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Commit 7e219215 authored by Nicolas Pope's avatar Nicolas Pope
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Verified performance in release mode

parent 148ee7e5
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......@@ -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;
......
......@@ -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());
}
......
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