From acbd0d9421c8b399e2a073036de390e1e9b289a4 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 19 Jul 2020 09:35:39 +0300
Subject: [PATCH] Slightly improve realsense efficiency
---
.../sources/realsense/realsense_source.cpp | 23 +++++++++++--------
.../sources/realsense/realsense_source.hpp | 2 ++
2 files changed, 16 insertions(+), 9 deletions(-)
diff --git a/components/rgbd-sources/src/sources/realsense/realsense_source.cpp b/components/rgbd-sources/src/sources/realsense/realsense_source.cpp
index 982f4209a..3ecfa3ec3 100644
--- a/components/rgbd-sources/src/sources/realsense/realsense_source.cpp
+++ b/components/rgbd-sources/src/sources/realsense/realsense_source.cpp
@@ -110,18 +110,23 @@ bool RealsenseSource::retrieve(ftl::rgbd::Frame &frame) {
cv::Mat tmp_rgb(cv::Size(w, h), CV_8UC4, (void*)cframe.get_data(), cv::Mat::AUTO_STEP);
frame.create<GpuMat>(Channel::Colour).upload(tmp_rgb);
} else {
+ auto cframe = frames.get_color_frame(); //first(RS2_STREAM_COLOR);
+ size_t w = cframe.get_width();
+ size_t h = cframe.get_height();
+ cv::Mat wrap_rgb(cv::Size(w, h), CV_8UC4, (void*)cframe.get_data(), cv::Mat::AUTO_STEP);
+ frame.create<GpuMat>(Channel::Colour).upload(wrap_rgb, stream_);
+
frames = align_to_depth_.process(frames);
rs2::depth_frame depth = frames.get_depth_frame();
- float w = depth.get_width();
- float h = depth.get_height();
- rscolour_ = frames.first(RS2_STREAM_COLOR); //.get_color_frame();
-
- cv::Mat tmp_depth(cv::Size((int)w, (int)h), CV_16UC1, (void*)depth.get_data(), depth.get_stride_in_bytes());
- tmp_depth.convertTo(tmp_depth, CV_32FC1, scale_);
- frame.create<GpuMat>(Channel::Depth).upload(tmp_depth);
- cv::Mat tmp_rgb(cv::Size(w, h), CV_8UC4, (void*)rscolour_.get_data(), cv::Mat::AUTO_STEP);
- frame.create<GpuMat>(Channel::Colour).upload(tmp_rgb);
+ w = depth.get_width();
+ h = depth.get_height();
+
+ cv::Mat wrap_depth(cv::Size((int)w, (int)h), CV_16UC1, (void*)depth.get_data(), depth.get_stride_in_bytes());
+ tmp_depth_.upload(wrap_depth, stream_);
+ tmp_depth_.convertTo(frame.create<GpuMat>(Channel::Depth), CV_32FC1, scale_, stream_);
+
+ stream_.waitForCompletion();
}
return true;
diff --git a/components/rgbd-sources/src/sources/realsense/realsense_source.hpp b/components/rgbd-sources/src/sources/realsense/realsense_source.hpp
index ec95ca006..952d93c46 100644
--- a/components/rgbd-sources/src/sources/realsense/realsense_source.hpp
+++ b/components/rgbd-sources/src/sources/realsense/realsense_source.hpp
@@ -32,6 +32,8 @@ class RealsenseSource : public ftl::rgbd::BaseSourceImpl {
rs2::frame rscolour_;
ftl::rgbd::Camera params_;
std::string name_;
+ cv::cuda::GpuMat tmp_depth_;
+ cv::cuda::Stream stream_;
};
}
--
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