From 98bec15bbd47602bf7e4cde9a59f8ca4c333ed08 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 14 Jun 2019 13:39:32 +0300
Subject: [PATCH] Lock after decode
---
components/rgbd-sources/src/net.cpp | 12 ++++++++----
1 file changed, 8 insertions(+), 4 deletions(-)
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index 0ce3b1fa2..39e039854 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -62,13 +62,17 @@ NetSource::~NetSource() {
}
void NetSource::_recv(const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
- unique_lock<shared_mutex> lk(host_->mutex());
+ cv::Mat tmp_rgb, tmp_depth;
auto start = std::chrono::high_resolution_clock::now();
- cv::imdecode(jpg, cv::IMREAD_COLOR, &rgb_);
+ cv::imdecode(jpg, cv::IMREAD_COLOR, &tmp_rgb);
//Mat(rgb_.size(), CV_16UC1);
- cv::imdecode(d, cv::IMREAD_UNCHANGED, &depth_);
- depth_.convertTo(depth_, CV_32FC1, 1.0f/(16.0f*100.0f));
+ cv::imdecode(d, cv::IMREAD_UNCHANGED, &tmp_depth);
+
+ unique_lock<shared_mutex> lk(host_->mutex());
+ rgb_ = tmp_rgb;
+ tmp_depth.convertTo(depth_, CV_32FC1, 1.0f/(16.0f*100.0f));
+ lk.unlock();
std::chrono::duration<double> elapsed =
std::chrono::high_resolution_clock::now() - start;
--
GitLab