From a08c8dd2e6df8beda0d4efc4435b27500e002902 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 7 May 2019 11:32:58 +0300
Subject: [PATCH] Use grab to sync cam capture
---
reconstruct/src/main.cpp | 2 ++
vision/src/main.cpp | 23 ++++++++++++++++++++---
2 files changed, 22 insertions(+), 3 deletions(-)
diff --git a/reconstruct/src/main.cpp b/reconstruct/src/main.cpp
index 51c346da2..6145a65a3 100644
--- a/reconstruct/src/main.cpp
+++ b/reconstruct/src/main.cpp
@@ -83,6 +83,8 @@ static void run() {
while (disp.active()) {
Mat idepth;
+
+ net.broadcast("grab");
unique_lock<mutex> lk(m);
if (depth.cols > 0) {
diff --git a/vision/src/main.cpp b/vision/src/main.cpp
index 70edfd239..695512627 100644
--- a/vision/src/main.cpp
+++ b/vision/src/main.cpp
@@ -108,11 +108,24 @@ static void run(const string &file) {
return buf;
});
+ Mat l, r, disp;
+ bool grabbed = false;
+ mutex datam;
+ condition_variable datacv;
+
+ net.bind("grab", [&calibrate,&l,&r,&datam,&datacv,&grabbed]() -> void {
+ // LOG(INFO) << "GRAB";
+ unique_lock<mutex> datalk(datam);
+ if (grabbed) return;
+ calibrate.rectified(l, r);
+ grabbed = true;
+ datacv.notify_one();
+ });
+
// Choose and configure disparity algorithm
auto disparity = Disparity::create(config["disparity"]);
if (!disparity) LOG(FATAL) << "Unknown disparity algorithm : " << config["disparity"];
- Mat l, r, disp;
Mat pl, pdisp;
vector<unsigned char> rgb_buf;
vector<unsigned char> d_buf;
@@ -132,9 +145,11 @@ static void run(const string &file) {
// Pipeline for disparity
pool.push([&](int id) {
- auto start = std::chrono::high_resolution_clock::now();
// Read calibrated images.
- calibrate.rectified(l, r);
+ //calibrate.rectified(l, r);
+ unique_lock<mutex> datalk(datam);
+ datacv.wait(datalk, [&grabbed](){ return grabbed; });
+ grabbed = false;
// Feed into sync buffer and network forward
//sync->feed(ftl::LEFT, l, lsrc->getTimestamp());
@@ -144,7 +159,9 @@ static void run(const string &file) {
//sync->get(ftl::LEFT, l);
//sync->get(ftl::RIGHT, r);
+ auto start = std::chrono::high_resolution_clock::now();
disparity->compute(l, r, disp);
+ datalk.unlock();
unique_lock<mutex> lk(m);
jobs++;
--
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