components/rgbd-sources/include/ftl/rgbd/streamer.hpp

@@ -35,7 +35,7 @@ static const unsigned int kFrameDropLimit = 5;
 
 struct StreamSource {
 	ftl::rgbd::Source *src;
-	std::atomic<unsigned int> jobs;				// Busy or ready to swap?
+	std::atomic<int> jobs;				// Busy or ready to swap?
 	std::atomic<unsigned int> clientCount;
 	cv::Mat rgb;									// Tx buffer
 	cv::Mat depth;									// Tx buffer

components/rgbd-sources/src/source.cpp

@@ -165,10 +165,10 @@ ftl::rgbd::detail::Source *Source::_createDeviceImpl(const ftl::URI &uri) {
 
 void Source::getFrames(cv::Mat &rgb, cv::Mat &depth) {
 	SHARED_LOCK(mutex_,lk);
-	//rgb_.copyTo(rgb);
-	//depth_.copyTo(depth);
-	rgb = rgb_;
-	depth = depth_;
+	rgb_.copyTo(rgb);
+	depth_.copyTo(depth);
+	//rgb = rgb_;
+	//depth = depth_;
 
 	/*cv::Mat tmp;
 	tmp = rgb;
@@ -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 +252,10 @@ 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_);
+		//impl_->rgb_.copyTo(rgb_);
+		//impl_->depth_.copyTo(depth_);
 		return true;
 	}
 	return false;

components/rgbd-sources/src/streamer.cpp

@@ -263,7 +263,7 @@ void Streamer::run(bool block) {
 void Streamer::_swap(StreamSource *src) {
 	if (src->jobs == 0) {
 		UNIQUE_LOCK(src->mutex,lk);
-
+		if (src->jobs == 0) {
 			for (unsigned int b=0; b<10; ++b) {
 				auto i = src->clients[b].begin();
 				while (i != src->clients[b].end()) {
@@ -278,17 +278,18 @@ void Streamer::_swap(StreamSource *src) {
 				}
 			}
 
-		src->src->getFrames(src->rgb, src->depth);
 			src->src->swap();
+			src->src->getFrames(src->rgb, src->depth);
 
 			//if (!src->rgb.empty() && src->prev_depth.empty()) {
 				//src->prev_depth = cv::Mat(src->rgb.size(), CV_16UC1, cv::Scalar(0));
 				//LOG(INFO) << "Creating prevdepth: " << src->rgb.cols << "," << src->rgb.rows;
 			//}
-		src->jobs = 0;
+			src->jobs = -1;
 			src->frame++;
 		}
 	}
+}
 
 void Streamer::wait() {
 	// Do some jobs in this thread, might as well...
@@ -310,19 +311,13 @@ void Streamer::wait() {
 }
 
 void Streamer::_schedule(StreamSource *src) {
-	// There will be two jobs for this source...
-	//UNIQUE_LOCK(job_mtx_,lk);
-	jobs_ += 2 + kChunkCount;
-	//lk.unlock();
+	if (src == nullptr || src->jobs > 0) return;
 
-	//StreamSource *src = sources_[uri];
-	if (src == nullptr || src->jobs != 0) return;
+	jobs_ += 2 + kChunkCount;
 	src->jobs = 2 + kChunkCount;
 
 	// Grab / capture job
 	ftl::pool.push([this,src](int id) {
-		//auto start = std::chrono::high_resolution_clock::now();
-
 		auto start = std::chrono::high_resolution_clock::now();
 		int64_t now = std::chrono::time_point_cast<std::chrono::milliseconds>(start).time_since_epoch().count()+clock_adjust_;
 		int64_t target = now / mspf_;
@@ -374,7 +369,7 @@ void Streamer::_schedule(StreamSource *src) {
 		// Mark job as finished
 		std::unique_lock<std::mutex> lk(job_mtx_);
 		--jobs_;
-		job_cv_.notify_one();
+		if (jobs_ == 0) job_cv_.notify_one();
 	});
 
 	// Compute job
@@ -395,7 +390,7 @@ void Streamer::_schedule(StreamSource *src) {
 		// Mark job as finished
 		std::unique_lock<std::mutex> lk(job_mtx_);
 		--jobs_;
-		job_cv_.notify_one();
+		if (jobs_ == 0) job_cv_.notify_one();
 	});
 
 	// Create jobs for each chunk
@@ -415,7 +410,7 @@ void Streamer::_schedule(StreamSource *src) {
 			_swap(src);
 			std::unique_lock<std::mutex> lk(job_mtx_);
 			--jobs_;
-			job_cv_.notify_one();
+			if (jobs_ == 0) job_cv_.notify_one();
 		});
 	}
 }