From 7e219215d82491a49b82e2287e3b5057446d513a Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 7 Jun 2019 10:05:45 +0300
Subject: [PATCH] Verified performance in release mode
---
components/rgbd-sources/src/rgbd_streamer.cpp | 18 ++++++++++++++----
.../rgbd-sources/src/stereovideo_source.cpp | 5 +----
2 files changed, 15 insertions(+), 8 deletions(-)
diff --git a/components/rgbd-sources/src/rgbd_streamer.cpp b/components/rgbd-sources/src/rgbd_streamer.cpp
index c596584a1..5646495e8 100644
--- a/components/rgbd-sources/src/rgbd_streamer.cpp
+++ b/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;
diff --git a/components/rgbd-sources/src/stereovideo_source.cpp b/components/rgbd-sources/src/stereovideo_source.cpp
index 07711bc33..047c9be55 100644
--- a/components/rgbd-sources/src/stereovideo_source.cpp
+++ b/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());
}
--
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