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Make capture and compute parallel

Merged Nicolas Pope requested to merge feature/visionperf into master
16 files
+ 128
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@@ -49,10 +49,22 @@ class Source {
virtual ~Source() {}
/**
* Perform hardware data capture.
*/
virtual bool capture() { return true; };
/**
* Do any processing from previously captured frames...
* @param n Number of frames to request in batch. Default -1 means automatic (10)
* @param b Bit rate setting. -1 = automatic, 0 = best quality, 9 = lowest quality
*/
virtual bool grab(int n, int b)=0;
virtual bool compute(int n, int b)=0;
/**
* Between frames, or before next frame, do any buffer swapping operations.
*/
virtual void swap() {}
virtual bool isReady() { return false; };
virtual void setPose(const Eigen::Matrix4d &pose) { };
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