From d920dbed88809a35baeef85d2609715876898b4c Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 9 Aug 2019 12:37:22 +0300
Subject: [PATCH] Fixes for multiple buffer swaps
---
components/rgbd-sources/include/ftl/rgbd/source.hpp | 2 +-
components/rgbd-sources/src/source.cpp | 11 +++++++----
2 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index 694f3f2ea..55cb8554e 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -76,7 +76,7 @@ class Source : public ftl::Configurable {
/**
* Between frames, do any required buffer swaps.
*/
- void swap() { if (impl_) impl_->swap(); LOG(INFO) << "SWAP SV " << timestamp_; }
+ void swap() { if (impl_) impl_->swap(); }
/**
* Do any post-grab processing. This function
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 913fe4acb..c5efd26fc 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -244,7 +244,7 @@ bool Source::compute(int N, int B) {
return true;
} else if (impl_ && impl_->compute(N,B)) {
timestamp_ = impl_->timestamp_;
- cv::Mat tmp;
+ /*cv::Mat tmp;
rgb_.create(impl_->rgb_.size(), impl_->rgb_.type());
depth_.create(impl_->depth_.size(), impl_->depth_.type());
tmp = rgb_;
@@ -252,10 +252,13 @@ bool Source::compute(int N, int B) {
impl_->rgb_ = tmp;
tmp = depth_;
depth_ = impl_->depth_;
- impl_->depth_ = tmp;
+ impl_->depth_ = tmp;*/
- //impl_->rgb_.copyTo(rgb_);
- //impl_->depth_.copyTo(depth_);
+ // TODO:(Nick) Reduce buffer copies
+ impl_->rgb_.copyTo(rgb_);
+ impl_->depth_.copyTo(depth_);
+ //rgb_ = impl_->rgb_;
+ //depth_ = impl_->depth_;
return true;
}
return false;
--
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