Exemplo n.º 1
0
    void identity_matcher::dispatch(frame_holder f, syncronization_environment env)
    {
        std::stringstream s;
        s <<_name<<"--> "<< f->get_stream()->get_stream_type() << " " << f->get_frame_number() << ", "<<std::fixed<< f->get_frame_timestamp()<<"\n";
        LOG_DEBUG(s.str());

        sync(std::move(f), env);
    }
Exemplo n.º 2
0
    void frame_number_composite_matcher::clean_inactive_streams(frame_holder& f)
    {
        std::vector<stream_id> inactive_matchers;
        for(auto m: _matchers)
        {
            if(_last_arrived[m.second.get()] && (f->get_frame_number() - _last_arrived[m.second.get()]) > 5)
            {
                inactive_matchers.push_back(m.first);
                m.second->set_active(false);
            }
        }

        for(auto id: inactive_matchers)
        {
            _frames_queue[_matchers[id].get()].clear();
        }
    }
Exemplo n.º 3
0
 bool frame_number_composite_matcher::is_smaller_than(frame_holder & a, frame_holder & b)
 {
     return a->get_frame_number() < b->get_frame_number();
 }
Exemplo n.º 4
0
 bool frame_number_composite_matcher::are_equivalent(frame_holder& a, frame_holder& b)
 {
     return a->get_frame_number() == b->get_frame_number();
 }
Exemplo n.º 5
0
 void frame_number_composite_matcher::update_last_arrived(frame_holder& f, matcher* m)
 {
     _last_arrived[m] =f->get_frame_number();
 }
Exemplo n.º 6
0
    void composite_matcher::sync(frame_holder f, syncronization_environment env)
    {
        std::stringstream s;
        s <<"SYNC "<<_name<<"--> "<< f->get_stream()->get_stream_type() << " " << f->get_frame_number() << ", "<<std::fixed<< f->get_frame_timestamp()<<"\n";
        LOG_DEBUG(s.str());

        update_next_expected(f);
        auto matcher = find_matcher(f);
        _frames_queue[matcher.get()].enqueue(std::move(f));

        std::vector<frame_holder*> frames_arrived;
        std::vector<librealsense::matcher*> frames_arrived_matchers;
        std::vector<librealsense::matcher*> synced_frames;
        std::vector<librealsense::matcher*> missing_streams;

        do
        {
            auto old_frames = false;

            synced_frames.clear();
            missing_streams.clear();
            frames_arrived_matchers.clear();
            frames_arrived.clear();


            for (auto s = _frames_queue.begin(); s != _frames_queue.end(); s++)
            {
                frame_holder* f;
                if (s->second.peek(&f))
                {
                    frames_arrived.push_back(f);
                    frames_arrived_matchers.push_back(s->first);
                }
                else
                {
                    missing_streams.push_back(s->first);
                }
            }

            if (frames_arrived.size() == 0)
                break;

            frame_holder* curr_sync;
            if (frames_arrived.size() > 0)
            {
                curr_sync = frames_arrived[0];
                synced_frames.push_back(frames_arrived_matchers[0]);
            }

            for (auto i = 1; i < frames_arrived.size(); i++)
            {
                if (are_equivalent(*curr_sync, *frames_arrived[i]))
                {
                    synced_frames.push_back(frames_arrived_matchers[i]);
                }
                else if (is_smaller_than(*frames_arrived[i], *curr_sync))
                {
                    old_frames = true;
                    synced_frames.clear();
                    synced_frames.push_back(frames_arrived_matchers[i]);
                    curr_sync = frames_arrived[i];
                }
                else
                {
                    old_frames = true;
                }
            }

            if (!old_frames)
            {
                for (auto i : missing_streams)
                {
                    if (!skip_missing_stream(synced_frames, i))
                    {
                        synced_frames.clear();
                        break;
                    }
                }
            }

            if (synced_frames.size())
            {
                std::vector<frame_holder> match;
                match.reserve(synced_frames.size());

                for (auto index : synced_frames)
                {
                    frame_holder frame;
                    _frames_queue[index].dequeue(&frame);

                    match.push_back(std::move(frame));
                }

                std::sort(match.begin(), match.end(), [](frame_holder& f1, frame_holder& f2)
                {
                    return f1->get_stream()->get_unique_id()> f2->get_stream()->get_unique_id();
                });


                std::stringstream s;
                s<<"MATCHED: ";
                for(auto&& f: match)
                {
                    auto composite = dynamic_cast<composite_frame*>(f.frame);
                    if(composite)
                    {
                        for (int i = 0; i < composite->get_embedded_frames_count(); i++)
                        {
                            auto matched = composite->get_frame(i);
                            s << matched->get_stream()->get_stream_type()<<" "<<matched->get_frame_timestamp()<<" ";
                        }
                    }
                    else {
                         s<<f->get_stream()->get_stream_type()<<" "<<(double)f->get_frame_timestamp()<<" ";
                    }


                }
                s<<"\n";
                LOG_DEBUG(s.str());
                frame_holder composite = env.source->allocate_composite_frame(std::move(match));
                if (composite.frame)
                {
                    s <<"SYNCED "<<_name<<"--> "<< composite->get_stream()->get_stream_type() << " " << composite->get_frame_number() << ", "<<std::fixed<< composite->get_frame_timestamp()<<"\n";

                    auto cb = begin_callback();
                    _callback(std::move(composite), env);
                }
            }
        } while (synced_frames.size() > 0);
    }
Exemplo n.º 7
0
    void composite_matcher::dispatch(frame_holder f, syncronization_environment env)
    {
        std::stringstream s;
        s <<"DISPATCH "<<_name<<"--> "<< f->get_stream()->get_stream_type() << " " << f->get_frame_number() << ", "<<std::fixed<< f->get_frame_timestamp()<<"\n";
        LOG_DEBUG(s.str());

        clean_inactive_streams(f);
        auto matcher = find_matcher(f);
        update_last_arrived(f, matcher.get());
        matcher->dispatch(std::move(f), env);
    }