void FrameSynchronizerBlock::run()
{
while (!threadShouldExit())
{
EventListener::Event event = waitForNewEvent(1000);
if (event.isNull())
continue;
RGBDImagePtr image = dynamic_Ptr_cast<RGBDImage>(event.data);
if (!image)
continue;
ntk_dbg(2) << "[FrameSync] New image received";
// Another device has to be waited for?
if (m_devices_serial_to_wait.find(image->cameraSerial()) == m_devices_serial_to_wait.end())
continue;
// Update the image.
m_updated_images[image->cameraSerial()] = image;
// Not all images received? Keep waiting for more events.
if (m_updated_images.size() < m_devices_serial_to_wait.size())
continue;
// Everything received. Can generate a new event.
FrameVectorPtr new_data (new FrameVector);
foreach_const_it(it, m_updated_images, image_map_type)
new_data->images.push_back(it->second);
broadcastEvent(new_data);
ntk_dbg(2) << "[FrameSync] All images updated, sending new event!";
//ntk::sleep(500); //FB011
//Force FPS
if (m_prevFrameStartTime > 100000000) {
m_prevFrameStartTime = ntk::Time::getMillisecondCounter();
}
uint64 frameDuration = (ntk::Time::getMillisecondCounter() - m_prevFrameStartTime)/1000;
int sleepTime = 1000/_FPS - frameDuration;
if (sleepTime > 0.0f) {
ntk::sleep(sleepTime);
}
//std::cerr << "m_prevFrameStartTime: " << m_prevFrameStartTime << std::endl;
m_prevFrameStartTime = ntk::Time::getMillisecondCounter();
// Reset images.
m_updated_images.clear();
reportNewEventProcessed();
}
}
void FrameSynchronizerBlock::run()
{
// m_wait_until_only_one_has_depth = true;
while (!threadShouldExit())
{
EventListener::Event event = waitForNewEvent();
if (event.isNull())
continue;
RGBDImagePtr image = dynamic_Ptr_cast<RGBDImage>(event.data);
if (!image)
continue;
ntk_dbg(2) << "[FrameSync] New image received";
// Another device has to be waited for?
if (m_devices_serial_to_wait.find(image->cameraSerial()) == m_devices_serial_to_wait.end())
continue;
QMutexLocker _(&mutex);
if (m_wait_until_only_one_has_depth)
{
if (image->hasEmptyRawDepthImage())
{
images_without_depth_map_type::iterator it;
it = m_images_without_depth.find(image->cameraSerial());
if (it == m_images_without_depth.end() || it->second == 0)
m_images_without_depth[image->cameraSerial()] = ntk::Time::getMillisecondCounter();
continue;
}
m_images_without_depth[image->cameraSerial()] = 0;
if (!otherImagesHaveNoDepth(image->cameraSerial()))
continue;
}
// Require an alternative activation of each camera.
if (m_wait_until_only_one_has_depth
&& m_last_added_image == image->cameraSerial())
continue;
// Update the image.
m_updated_images[image->cameraSerial()] = image;
m_last_added_image = image->cameraSerial();
ntk_dbg(2) << image->cameraSerial() << " validated";
// Not all images received? Keep waiting for more events.
if (m_updated_images.size() < m_devices_serial_to_wait.size())
continue;
// Everything received. Can generate a new event.
FrameVectorPtr new_data (new FrameVector);
new_data->images.resize(m_updated_images.size());
int i = 0;
foreach_const_it(it, m_updated_images, image_map_type)
new_data->images[i++] = it->second;
broadcastEvent(new_data);
ntk_dbg(2) << "[FrameSync] All images updated, sending new event!";
// Reset images.
m_updated_images.clear();
if (m_wait_until_only_one_has_depth)
m_images_without_depth.clear();
reportNewEventProcessed();
}
}
