From b66546590523000de3d89ec0da0f820e4f1d6523 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Thu, 18 Jul 2019 08:35:35 +0300
Subject: [PATCH] Resolves #50 stream sync
---
applications/reconstruct/src/main.cpp | 5 +-
components/net/cpp/src/peer.cpp | 10 +-
.../include/ftl/rgbd/detail/source.hpp | 3 +-
.../rgbd-sources/include/ftl/rgbd/source.hpp | 3 +
.../include/ftl/rgbd/streamer.hpp | 4 +
components/rgbd-sources/src/net.cpp | 34 ++++++-
components/rgbd-sources/src/net.hpp | 7 +-
components/rgbd-sources/src/source.cpp | 24 +++--
components/rgbd-sources/src/stereovideo.cpp | 6 +-
components/rgbd-sources/src/streamer.cpp | 98 +++++++++++++++----
10 files changed, 154 insertions(+), 40 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 712b3232b..4a3f9b823 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -126,9 +126,10 @@ static void run(ftl::Configurable *root) {
active = scene->upload();
// Make sure previous virtual camera frame has finished rendering
- stream->wait();
+ //stream->wait();
+ cudaSafeCall(cudaStreamSynchronize(scene->getIntegrationStream()));
- LOG(INFO) << "Heap: " << scene->getHeapFreeCount();
+ //LOG(INFO) << "Heap: " << scene->getHeapFreeCount();
// Merge new frames into the voxel structure
scene->integrate();
diff --git a/components/net/cpp/src/peer.cpp b/components/net/cpp/src/peer.cpp
index 8e279090d..ab627b720 100644
--- a/components/net/cpp/src/peer.cpp
+++ b/components/net/cpp/src/peer.cpp
@@ -195,8 +195,9 @@ Peer::Peer(SOCKET s, Universe *u, Dispatcher *d) : sock_(s), can_reconnect_(fals
LOG(INFO) << "Peer elected to disconnect: " << id().to_string();
});
- bind("__ping__", [this](unsigned long long timestamp) {
- return timestamp;
+ bind("__ping__", [this]() {
+ auto now = std::chrono::high_resolution_clock::now();
+ return std::chrono::time_point_cast<std::chrono::milliseconds>(now).time_since_epoch().count();
});
send("__handshake__", ftl::net::kMagic, ftl::net::kVersion, ftl::net::this_peer);
@@ -269,8 +270,9 @@ Peer::Peer(const char *pUri, Universe *u, Dispatcher *d) : can_reconnect_(true),
LOG(INFO) << "Peer elected to disconnect: " << id().to_string();
});
- bind("__ping__", [this](unsigned long long timestamp) {
- return timestamp;
+ bind("__ping__", [this]() {
+ auto now = std::chrono::high_resolution_clock::now();
+ return std::chrono::time_point_cast<std::chrono::milliseconds>(now).time_since_epoch().count();
});
}
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
index 8ebdab720..326e7c332 100644
--- a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
@@ -24,7 +24,7 @@ class Source {
friend class ftl::rgbd::Source;
public:
- explicit Source(ftl::rgbd::Source *host) : capabilities_(0), host_(host), params_({0}) { }
+ explicit Source(ftl::rgbd::Source *host) : capabilities_(0), host_(host), params_({0}), timestamp_(0) { }
virtual ~Source() {}
/**
@@ -41,6 +41,7 @@ class Source {
ftl::rgbd::Camera params_;
cv::Mat rgb_;
cv::Mat depth_;
+ int64_t timestamp_;
//Eigen::Matrix4f pose_;
};
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index a1190849e..64321d36a 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -118,6 +118,8 @@ class Source : public ftl::Configurable {
void writeFrames(const ftl::cuda::TextureObject<uchar4> &rgb, const ftl::cuda::TextureObject<uint> &depth, cudaStream_t stream);
void writeFrames(const ftl::cuda::TextureObject<uchar4> &rgb, const ftl::cuda::TextureObject<float> &depth, cudaStream_t stream);
+ int64_t timestamp() const { return (impl_) ? impl_->timestamp_ : 0; }
+
/**
* Directly upload source RGB and Depth to GPU.
*/
@@ -201,6 +203,7 @@ class Source : public ftl::Configurable {
bool paused_;
bool bullet_;
channel_t channel_;
+ cudaStream_t stream_;
detail::Source *_createImplementation();
detail::Source *_createFileImpl(const ftl::URI &uri);
diff --git a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
index 30631b7f9..621063858 100644
--- a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
@@ -114,6 +114,10 @@ class Streamer : public ftl::Configurable {
std::condition_variable job_cv_;
std::atomic<int> jobs_;
int compress_level_;
+ int64_t clock_adjust_;
+ ftl::UUID time_peer_;
+ int64_t last_frame_;
+ int64_t frame_no_;
void _schedule();
void _swap(detail::StreamSource *);
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index 7dca9d416..587db2ca4 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -59,7 +59,7 @@ bool NetSource::_getCalibration(Universe &net, const UUID &peer, const string &s
}
NetSource::NetSource(ftl::rgbd::Source *host)
- : ftl::rgbd::detail::Source(host), active_(false), minB_(9), maxN_(1) {
+ : ftl::rgbd::detail::Source(host), active_(false), minB_(9), maxN_(1), current_frame_(0) {
gamma_ = host->value("gamma", 1.0f);
temperature_ = host->value("temperature", 6500);
@@ -105,11 +105,31 @@ NetSource::~NetSource() {
host_->getNet()->removeCallback(h_);
}
-void NetSource::_recvChunk(int frame, int chunk, bool delta, const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
+void NetSource::_recvChunk(int64_t frame, int chunk, bool delta, const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
cv::Mat tmp_rgb, tmp_depth;
if (!active_) return;
+ // A new frame has been started... finish the last one
+ if (frame > current_frame_) {
+ // Lock host to prevent grab
+ UNIQUE_LOCK(host_->mutex(),lk);
+
+ // Swap the double buffers
+ cv::Mat tmp;
+ tmp = rgb_;
+ rgb_ = d_rgb_;
+ d_rgb_ = tmp;
+ tmp = depth_;
+ depth_ = d_depth_;
+ d_depth_ = tmp;
+
+ timestamp_ = current_frame_*40; // FIXME: Don't hardcode 40ms
+ current_frame_ = frame;
+ } else if (frame < current_frame_) {
+ LOG(WARNING) << "Chunk dropped";
+ }
+
// Decode in temporary buffers to prevent long locks
cv::imdecode(jpg, cv::IMREAD_COLOR, &tmp_rgb);
if (d.size() > 0) cv::imdecode(d, cv::IMREAD_UNCHANGED, &tmp_depth);
@@ -123,10 +143,12 @@ void NetSource::_recvChunk(int frame, int chunk, bool delta, const vector<unsign
// Lock host to prevent grab
UNIQUE_LOCK(host_->mutex(),lk);
+
+ // TODO:(Nick) Decode directly into double buffer if no scaling
cv::Rect roi(cx,cy,chunk_width_,chunk_height_);
- cv::Mat chunkRGB = rgb_(roi);
- cv::Mat chunkDepth = depth_(roi);
+ cv::Mat chunkRGB = d_rgb_(roi);
+ cv::Mat chunkDepth = d_depth_(roi);
// Original size so just copy
if (tmp_rgb.cols == chunkRGB.cols) {
@@ -191,7 +213,7 @@ void NetSource::_updateURI() {
has_calibration_ = _getCalibration(*host_->getNet(), peer_, *uri, params_);
- host_->getNet()->bind(*uri, [this](int frame, int chunk, bool delta, const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
+ host_->getNet()->bind(*uri, [this](int64_t frame, int chunk, bool delta, const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
_recvChunk(frame, chunk, delta, jpg, d);
});
@@ -210,6 +232,8 @@ void NetSource::_updateURI() {
chunk_height_ = params_.height / chunks_dim_;
rgb_ = cv::Mat(cv::Size(params_.width, params_.height), CV_8UC3, cv::Scalar(0,0,0));
depth_ = cv::Mat(cv::Size(params_.width, params_.height), CV_32FC1, 0.0f);
+ d_rgb_ = cv::Mat(cv::Size(params_.width, params_.height), CV_8UC3, cv::Scalar(0,0,0));
+ d_depth_ = cv::Mat(cv::Size(params_.width, params_.height), CV_32FC1, 0.0f);
uri_ = *uri;
active_ = true;
diff --git a/components/rgbd-sources/src/net.hpp b/components/rgbd-sources/src/net.hpp
index 3f8a86df3..766053faa 100644
--- a/components/rgbd-sources/src/net.hpp
+++ b/components/rgbd-sources/src/net.hpp
@@ -47,10 +47,15 @@ class NetSource : public detail::Source {
int maxN_;
int default_quality_;
ftl::rgbd::channel_t prev_chan_;
+ int64_t current_frame_;
+
+ // Double buffering
+ cv::Mat d_depth_;
+ cv::Mat d_rgb_;
bool _getCalibration(ftl::net::Universe &net, const ftl::UUID &peer, const std::string &src, ftl::rgbd::Camera &p);
void _recv(const std::vector<unsigned char> &jpg, const std::vector<unsigned char> &d);
- void _recvChunk(int frame, int chunk, bool delta, const std::vector<unsigned char> &jpg, const std::vector<unsigned char> &d);
+ void _recvChunk(int64_t frame, int chunk, bool delta, const std::vector<unsigned char> &jpg, const std::vector<unsigned char> &d);
void _updateURI();
};
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index c5ad451de..d2ab4e416 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -29,6 +29,7 @@ using ftl::rgbd::capability_t;
Source::Source(ftl::config::json_t &cfg) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(nullptr) {
impl_ = nullptr;
params_ = {0};
+ stream_ = 0;
reset();
on("uri", [this](const ftl::config::Event &e) {
@@ -40,6 +41,7 @@ Source::Source(ftl::config::json_t &cfg) : Configurable(cfg), pose_(Eigen::Matri
Source::Source(ftl::config::json_t &cfg, ftl::net::Universe *net) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(net) {
impl_ = nullptr;
params_ = {0};
+ stream_ = 0;
reset();
on("uri", [this](const ftl::config::Event &e) {
@@ -220,7 +222,12 @@ void Source::reset() {
bool Source::grab() {
UNIQUE_LOCK(mutex_,lk);
- if (impl_ && impl_->grab(-1,-1)) {
+ if (!impl_ && stream_ != 0) {
+ cudaSafeCall(cudaStreamSynchronize(stream_));
+ if (depth_.type() == CV_32SC1) depth_.convertTo(depth_, CV_32F, 1.0f / 1000.0f);
+ stream_ = 0;
+ return true;
+ } else if (impl_ && impl_->grab(-1,-1)) {
impl_->rgb_.copyTo(rgb_);
impl_->depth_.copyTo(depth_);
return true;
@@ -243,9 +250,9 @@ void Source::writeFrames(const ftl::cuda::TextureObject<uchar4> &rgb, const ftl:
cudaSafeCall(cudaMemcpy2DAsync(rgb_.data, rgb_.step, rgb.devicePtr(), rgb.pitch(), rgb_.cols * sizeof(uchar4), rgb_.rows, cudaMemcpyDeviceToHost, stream));
depth_.create(depth.height(), depth.width(), CV_32SC1);
cudaSafeCall(cudaMemcpy2DAsync(depth_.data, depth_.step, depth.devicePtr(), depth.pitch(), depth_.cols * sizeof(uint), depth_.rows, cudaMemcpyDeviceToHost, stream));
- cudaSafeCall(cudaStreamSynchronize(stream)); // TODO:(Nick) Don't wait here.
-
- depth_.convertTo(depth_, CV_32F, 1.0f / 1000.0f);
+ //cudaSafeCall(cudaStreamSynchronize(stream)); // TODO:(Nick) Don't wait here.
+ stream_ = stream;
+ //depth_.convertTo(depth_, CV_32F, 1.0f / 1000.0f);
} else {
LOG(ERROR) << "writeFrames cannot be done on this source: " << getURI();
}
@@ -258,12 +265,17 @@ void Source::writeFrames(const ftl::cuda::TextureObject<uchar4> &rgb, const ftl:
cudaSafeCall(cudaMemcpy2DAsync(rgb_.data, rgb_.step, rgb.devicePtr(), rgb.pitch(), rgb_.cols * sizeof(uchar4), rgb_.rows, cudaMemcpyDeviceToHost, stream));
depth_.create(depth.height(), depth.width(), CV_32FC1);
cudaSafeCall(cudaMemcpy2DAsync(depth_.data, depth_.step, depth.devicePtr(), depth.pitch(), depth_.cols * sizeof(float), depth_.rows, cudaMemcpyDeviceToHost, stream));
- cudaSafeCall(cudaStreamSynchronize(stream)); // TODO:(Nick) Don't wait here.
+ stream_ = stream;
}
}
bool Source::thumbnail(cv::Mat &t) {
- if (impl_) {
+ if (!impl_ && stream_ != 0) {
+ cudaSafeCall(cudaStreamSynchronize(stream_));
+ if (depth_.type() == CV_32SC1) depth_.convertTo(depth_, CV_32F, 1.0f / 1000.0f);
+ stream_ = 0;
+ return true;
+ } else if (impl_) {
UNIQUE_LOCK(mutex_,lk);
impl_->grab(1, 9);
impl_->rgb_.copyTo(rgb_);
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index 6e1c321a1..dfb8df8c4 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -135,19 +135,19 @@ bool StereoVideoSource::grab(int n, int b) {
//rgb_ = lsrc_->cachedLeft();
depth_tmp_.download(depth_, stream_);
- stream_.waitForCompletion();
+ stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
} else if (chan == ftl::rgbd::kChanRight) {
lsrc_->get(left_, right_, stream_);
calib_->rectifyStereo(left_, right_, stream_);
left_.download(rgb_, stream_);
right_.download(depth_, stream_);
- stream_.waitForCompletion();
+ stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
} else {
lsrc_->get(left_, right_, stream_);
calib_->rectifyStereo(left_, right_, stream_);
//rgb_ = lsrc_->cachedLeft();
left_.download(rgb_, stream_);
- stream_.waitForCompletion();
+ stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
}
return true;
}
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index 74738e587..f9d253a9a 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -29,6 +29,8 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
active_ = false;
net_ = net;
+ time_peer_ = ftl::UUID(0);
+ clock_adjust_ = 0;
compress_level_ = value("compression", 1);
@@ -99,13 +101,13 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
}
});
- net->bind("sync_streams", [this](unsigned long long time) {
+ //net->bind("sync_streams", [this](unsigned long long time) {
// Calc timestamp delta
- });
+ //});
- net->bind("ping_streamer", [this](unsigned long long time) -> unsigned long long {
- return time;
- });
+ //net->bind("ping_streamer", [this](unsigned long long time) -> unsigned long long {
+ // return time;
+ //});
}
Streamer::~Streamer() {
@@ -119,8 +121,6 @@ Streamer::~Streamer() {
}
void Streamer::add(Source *src) {
- StreamSource *s = nullptr;
-
{
UNIQUE_LOCK(mutex_,ulk);
if (sources_.find(src->getID()) != sources_.end()) return;
@@ -148,9 +148,24 @@ void Streamer::_addClient(const string &source, int N, int rate, const ftl::UUID
if (rate < 0 || rate >= 10) return;
if (N < 0 || N > ftl::rgbd::kMaxFrames) return;
- LOG(INFO) << "Adding Stream Peer: " << peer.to_string() << " rate=" << rate << " N=" << N;
+ DLOG(INFO) << "Adding Stream Peer: " << peer.to_string() << " rate=" << rate << " N=" << N;
s = sources_[source];
+
+ // Set a time peer for clock sync
+ if (time_peer_ == ftl::UUID(0)) {
+ time_peer_ = peer;
+
+ // Also do a time sync (but should be repeated periodically)
+ auto start = std::chrono::high_resolution_clock::now();
+ int64_t mastertime = net_->call<int64_t>(peer, "__ping__");
+ auto elapsed = std::chrono::high_resolution_clock::now() - start;
+ int64_t latency = std::chrono::duration_cast<std::chrono::milliseconds>(elapsed).count();
+ clock_adjust_ = mastertime - (std::chrono::time_point_cast<std::chrono::milliseconds>(start).time_since_epoch().count() + (latency/2));
+ LOG(INFO) << "Clock adjustment: " << clock_adjust_;
+ LOG(INFO) << "Latency: " << (latency / 2);
+ LOG(INFO) << "Local: " << std::chrono::time_point_cast<std::chrono::milliseconds>(start).time_since_epoch().count() << ", master: " << mastertime;
+ }
}
if (!s) return; // No matching stream
@@ -189,24 +204,36 @@ void Streamer::stop() {
}
void Streamer::poll() {
- double wait = 1.0f / 25.0f; // TODO:(Nick) Should be in config
- auto start = std::chrono::high_resolution_clock::now();
+ //double wait = 1.0f / 25.0f; // TODO:(Nick) Should be in config
+ //auto start = std::chrono::high_resolution_clock::now();
+ //int64_t now = std::chrono::time_point_cast<std::chrono::milliseconds>(start).time_since_epoch().count()+clock_adjust_;
+
+ //int64_t msdelay = 40 - (now % 40);
+ //while (msdelay >= 20) {
+ // sleep_for(milliseconds(10));
+ // now = std::chrono::time_point_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()).time_since_epoch().count()+clock_adjust_;
+ // msdelay = 40 - (now % 40);
+ //}
+ //LOG(INFO) << "Required Delay: " << (now / 40) << " = " << msdelay;
+
// Create frame jobs at correct FPS interval
_schedule();
+ //std::function<void(int)> j = ftl::pool.pop();
+ //if (j) j(-1);
- std::chrono::duration<double> elapsed =
- std::chrono::high_resolution_clock::now() - start;
+ //std::chrono::duration<double> elapsed =
+ // std::chrono::high_resolution_clock::now() - start;
- if (elapsed.count() >= wait) {
- LOG(WARNING) << "Frame rate below optimal @ " << (1.0f / elapsed.count());
- } else {
+ //if (elapsed.count() >= wait) {
+ //LOG(WARNING) << "Frame rate below optimal @ " << (1.0f / elapsed.count());
+ //} else {
//LOG(INFO) << "Frame rate @ " << (1.0f / elapsed.count());
// Otherwise, wait until next frame should start.
// FIXME:(Nick) Is this accurate enough? Almost certainly not
// TODO:(Nick) Synchronise by time corrections and use of fixed time points
// but this only works if framerate can be achieved.
- sleep_for(milliseconds((long long)((wait - elapsed.count()) * 1000.0f)));
- }
+ //sleep_for(milliseconds((long long)((wait - elapsed.count()) * 1000.0f)));
+ //}
}
void Streamer::run(bool block) {
@@ -246,6 +273,7 @@ void Streamer::_swap(StreamSource *src) {
}
src->src->getFrames(src->rgb, src->depth);
+
//if (!src->rgb.empty() && src->prev_depth.empty()) {
//src->prev_depth = cv::Mat(src->rgb.size(), CV_16UC1, cv::Scalar(0));
//LOG(INFO) << "Creating prevdepth: " << src->rgb.cols << "," << src->rgb.rows;
@@ -269,6 +297,9 @@ void Streamer::wait() {
if (jobs_ != 0) {
LOG(FATAL) << "Deadlock detected";
}
+
+ // Capture frame number?
+ frame_no_ = last_frame_;
}
void Streamer::_schedule() {
@@ -277,6 +308,9 @@ void Streamer::_schedule() {
//std::condition_variable job_cv;
//int jobs = 0;
+ //auto now = std::chrono::time_point_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()).time_since_epoch().count()+clock_adjust_;
+ //LOG(INFO) << "Frame time = " << (now-(last_frame_*40)) << "ms";
+
// Prevent new clients during processing.
SHARED_LOCK(mutex_,slk);
@@ -301,6 +335,31 @@ void Streamer::_schedule() {
ftl::pool.push([this,src](int id) {
//auto start = std::chrono::high_resolution_clock::now();
+ auto start = std::chrono::high_resolution_clock::now();
+ int64_t now = std::chrono::time_point_cast<std::chrono::milliseconds>(start).time_since_epoch().count()+clock_adjust_;
+ int64_t target = now / 40;
+
+ // TODO:(Nick) A now%40 == 0 should be accepted
+ if (target != last_frame_) LOG(WARNING) << "Frame " << "(" << (target-last_frame_) << ") dropped by " << (now%40) << "ms";
+
+ // Use sleep_for for larger delays
+ int64_t msdelay = 40 - (now % 40);
+ //LOG(INFO) << "Required Delay: " << (now / 40) << " = " << msdelay;
+ while (msdelay >= 20) {
+ sleep_for(milliseconds(10));
+ now = std::chrono::time_point_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()).time_since_epoch().count()+clock_adjust_;
+ msdelay = 40 - (now % 40);
+ }
+
+ // Spin loop until exact grab time
+ //LOG(INFO) << "Spin Delay: " << (now / 40) << " = " << (40 - (now%40));
+ target = now / 40;
+ while ((now/40) == target) {
+ _mm_pause(); // SSE2 nano pause intrinsic
+ now = std::chrono::time_point_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()).time_since_epoch().count()+clock_adjust_;
+ };
+ last_frame_ = now/40;
+
try {
src->src->grab();
} catch (std::exception &ex) {
@@ -311,6 +370,9 @@ void Streamer::_schedule() {
LOG(ERROR) << "Unknown exception when grabbing frame";
}
+ //now = std::chrono::time_point_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()).time_since_epoch().count()+clock_adjust_;
+ //if (now%40 > 0) LOG(INFO) << "Grab in: " << (now%40) << "ms";
+
//std::chrono::duration<double> elapsed =
// std::chrono::high_resolution_clock::now() - start;
//LOG(INFO) << "Grab in " << elapsed.count() << "s";
@@ -405,7 +467,7 @@ void Streamer::_encodeAndTransmit(StreamSource *src, int chunk) {
while (c != src->clients[b].end()) {
try {
// TODO:(Nick) Send pose and timestamp
- if (!net_->send((*c).peerid, (*c).uri, 0, chunk, delta, rgb_buf, d_buf)) {
+ if (!net_->send((*c).peerid, (*c).uri, frame_no_, chunk, delta, rgb_buf, d_buf)) {
// Send failed so mark as client stream completed
(*c).txcount = (*c).txmax;
} else {
--
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