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Implements #168 keeping decoding on GPU

Merged Implements #168 keeping decoding on GPU
feature/168/keepgpu into master
Merged Nicolas Pope requested to merge feature/168/keepgpu into master
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components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+ 9
− 8
@@ -231,21 +231,22 @@ bool StereoVideoSource::compute(int n, int b) {
ftl::cuda::disparity_to_depth(disp, depth, params_, stream_);
left.download(rgb_, stream_);
depth.download(depth_, stream_);
//left.download(rgb_, stream_);
//depth.download(depth_, stream_);
//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) {
left.download(rgb_, stream_);
right.download(depth_, stream_);
//left.download(rgb_, stream_);
//right.download(depth_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
host_->notify(timestamp_, left, right);
} else {
left.download(rgb_, stream_);
//left.download(rgb_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
host_->notify(timestamp_, left, depth_);
}
auto cb = host_->callback();
if (cb) cb(timestamp_, rgb_, depth_);
return true;
}