From 9456be856ce5440196f61386e27abfb5b3fd4459 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 19 Sep 2019 09:43:12 +0300
Subject: [PATCH] Fix latency and encode bug
---
applications/reconstruct/src/main.cpp | 1 +
components/codecs/src/nvpipe_encoder.cpp | 2 +-
components/rgbd-sources/include/ftl/rgbd/streamer.hpp | 2 ++
components/rgbd-sources/src/streamer.cpp | 3 +--
4 files changed, 5 insertions(+), 3 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index f7cdf4d37..a4ff3bfd8 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -116,6 +116,7 @@ static void run(ftl::Configurable *root) {
group.addSource(in);
}
+ stream->setLatency(4);
stream->run();
bool busy = false;
diff --git a/components/codecs/src/nvpipe_encoder.cpp b/components/codecs/src/nvpipe_encoder.cpp
index e03dc7073..42374bede 100644
--- a/components/codecs/src/nvpipe_encoder.cpp
+++ b/components/codecs/src/nvpipe_encoder.cpp
@@ -91,7 +91,7 @@ bool NvPipeEncoder::encode(const cv::Mat &in, definition_t odefinition, bitrate_
bool NvPipeEncoder::_encoderMatch(const cv::Mat &in, definition_t def) {
return ((in.type() == CV_32F && is_float_channel_) ||
- (in.type() == CV_8UC3 && !is_float_channel_)) && current_definition_ == def;
+ ((in.type() == CV_8UC3 || in.type() == CV_8UC4) && !is_float_channel_)) && current_definition_ == def;
}
bool NvPipeEncoder::_createEncoder(const cv::Mat &in, definition_t def, bitrate_t rate) {
diff --git a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
index 3f6f1c4fa..7c6e6f479 100644
--- a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
@@ -117,6 +117,8 @@ class Streamer : public ftl::Configurable {
void wait();
+ void setLatency(int l) { group_.setLatency(l); }
+
/**
* Alternative to calling run(), it will operate a single frame capture,
* compress and stream cycle.
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index 3691c36fd..7a9118c9f 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -47,7 +47,7 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
hq_devices_ = (value("disable_hardware_encode", false)) ? device_t::Software : device_t::Any;
//group_.setFPS(value("fps", 20));
- group_.setLatency(3);
+ group_.setLatency(4);
compress_level_ = value("compression", 1);
@@ -74,7 +74,6 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
if (sources_.find(uri) != sources_.end()) {
Eigen::Matrix4d pose;
memcpy(pose.data(), buf.data(), buf.size());
- LOG(INFO) << "SET POSE:";
sources_[uri]->src->setPose(pose);
}
});
--
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