Send I-frames for channel 2 also

applications/player/src/main.cpp

@@ -42,9 +42,10 @@ int main(int argc, char **argv) {
     LOG(INFO) << "Playing...";
 
     int current_stream = 0;
+    int current_channel = 0;
 
-    bool res = r.read(90000000000000, [&current_stream,&r](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
-        if (spkt.channel & 0x1 > 0) return;
+    bool res = r.read(90000000000000, [&current_stream,&current_channel,&r](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+        if (spkt.channel != current_channel) return;
         if (spkt.streamID == current_stream) {
 
             if (pkt.codec == codec_t::POSE) {
@@ -61,7 +62,7 @@ int main(int argc, char **argv) {
 
             LOG(INFO) << "Reading packet: (" << (int)spkt.streamID << "," << (int)spkt.channel << ") " << (int)pkt.codec << ", " << (int)pkt.definition;
 
-            cv::Mat frame(cv::Size(ftl::codecs::getWidth(pkt.definition),ftl::codecs::getHeight(pkt.definition)), CV_8UC3);
+            cv::Mat frame(cv::Size(ftl::codecs::getWidth(pkt.definition),ftl::codecs::getHeight(pkt.definition)), (spkt.channel == 1) ? CV_32F : CV_8UC3);
             createDecoder(pkt);
 
             try {
@@ -78,6 +79,8 @@ int main(int argc, char **argv) {
             int key = cv::waitKey(20);
             if (key >= 48 && key <= 57) {
                 current_stream = key - 48;
+            } else if (key == 'd') {
+                current_channel = (current_channel == 0) ? 1 : 0;
             } else if (key == 27) {
                 r.end();
             }

components/rgbd-sources/src/streamer.cpp

@@ -424,6 +424,7 @@ void Streamer::_process(ftl::rgbd::FrameSet &fs) {
 				// Receiver only waits for channel 1 by default
 				// TODO: Each encode could be done in own thread
 				if (hasChan2) {
+					if (fs.timestamp % (10*ftl::timer::getInterval()) == 0) enc2->reset();
 					enc2->encode(fs.frames[j].get<cv::Mat>(fs.sources[j]->getChannel()), src->hq_bitrate, [this,src,hasChan2](const ftl::codecs::Packet &blk){
 						_transmitPacket(src, blk, 1, hasChan2, Quality::High);
 					});