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Remove redundant frame copies inside librealsense core #10573

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merged 1 commit into from
Jun 9, 2022
Merged

Remove redundant frame copies inside librealsense core #10573

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20 changes: 13 additions & 7 deletions src/sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -267,11 +267,12 @@ void log_callback_end( uint32_t fps,
{
auto system_time = environment::get_instance().get_time_service()->get_time();
auto fr = std::make_shared<frame>();
byte* pix = (byte*)fo.pixels;
std::vector<byte> pixels(pix, pix + fo.frame_size);
fr->data = pixels;

//REMOVED! - no need to add 2 copies to a frame
//byte* pix = (byte*)fo.pixels;
//std::vector<byte> pixels(pix, pix + fo.frame_size);
//fr->data = pixels;
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This is dangerous.
This leaves fr->data (for regular frames) basically uninitialized (empty), right? I.e., as long as it's not used, we're OK. So why not remove it?
I believe a composite frame still uses it... maybe we can move it there?
(not for this PR, but general thought)

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I agree, like we said the generate_frame_from_data() needs to be refactored

fr->set_stream(profile);

frame_additional_data additional_data(0,
0,
system_time,
Expand Down Expand Up @@ -398,9 +399,12 @@ void log_callback_end( uint32_t fps,

if (fh.frame)
{
assert( expected_size == sizeof(byte) * fr->data.size() );
assert( expected_size == sizeof(byte) * /*fr->data.size()*/f.frame_size );

memcpy( (void *)fh->get_frame_data(),
/*fr->data.data()*/ f.pixels,
expected_size );

memcpy((void*)fh->get_frame_data(), fr->data.data(), expected_size);
auto&& video = (video_frame*)fh.frame;
video->assign(width, height, width * bpp / 8, bpp);
video->set_timestamp_domain(timestamp_domain);
Expand Down Expand Up @@ -898,7 +902,9 @@ void log_callback_end( uint32_t fps,
last_frame_number = frame_counter;
last_timestamp = timestamp;
frame_holder frame = _source.alloc_frame(RS2_EXTENSION_MOTION_FRAME, data_size, fr->additional_data, true);
memcpy((void*)frame->get_frame_data(), fr->data.data(), sizeof(byte)*fr->data.size());
memcpy( (void *)frame->get_frame_data(),
/*fr->data.data()*/ sensor_data.fo.pixels,
/*fr->data.size()*/ sizeof( byte ) * sensor_data.fo.frame_size );
if (!frame)
{
LOG_INFO("Dropped frame. alloc_frame(...) returned nullptr");
Expand Down