diff --git a/applications/reconstruct/src/reconstruction.cpp b/applications/reconstruct/src/reconstruction.cpp
index e4e448793677b44c116fb308ded8a510c551a3e6..524128dd5af15784609c89fd1f3c5681a566bb54 100644
--- a/applications/reconstruct/src/reconstruction.cpp
+++ b/applications/reconstruct/src/reconstruction.cpp
@@ -75,9 +75,13 @@ void Reconstruction::onFrameSet(const ftl::rgbd::VideoCallback &cb) {
bool Reconstruction::post(ftl::rgbd::FrameSet &fs) {
pipeline_->apply(fs, fs, 0);
+
+ /*for (size_t i=0; i<fs.frames.size(); ++i) {
+ fs.frames[i].create<cv::cuda::GpuMat>(Channel::Depth);
+ }*/
{
- UNIQUE_LOCK(exchange_mtx_, lk);
+ //UNIQUE_LOCK(exchange_mtx_, lk);
//if (new_frame_ == true) LOG(WARNING) << "Frame lost";
fs.swapTo(fs_align_);
new_frame_ = true;
@@ -85,12 +89,16 @@ bool Reconstruction::post(ftl::rgbd::FrameSet &fs) {
if (cb_) {
ftl::pool.push([this](int id) {
+ UNIQUE_LOCK(fs_align_.mtx, lk);
if (new_frame_) {
- {
- UNIQUE_LOCK(exchange_mtx_, lk);
+ //{
+ //UNIQUE_LOCK(exchange_mtx_, lk);
new_frame_ = false;
fs_align_.swapTo(fs_render_);
- }
+ //}
+
+ UNIQUE_LOCK(fs_render_.mtx, lk2);
+ lk.unlock();
if (cb_) cb_(fs_render_);
}
diff --git a/components/codecs/include/ftl/codecs/depth_convert_cuda.hpp b/components/codecs/include/ftl/codecs/depth_convert_cuda.hpp
index 7c4011dfbeb279680fe0cf25fb5cfbe7df93a574..7370f235790724355b2eb4dc242b5b8c4e73b38f 100644
--- a/components/codecs/include/ftl/codecs/depth_convert_cuda.hpp
+++ b/components/codecs/include/ftl/codecs/depth_convert_cuda.hpp
@@ -6,11 +6,11 @@
namespace ftl {
namespace cuda {
-void depth_to_vuya(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<uchar4> &rgba, float maxdepth, cv::cuda::Stream stream);
+void depth_to_vuya(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<uchar4> &rgba, float maxdepth, cv::cuda::Stream &stream);
-void vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<ushort4> &rgba, float maxdepth, cv::cuda::Stream stream);
+void vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<ushort4> &rgba, float maxdepth, cv::cuda::Stream &stream);
-void smooth_y(const cv::cuda::PtrStepSz<ushort4> &rgba, cv::cuda::Stream stream);
+void smooth_y(const cv::cuda::PtrStepSz<ushort4> &rgba, cv::cuda::Stream &stream);
}
}
diff --git a/components/codecs/src/depth_convert.cu b/components/codecs/src/depth_convert.cu
index d11a78a3da1fa7dfd1b899cc629605d383b2c4b3..e18d16007bacce4a151c8d64f39c8eb5851b15a5 100644
--- a/components/codecs/src/depth_convert.cu
+++ b/components/codecs/src/depth_convert.cu
@@ -46,7 +46,7 @@ __global__ void depth_to_vuya_kernel(cv::cuda::PtrStepSz<float> depth, cv::cuda:
}
}
-void ftl::cuda::depth_to_vuya(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<uchar4> &rgba, float maxdepth, cv::cuda::Stream stream) {
+void ftl::cuda::depth_to_vuya(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<uchar4> &rgba, float maxdepth, cv::cuda::Stream &stream) {
const dim3 gridSize((depth.cols + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth.rows + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
@@ -97,7 +97,7 @@ __global__ void vuya_to_depth_kernel(cv::cuda::PtrStepSz<float> depth, cv::cuda:
}
}
-void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<ushort4> &rgba, float maxdepth, cv::cuda::Stream stream) {
+void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<ushort4> &rgba, float maxdepth, cv::cuda::Stream &stream) {
const dim3 gridSize((depth.cols + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth.rows + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
@@ -201,7 +201,7 @@ void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv:
}
}
-void ftl::cuda::smooth_y(const cv::cuda::PtrStepSz<ushort4> &rgba, cv::cuda::Stream stream) {
+void ftl::cuda::smooth_y(const cv::cuda::PtrStepSz<ushort4> &rgba, cv::cuda::Stream &stream) {
const dim3 gridSize((rgba.cols + T_PER_BLOCK - 1)/T_PER_BLOCK, (rgba.rows + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
diff --git a/components/operators/src/operator.cpp b/components/operators/src/operator.cpp
index f0e8868ab65516d7810e1177f140ef1133b39ec9..080d5c1707c5e7c578746ab7438ae2bf3ee9c35e 100644
--- a/components/operators/src/operator.cpp
+++ b/components/operators/src/operator.cpp
@@ -67,7 +67,7 @@ bool Graph::apply(FrameSet &in, FrameSet &out, cudaStream_t stream) {
if (instance->enabled()) {
try {
- if (!instance->apply(in.frames[j], out.frames[j], stream_actual)) return false;
+ instance->apply(in.frames[j], out.frames[j], stream_actual);
} catch (const std::exception &e) {
LOG(ERROR) << "Operator exception: " << e.what();
}
@@ -78,7 +78,7 @@ bool Graph::apply(FrameSet &in, FrameSet &out, cudaStream_t stream) {
if (instance->enabled()) {
try {
- if (!instance->apply(in, out, stream_actual)) return false;
+ instance->apply(in, out, stream_actual);
} catch (const std::exception &e) {
LOG(ERROR) << "Operator exception: " << e.what();
}
@@ -108,7 +108,11 @@ bool Graph::apply(Frame &in, Frame &out, cudaStream_t stream) {
auto *instance = i.instances[0];
if (instance->enabled()) {
- if (!instance->apply(in, out, stream_actual)) return false;
+ try {
+ instance->apply(in, out, stream_actual);
+ } catch (const std::exception &e) {
+ LOG(ERROR) << "Operator exception: " << e.what();
+ }
}
}
diff --git a/components/streams/src/sender.cpp b/components/streams/src/sender.cpp
index 11ababc855ca840ffcc1d5cd6f3a94eb26b10f7b..6036b1a19deb0e16142d3bf8789a57f0969d92d5 100644
--- a/components/streams/src/sender.cpp
+++ b/components/streams/src/sender.cpp
@@ -158,7 +158,7 @@ void Sender::post(const ftl::rgbd::FrameSet &fs) {
const auto &packets = frame.getPackets(cc);
if (packets.size() > 0) {
if (packets.size() > 1) {
- LOG(WARNING) << "Multi-packet send";
+ LOG(WARNING) << "Multi-packet send: " << (int)cc;
ftl::codecs::Packet pkt;
mergeNALUnits(packets, pkt);
stream_->post(spkt, pkt);
@@ -256,6 +256,9 @@ void Sender::_encodeChannel(const ftl::rgbd::FrameSet &fs, Channel c, bool reset
break;
}
+ //cudaSafeCall(cudaStreamSynchronize(enc->stream()));
+ enc->stream().waitForCompletion();
+
if (enc) {
// FIXME: Timestamps may not always be aligned to interval.
//if (do_inject || fs.timestamp % (10*ftl::timer::getInterval()) == 0) enc->reset();