i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactored how freenect ready is done

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1391 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-16 18:18:52 +00:00
parent f6ce17012a
commit 1dadb03e8e
1 changed files with 13 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
corelib/src/CameraRGBD.cpp
View File

@@ -568,22 +568,12 @@ class FreenectDevice : public UThread {
if(this->isRunning())
{
dataReady_.acquire();
{
UScopeMutex s1(rgbMutex_);
if(!rgbLastFrame_.empty())
{
rgb = rgbLastFrame_;
rgbLastFrame_ = cv::Mat();
}
}
{
UScopeMutex s2(depthMutex_);
if(!depthLastFrame_.empty())
{
depth = depthLastFrame_;
depthLastFrame_= cv::Mat();
}
}
UScopeMutex s(dataMutex_);
rgb = rgbLastFrame_;
depth = depthLastFrame_;
rgbLastFrame_ = cv::Mat();
depthLastFrame_= cv::Mat();
}
}
@@ -592,9 +582,10 @@ private:
void VideoCallback(void* rgb)
{
UASSERT(rgbBuffer_.data == rgb);
UScopeMutex s1(rgbMutex_);
UScopeMutex s(dataMutex_);
bool notify = rgbLastFrame_.empty();
cv::cvtColor(rgbBuffer_, rgbLastFrame_, CV_RGB2BGR);
if(!depthLastFrame_.empty() && dataReady_.value() <= 0)
if(!depthLastFrame_.empty() && notify)
{
dataReady_.release();
}
@@ -604,9 +595,10 @@ private:
void DepthCallback(void* depth)
{
UASSERT(depthBuffer_.data == depth);
UScopeMutex s2(depthMutex_);
UScopeMutex s(dataMutex_);
bool notify = depthLastFrame_.empty();
depthLastFrame_ = depthBuffer_.clone();
if(!rgbLastFrame_.empty() && dataReady_.value() <= 0)
if(!rgbLastFrame_.empty() && notify)
{
dataReady_.release();
}
@@ -669,8 +661,7 @@ private:
freenect_device * device_;
cv::Mat depthBuffer_;
cv::Mat rgbBuffer_;
UMutex depthMutex_;
UMutex rgbMutex_;
UMutex dataMutex_;
cv::Mat depthLastFrame_;
cv::Mat rgbLastFrame_;
float depthFocal_;