From 82ca84952e58d42e591cc53368e244c929161b24 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 29 Jul 2020 13:55:21 +0300
Subject: [PATCH] Windows AVX2 and pylon buffer latency
---
CMakeLists.txt | 2 +-
.../rgbd-sources/src/sources/stereovideo/pylon.cpp | 10 ++++++----
.../rgbd-sources/src/sources/stereovideo/pylon.hpp | 1 +
3 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 359261168..ced2238cc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -371,7 +371,7 @@ include(ftl_paths)
if (WIN32) # TODO(nick) Should do based upon compiler (VS)
add_definitions(-DWIN32)
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:AVX512 /MP4 /std:c++17 /wd4996")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:AVX2 /MP4 /std:c++17 /wd4996")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /DFTL_DEBUG /Wall")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /O2")
set(OS_LIBS "")
diff --git a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
index 98e86714b..1a8f90600 100644
--- a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
@@ -112,6 +112,8 @@ PylonDevice::PylonDevice(nlohmann::json &config)
rcam_->ExposureTime.SetValue(value("exposure", 24000.0f)); // Exposure time in microseconds
}
});
+
+ on("buffer_size", buffer_size_, 1);
}
PylonDevice::~PylonDevice() {
@@ -250,20 +252,20 @@ bool PylonDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cuda
rcam_->RetrieveResult(0, tmp_result, Pylon::TimeoutHandling_Return);
}*/
- if (rcount == 0 || lcount == 0) {
+ if (rcount < buffer_size_ || lcount < buffer_size_) {
LOG(WARNING) << "Retrieve failed for L+R";
return false;
}
- if (rcount > 1 && lcount > 1) {
+ if (rcount > buffer_size_ && lcount > buffer_size_) {
LOG(WARNING) << "Pylon buffer latency problem : " << lcount << " vs " << rcount << " frames";
Pylon::CGrabResultPtr tmp_result;
//lcam_->RetrieveResult(0, tmp_result, Pylon::TimeoutHandling_Return);
//rcam_->RetrieveResult(0, tmp_result, Pylon::TimeoutHandling_Return);
_retrieveFrames(tmp_result, lcam_);
_retrieveFrames(tmp_result, rcam_);
- } else if (rcount > 1) LOG(ERROR) << "Buffers (R) out of sync by " << rcount;
- else if (lcount > 1) LOG(ERROR) << "Buffers (L) out of sync by " << lcount;
+ } else if (rcount > buffer_size_) LOG(ERROR) << "Buffers (R) out of sync by " << rcount;
+ else if (lcount > buffer_size_) LOG(ERROR) << "Buffers (L) out of sync by " << lcount;
} else {
if (lcam_->NumReadyBuffers.GetValue() == 0) {
LOG(INFO) << "Retrieve failed for L";
diff --git a/components/rgbd-sources/src/sources/stereovideo/pylon.hpp b/components/rgbd-sources/src/sources/stereovideo/pylon.hpp
index 70c82a3da..3f1982a36 100644
--- a/components/rgbd-sources/src/sources/stereovideo/pylon.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/pylon.hpp
@@ -51,6 +51,7 @@ class PylonDevice : public ftl::rgbd::detail::Device {
std::string serial_;
int left_fail_=0;
int right_fail_=0;
+ int buffer_size_=1;
cv::cuda::HostMem left_hm_;
cv::cuda::HostMem right_hm_;
--
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