From 8b14718cf2535a6641a4b3d314a57530b4c849c2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 18 Jul 2019 10:08:57 +0300
Subject: [PATCH] Fix timestamp to grab frame
---
components/rgbd-sources/include/ftl/rgbd/source.hpp | 3 ++-
components/rgbd-sources/src/source.cpp | 3 +++
2 files changed, 5 insertions(+), 1 deletion(-)
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index 64321d36a..c11bc83fe 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -118,7 +118,7 @@ class Source : public ftl::Configurable {
void writeFrames(const ftl::cuda::TextureObject<uchar4> &rgb, const ftl::cuda::TextureObject<uint> &depth, cudaStream_t stream);
void writeFrames(const ftl::cuda::TextureObject<uchar4> &rgb, const ftl::cuda::TextureObject<float> &depth, cudaStream_t stream);
- int64_t timestamp() const { return (impl_) ? impl_->timestamp_ : 0; }
+ int64_t timestamp() const { return timestamp_; }
/**
* Directly upload source RGB and Depth to GPU.
@@ -204,6 +204,7 @@ class Source : public ftl::Configurable {
bool bullet_;
channel_t channel_;
cudaStream_t stream_;
+ int64_t timestamp_;
detail::Source *_createImplementation();
detail::Source *_createFileImpl(const ftl::URI &uri);
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index d2ab4e416..c2b5dc5a9 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -30,6 +30,7 @@ Source::Source(ftl::config::json_t &cfg) : Configurable(cfg), pose_(Eigen::Matri
impl_ = nullptr;
params_ = {0};
stream_ = 0;
+ timestamp_ = 0;
reset();
on("uri", [this](const ftl::config::Event &e) {
@@ -42,6 +43,7 @@ Source::Source(ftl::config::json_t &cfg, ftl::net::Universe *net) : Configurable
impl_ = nullptr;
params_ = {0};
stream_ = 0;
+ timestamp_ = 0;
reset();
on("uri", [this](const ftl::config::Event &e) {
@@ -228,6 +230,7 @@ bool Source::grab() {
stream_ = 0;
return true;
} else if (impl_ && impl_->grab(-1,-1)) {
+ timestamp_ = impl_->timestamp_;
impl_->rgb_.copyTo(rgb_);
impl_->depth_.copyTo(depth_);
return true;
--
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