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Fixed frameset handling on viewer #8856

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merged 2 commits into from
Apr 19, 2021
Merged

Fixed frameset handling on viewer #8856

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2d6d835
Fix for bug DSO-16419 - open the frameset on viewer_model::handle_rea…
aangerma Apr 18, 2021
c5b557d
CR fix
aangerma Apr 18, 2021
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68 changes: 37 additions & 31 deletions common/viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1345,49 +1345,55 @@ namespace rs2
size_t index = 0;
while (ppf.resulting_queue.poll_for_frame(&f) && ++index < ppf.resulting_queue_max_size)
{
if (streams.find(f.get_profile().unique_id()) != streams.end() ||
streams.find(streams_origin[f.get_profile().unique_id()]) != streams.end())
last_frames[f.get_profile().unique_id()] = f;
// Open the frameset and save the frames on last_frames
// if one of the streams is missing we will use the last frame arrived
if (f.is<rs2::frameset>())
{
for (auto frame : f.as<rs2::frameset>())
{
if (streams.find(frame.get_profile().unique_id()) != streams.end() ||
streams.find(streams_origin[frame.get_profile().unique_id()]) != streams.end())
last_frames[frame.get_profile().unique_id()] = frame;
}
}
else
{
if (streams.find(f.get_profile().unique_id()) != streams.end() ||
streams.find(streams_origin[f.get_profile().unique_id()]) != streams.end())
last_frames[f.get_profile().unique_id()] = f;
}
}

for(auto&& f : last_frames)
not_model->output.update_dashboards(f.second);

for(auto&& frame : last_frames)
for( auto && frame : last_frames )
{
auto f = frame.second;
frameset frames;
if ((frames = f.as<frameset>()))
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{
for (auto&& frame : frames)
{
if (frame.is<points>() && !paused) // find and store the 3d points frame for later use
{
p = frame.as<points>();
continue;
}

if (frame.is<pose_frame>()) // Aggregate the trajectory in pause mode to make the path consistent
{
auto dev = streams[frame.get_profile().unique_id()].dev;
if (dev)
{
dev->tm2.update_model_trajectory(frame.as<pose_frame>(), !paused);
}
}

auto texture = upload_frame(std::move(frame));
if( f.is< points >()
&& ! paused ) // find and store the 3d points frame for later use
{
p = f.as< points >();
continue;
}

if ((selected_tex_source_uid == -1 && frame.get_profile().format() == RS2_FORMAT_Z16) ||
(frame.get_profile().format() != RS2_FORMAT_ANY && is_3d_texture_source(frame)))
{
texture_frame = texture;
}
if( f.is< pose_frame >() ) // Aggregate the trajectory in pause mode to make the
// path consistent
{
auto dev = streams[f.get_profile().unique_id()].dev;
if( dev )
{
dev->tm2.update_model_trajectory( f.as< pose_frame >(), ! paused );
}
}
else if (!p)

auto texture = upload_frame( std::move( f ) );

if( ( selected_tex_source_uid == -1 && f.get_profile().format() == RS2_FORMAT_Z16 )
|| ( f.get_profile().format() != RS2_FORMAT_ANY && is_3d_texture_source( f ) ) )
{
upload_frame(std::move(f));
texture_frame = texture;
}
}
}
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