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refactored how freenect ready is done

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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
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corelib/src/CameraRGBD.cpp
+13 -22
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@@ -568,22 +568,12 @@ class FreenectDevice : public UThread {
if(this->isRunning()) if(this->isRunning())
{ {
dataReady_.acquire(); dataReady_.acquire();
{
UScopeMutex s1(rgbMutex_); UScopeMutex s(dataMutex_);
if(!rgbLastFrame_.empty()) rgb = rgbLastFrame_;
{ depth = depthLastFrame_;
rgb = rgbLastFrame_; rgbLastFrame_ = cv::Mat();
rgbLastFrame_ = cv::Mat(); depthLastFrame_= cv::Mat();
}
}
{
UScopeMutex s2(depthMutex_);
if(!depthLastFrame_.empty())
{
depth = depthLastFrame_;
depthLastFrame_= cv::Mat();
}
}
} }
} }
@@ -592,9 +582,10 @@ private:
void VideoCallback(void* rgb) void VideoCallback(void* rgb)
{ {
UASSERT(rgbBuffer_.data == rgb); UASSERT(rgbBuffer_.data == rgb);
UScopeMutex s1(rgbMutex_); UScopeMutex s(dataMutex_);
bool notify = rgbLastFrame_.empty();
cv::cvtColor(rgbBuffer_, rgbLastFrame_, CV_RGB2BGR); cv::cvtColor(rgbBuffer_, rgbLastFrame_, CV_RGB2BGR);
if(!depthLastFrame_.empty() && dataReady_.value() <= 0) if(!depthLastFrame_.empty() && notify)
{ {
dataReady_.release(); dataReady_.release();
} }
@@ -604,9 +595,10 @@ private:
void DepthCallback(void* depth) void DepthCallback(void* depth)
{ {
UASSERT(depthBuffer_.data == depth); UASSERT(depthBuffer_.data == depth);
UScopeMutex s2(depthMutex_); UScopeMutex s(dataMutex_);
bool notify = depthLastFrame_.empty();
depthLastFrame_ = depthBuffer_.clone(); depthLastFrame_ = depthBuffer_.clone();
if(!rgbLastFrame_.empty() && dataReady_.value() <= 0) if(!rgbLastFrame_.empty() && notify)
{ {
dataReady_.release(); dataReady_.release();
} }
@@ -669,8 +661,7 @@ private:
freenect_device * device_; freenect_device * device_;
cv::Mat depthBuffer_; cv::Mat depthBuffer_;
cv::Mat rgbBuffer_; cv::Mat rgbBuffer_;
UMutex depthMutex_; UMutex dataMutex_;
UMutex rgbMutex_;
cv::Mat depthLastFrame_; cv::Mat depthLastFrame_;
cv::Mat rgbLastFrame_; cv::Mat rgbLastFrame_;
float depthFocal_; float depthFocal_;