part ... but grab can't
-	// be called twice by different threads and it is currently
-	// FIXME Call to grab from multiple threads
-	unique_lock<mutex> lk(mutex_);
 	calib_->rectified(left_, right_);
 
 	cv::Mat disp;
 	disp_->compute(left_, right_, disp);
 
+	unique_lock<mutex> lk(mutex_);
 	left_.copyTo(rgb_);
 	disparityToDepth(disp, depth_, calib_->getQ());
 }