Implements #134 source groups

Adds source groups to reconstruct using a new high precision timer abstraction. Gives an ability to precisely control latency and guarantee frame sync. Some work still required to better allow independence between receiving real frames and generate virtual viewpoints. Work also needed to remove callbacks for a clean shutdown.

There are many enhancements to network code efficiency also.

applications/groupview/src/main.cpp

@@ -87,7 +87,7 @@ void modeLeftRight(ftl::Configurable *root) {
 	std::atomic<bool> new_frames = false;
 	vector<Mat> rgb(n_cameras), rgb_new(n_cameras);
 	
-	group.sync([&mutex, &new_frames, &rgb_new](const ftl::rgbd::FrameSet &frames) {
+	group.sync([&mutex, &new_frames, &rgb_new](ftl::rgbd::FrameSet &frames) {
 		mutex.lock();
 		bool good = true;
 		for (size_t i = 0; i < frames.channel1.size(); i ++) {
@@ -170,14 +170,32 @@ void modeFrame(ftl::Configurable *root, int frames=1) {
 
 	std::atomic<bool> grab = false;
 	std::atomic<bool> video = false;
-	
-	std::vector<cv::Mat> rgb(sources.size());
-	std::vector<cv::Mat> depth(sources.size());
-	std::mutex m;
 
-	group.sync([&grab](const ftl::rgbd::FrameSet &fs) {
-		LOG(INFO) << "Complete set: " << fs.timestamp;
+	vector<cv::Mat> rgb(sources.size());
+	vector<cv::Mat> depth(sources.size());
+	MUTEX mtx;
+
+	group.sync([&grab,&rgb,&depth,&mtx](ftl::rgbd::FrameSet &fs) {
+		UNIQUE_LOCK(mtx, lk);
+		//LOG(INFO) << "Complete set: " << fs.timestamp;
 		if (!ftl::running) { return false; }
+		
+
+		for (size_t i=0; i<fs.sources.size(); ++i) {
+			if (fs.channel1[i].empty() || fs.channel2[i].empty()) return true;	
+		}
+
+		cv::Mat show;
+
+		stack(fs.channel1, show);
+
+		cv::resize(show, show, cv::Size(1280,720));
+		cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
+		cv::imshow("Cameras", show);
+
+		auto key = cv::waitKey(1);
+		if (key == 27) ftl::running = false;
+		if (key == 'g') grab = true;
 
 #ifdef HAVE_LIBARCHIVE
 		if (grab) {
@@ -197,23 +215,27 @@ void modeFrame(ftl::Configurable *root, int frames=1) {
 		return true;
 	});
 
-	cv::Mat show;
+	/*cv::Mat show;
 
 	while (ftl::running) {
 		for (auto s : sources) s->grab(30);
 		for (size_t i = 0; i < sources.size(); i++) {
-			do { sources[i]->getFrames(rgb[i], depth[i]); }
+			//do { sources[i]->getFrames(rgb[i], depth[i]); }
 			while(rgb[i].empty());
 		}
 
-		stack(rgb, show);
+		{
+			UNIQUE_LOCK(mtx, lk);
+			stack(rgb, show);
+		}
+		cv::resize(show, show, cv::Size(1280,720));
 		cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
 		cv::imshow("Cameras", show);
 
 		auto key = cv::waitKey(20);
 		if (key == 27) break;
 		if (key == 'g') grab = true;
-	}
+	}*/
 }
 
 void modeVideo(ftl::Configurable *root) {