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Commit eafcbc8d authored by Nicolas Pope's avatar Nicolas Pope
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Fix stereo video source

parent f0a8ae72
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1 merge request!152Implements #168 keeping decoding on GPU
Pipeline #16026 passed
...@@ -231,21 +231,22 @@ bool StereoVideoSource::compute(int n, int b) { ...@@ -231,21 +231,22 @@ bool StereoVideoSource::compute(int n, int b) {
ftl::cuda::disparity_to_depth(disp, depth, params_, stream_); ftl::cuda::disparity_to_depth(disp, depth, params_, stream_);
left.download(rgb_, stream_); //left.download(rgb_, stream_);
depth.download(depth_, stream_); //depth.download(depth_, stream_);
//frame.download(Channel::Left + Channel::Depth); //frame.download(Channel::Left + Channel::Depth);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames stream_.waitForCompletion();
host_->notify(timestamp_, left, depth);
} else if (chan == Channel::Right) { } else if (chan == Channel::Right) {
left.download(rgb_, stream_); //left.download(rgb_, stream_);
right.download(depth_, stream_); //right.download(depth_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
host_->notify(timestamp_, left, right);
} else { } else {
left.download(rgb_, stream_); //left.download(rgb_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
host_->notify(timestamp_, left, depth_);
} }
auto cb = host_->callback();
if (cb) cb(timestamp_, rgb_, depth_);
return true; return true;
} }
......
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