diff --git a/applications/gui2/src/modules/camera.cpp b/applications/gui2/src/modules/camera.cpp
index 5eb1a71e6c254760481e51f757b5c4887e8ca461..66519caef37422f31399472058b79580ee30d1c7 100644
--- a/applications/gui2/src/modules/camera.cpp
+++ b/applications/gui2/src/modules/camera.cpp
@@ -77,7 +77,7 @@ void Camera::activate(ftl::data::FrameID id) {
std::mutex m;
std::condition_variable cv;
- filter = io->feed()->filter(std::unordered_set<unsigned int>{id.frameset()}, {Channel::Left, Channel::Depth});
+ filter = io->feed()->filter(std::unordered_set<unsigned int>{id.frameset()}, {Channel::Left});
filter->on(
[this,&cv,&m, speaker = io->speaker()](ftl::data::FrameSetPtr fs){
std::atomic_store(¤t_fs_, fs);
@@ -109,6 +109,7 @@ void Camera::activate(ftl::data::FrameID id) {
void Camera::setChannel(Channel c) {
channel = c;
+ filter->select({c});
panel->setActiveChannel(channel);
}
diff --git a/components/streams/include/ftl/streams/feed.hpp b/components/streams/include/ftl/streams/feed.hpp
index 6f8c856219a0dd20faab86855822aada2882c1cd..fbb6f9bab8c27b91e3c42023b3fc68ba14069ca7 100644
--- a/components/streams/include/ftl/streams/feed.hpp
+++ b/components/streams/include/ftl/streams/feed.hpp
@@ -33,6 +33,8 @@ public:
const std::unordered_set<ftl::codecs::Channel>& availableChannels() const { return channels_available_; };
const std::unordered_set<uint32_t>& sources() const { return sources_; };
+ Filter &select(const std::unordered_set<ftl::codecs::Channel> &cs);
+
void on(const ftl::data::FrameSetCallback &cb);
/** remove filter; any references/pointers become invalid */
void remove();
@@ -51,41 +53,6 @@ public:
std::vector<ftl::Handle> handles_;
};
- class Renderer {
- friend Feed;
- public:
- void on(const ftl::data::FrameSetCallback &cb);
- /** set input. Renderer takes ownership of filter */
- void addInput(Filter* filter, Eigen::Matrix4d pose);
- void remove() { /* TODO */};
- ftl::Handle onFrameSet(const ftl::data::FrameSetCallback &cb);
-
- protected:
- void run();
- ~Renderer();
-
- private:
- std::mutex mtx_;
- std::condition_variable cv_;
- std::atomic_bool run_;
- int64_t ts_;
-
- Renderer(Feed* feed, const std::string &name, uint32_t fsid, ftl::data::Pool *pool);
- Feed* feed_;
- ftl::data::FrameCreator creator_;
- ftl::Handle builder_handle_;
- std::vector<Filter*> filters_;
-
- struct RendererInput {
- ftl::data::FrameSetPtr fs;
- Eigen::Matrix4d pose;
- };
-
- std::map<Filter*, RendererInput> input_;
- std::unique_ptr<ftl::render::CUDARender> renderer_;
- std::thread thread_;
- };
-
private:
// public methods acquire lock if necessary, private methods assume locking
@@ -146,8 +113,6 @@ public:
Filter* filter(const std::unordered_set<ftl::codecs::Channel> &channels);
void removeFilter(Filter* filter);
-
- Renderer* render(Filter* filter, Eigen::Matrix4d pose, const std::string &name="");
};
}
diff --git a/components/streams/src/feed.cpp b/components/streams/src/feed.cpp
index 7355738839ce082f714fed7d2d0fb66f45acd88a..e7e3ab776ed063a4489597594d6b6734f51f2877 100644
--- a/components/streams/src/feed.cpp
+++ b/components/streams/src/feed.cpp
@@ -34,102 +34,11 @@ void Feed::Filter::on(const ftl::data::FrameSetCallback &cb) {
handles_.push_back(std::move(handler_.on(cb)));
}
-////////////////////////////////////////////////////////////////////////////////
-
-Feed::Renderer::Renderer(Feed* feed, const std::string &name, uint32_t fsid, ftl::data::Pool *pool) :
- feed_(feed), creator_(pool->creator<ftl::data::FrameCreator>(ftl::data::FrameID(fsid, 0))) {
-
- renderer_ = std::unique_ptr<ftl::render::CUDARender>(
- ftl::create<ftl::render::CUDARender>(feed, name)
- );
-
- ts_ = 1;
-
- auto &frame_out = creator_.create(ts_).cast<ftl::rgbd::Frame>();
-
- auto cam = ftl::rgbd::Camera();
- cam.width = 1280;
- cam.height = 720;
- cam.fx = 700;
- cam.fy = 700;
- cam.minDepth = 0;
- cam.maxDepth = 100;
-
- frame_out.createChange<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>
- (Channel::Calibration, ftl::data::ChangeType::FOREIGN) =
- {cam, Channel::Calibration, 0};
-
- frame_out.createChange<Eigen::Matrix4d>
- (Channel::Pose, ftl::data::ChangeType::FOREIGN) = Eigen::Matrix4d::Identity();
-
- run_ = true;
- thread_ = std::move(std::thread(&Feed::Renderer::run, this));
-}
-
-void Feed::Renderer::addInput(Feed::Filter* filter, Eigen::Matrix4d pose) {
- filter->on([this, filter, pose](const ftl::data::FrameSetPtr &fs) {
- if (this->input_.count(filter) == 0) {
- std::unique_lock<std::mutex> lk(mtx_);
- input_[filter] = {fs, pose};
- }
- else {
- input_[filter].fs = fs;
- }
-
- if (ts_ < fs->timestamp()) {
- ts_ = fs->timestamp();
- }
-
- cv_.notify_one();
- return true;
- });
-}
-
-Feed::Renderer::~Renderer() {
- run_ = false;
- cv_.notify_all();
- thread_.join();
-
- builder_handle_.cancel();
-
- for (auto& [filter, input] : input_) {
- input.fs = nullptr;
- filter->remove();
- }
-}
-
-void Feed::Renderer::run() {
- while(run_) {
- std::unique_lock<std::mutex> lk(mtx_);
- cv_.wait(lk);
- if (!run_) { break; }
-
- auto &frame_out = creator_.create(ts_).cast<ftl::rgbd::Frame>();
-
- renderer_->begin(frame_out, Channel::Left);
-
- for (const auto& [filter, input] : input_) {
- if (!input.fs || !input.fs->hasAll({{Channel::Colour,
- Channel::Depth,
- Channel::Calibration}})) {
- continue;
- }
-
- std::ignore = filter;
- ftl::data::FrameSetPtr frame_in = input.fs;
- renderer_->submit(
- frame_in.get(),
- ftl::codecs::Channels<0>(Channel::Colour),
- input.pose);
- }
-
- renderer_->end();
- }
-}
-
-ftl::Handle Feed::Renderer::onFrameSet(const ftl::data::FrameSetCallback &cb) {
- ftl::Handler<int> h = ftl::Handler<int>();
- return h.on([](int i){ return true; });
+Feed::Filter &Feed::Filter::select(const std::unordered_set<ftl::codecs::Channel> &cs) {
+ std::unique_lock<std::mutex> lk(feed_->mtx_);
+ channels_ = cs;
+ feed_->select();
+ return *this;
}
////////////////////////////////////////////////////////////////////////////////
@@ -440,17 +349,3 @@ uint32_t Feed::getID(const std::string &source) {
return fsid_lookup_.at(source);
}
-Feed::Renderer* Feed::render(Feed::Filter* filter, Eigen::Matrix4d pose, const std::string &n) {
- uint32_t fsid = allocateFrameSetId();
- std::string name;
- if (n.empty()) {
- name = "renderer-" + std::to_string(fsid);
- }
- else {
- name = n;
- }
-
- auto* renderer = new Feed::Renderer(this, name, fsid, pool_.get());
- renderer->addInput(filter, pose);
- return renderer;
-}