From f8dfc9f842722517e3aaad35653df16bcf966111 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 7 May 2019 12:44:00 +0300
Subject: [PATCH] Fake cam grab with no net peers
---
vision/src/main.cpp | 63 ++++++---------------------------------------
1 file changed, 8 insertions(+), 55 deletions(-)
diff --git a/vision/src/main.cpp b/vision/src/main.cpp
index 695512627..c71940a6c 100644
--- a/vision/src/main.cpp
+++ b/vision/src/main.cpp
@@ -113,8 +113,8 @@ static void run(const string &file) {
mutex datam;
condition_variable datacv;
+ // Wait for grab message to sync camera capture
net.bind("grab", [&calibrate,&l,&r,&datam,&datacv,&grabbed]() -> void {
- // LOG(INFO) << "GRAB";
unique_lock<mutex> datalk(datam);
if (grabbed) return;
calibrate.rectified(l, r);
@@ -143,22 +143,19 @@ static void run(const string &file) {
condition_variable cv;
int jobs = 0;
+ // Fake grab if no peers to allow visualisation locally
+ if (net.numberOfPeers() == 0) {
+ grabbed = true;
+ calibrate.rectified(l, r);
+ }
+
// Pipeline for disparity
pool.push([&](int id) {
- // Read calibrated images.
- //calibrate.rectified(l, r);
+ // Wait for image grab
unique_lock<mutex> datalk(datam);
datacv.wait(datalk, [&grabbed](){ return grabbed; });
grabbed = false;
- // Feed into sync buffer and network forward
- //sync->feed(ftl::LEFT, l, lsrc->getTimestamp());
- //sync->feed(ftl::RIGHT, r, lsrc->getTimestamp());
-
- // Read back from buffer
- //sync->get(ftl::LEFT, l);
- //sync->get(ftl::RIGHT, r);
-
auto start = std::chrono::high_resolution_clock::now();
disparity->compute(l, r, disp);
datalk.unlock();
@@ -173,50 +170,6 @@ static void run(const string &file) {
LOG(INFO) << "Disparity in " << elapsed.count() << "s";
});
- // Pipeline for jpeg compression
- /*pool.push([&](int id) {
- auto start = std::chrono::high_resolution_clock::now();
- if (pl.rows != 0) cv::imencode(".jpg", pl, rgb_buf);
- unique_lock<mutex> lk(m);
- jobs++;
- lk.unlock();
- cv.notify_one();
-
- std::chrono::duration<double> elapsed =
- std::chrono::high_resolution_clock::now() - start;
- LOG(INFO) << "JPG in " << elapsed.count() << "s";
- });*/
-
- // Pipeline for zlib compression
- /*pool.push([&](int id) {
- auto start = std::chrono::high_resolution_clock::now();
- if (pl.rows != 0) {
- d_buf.resize(pdisp.step*pdisp.rows);
- z_stream defstream;
- defstream.zalloc = Z_NULL;
- defstream.zfree = Z_NULL;
- defstream.opaque = Z_NULL;
- defstream.avail_in = pdisp.step*pdisp.rows;
- defstream.next_in = (Bytef *)pdisp.data; // input char array
- defstream.avail_out = (uInt)pdisp.step*pdisp.rows; // size of output
- defstream.next_out = (Bytef *)d_buf.data(); // output char array
-
- deflateInit(&defstream, Z_BEST_COMPRESSION);
- deflate(&defstream, Z_FINISH);
- deflateEnd(&defstream);
-
- d_buf.resize(defstream.total_out);
- }
- unique_lock<mutex> lk(m);
- jobs++;
- lk.unlock();
- cv.notify_one();
-
- std::chrono::duration<double> elapsed =
- std::chrono::high_resolution_clock::now() - start;
- LOG(INFO) << "ZLIB in " << elapsed.count() << "s";
- });*/
-
// Pipeline for stream compression
pool.push([&](int id) {
auto start = std::chrono::high_resolution_clock::now();
--
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