Use packet FifoDepth instead of aux. AcqBuffer

* Allocate per-thread buffer for raw data
  in Jungfrau GainPedCorr ImgSrc

include/SlsDetectorBuffer.h

@@ -33,56 +33,40 @@ namespace lima
 namespace SlsDetector
 {
 
-enum BufferType {
-	AcqBuffer, LimaBuffer
-};
+inline Data GetMappedData(void *buffer, const FrameDim& frame_dim)
+{
+	Data d;
+	switch (frame_dim.getImageType()) {
+	case Bpp8:  d.type = Data::UINT8;  break;
+	case Bpp16: d.type = Data::UINT16; break;
+	case Bpp32: d.type = Data::UINT32; break;
+	default: throw LIMA_HW_EXC(Error, "Invalid image type");
+	}
+	const Size& size = frame_dim.getSize();
+	d.dimensions = {size.getWidth(), size.getHeight()};
+	Buffer *b = new Buffer;
+	b->owner = Buffer::MAPPED;
+	b->data = buffer;
+	d.setBuffer(b);
+	b->unref();
+	return d;
+}
 
 class BufferCtrlObj : public NumaSoftBufferCtrlObj {
 
  public:
-	BufferCtrlObj() : m_type(AcqBuffer) {}
-
 	void releaseBuffers() { getBuffer().releaseBuffers(); }
 
-	void setType(BufferType type)
-	{
-		if (type == m_type)
-			return;
-		releaseBuffers();
-		m_type = type;
-	}
-
 	virtual void getMaxNbBuffers(int& max_nb_buffers)
-	{
-		if (m_type == LimaBuffer)
-			max_nb_buffers = 1024;
-		else
-			NumaSoftBufferCtrlObj::getMaxNbBuffers(max_nb_buffers);
-	}
+	{ max_nb_buffers = 1024; }
 
 	Data getFrameData(FrameType frame)
 	{
-		Data d;
 		StdBufferCbMgr& buffer = getBuffer();
+		void *buffer_ptr = buffer.getFrameBufferPtr(frame);
 		const FrameDim& frame_dim = buffer.getFrameDim();
-		switch (frame_dim.getImageType()) {
-		case Bpp8:  d.type = Data::UINT8;  break;
-		case Bpp16: d.type = Data::UINT16; break;
-		case Bpp32: d.type = Data::UINT32; break;
-		default: throw LIMA_HW_EXC(Error, "Invalid image type");
-		}
-		const Size& size = frame_dim.getSize();
-		d.dimensions = {size.getWidth(), size.getHeight()};
-		Buffer *b = new Buffer;
-		b->owner = Buffer::MAPPED;
-		b->data = buffer.getFrameBufferPtr(frame);;
-		d.setBuffer(b);
-		b->unref();
-		return d;
+		return GetMappedData(buffer_ptr, frame_dim);
 	}
-
- private:
-	BufferType m_type;
 };
 
 class BufferMgr
@@ -90,8 +74,6 @@ class BufferMgr
 	DEB_CLASS_NAMESPC(DebModCamera, "BufferMgr", "SlsDetector");
 
 public:
-	enum Mode { Single, Dual };
-
 	void setLimaBufferCtrlObj(BufferCtrlObj *buffer_ctrl_obj);
 
 	void setAcqBufferCPUAffinity(CPUAffinity buffer_affinity);
@@ -99,16 +81,12 @@ public:
 	void waitLimaFrame(FrameType frame_nb, AutoMutex& l);
 	char *getAcqFrameBufferPtr(FrameType frame_nb);
 
-	BufferCtrlObj *getBufferCtrlObj(BufferType type)
-	{
-		bool lima = ((type == LimaBuffer) || (m_mode == Single));
-		return lima ? m_lima_buffer_ctrl_obj :
-			      m_acq_buffer_ctrl_obj.getPtr();
-	}
+	BufferCtrlObj *getBufferCtrlObj()
+	{ return m_lima_buffer_ctrl_obj; }
 
-	StdBufferCbMgr *getBufferCbMgr(BufferType type)
+	StdBufferCbMgr *getBufferCbMgr()
 	{
-		BufferCtrlObj *buffer = getBufferCtrlObj(type);
+		BufferCtrlObj *buffer = getBufferCtrlObj();
 		return buffer ? &buffer->getBuffer() : NULL;
 	}
 
@@ -117,9 +95,6 @@ public:
 
 	void getMaxNbBuffers(long& nb_buffers);
 
-	void setMode(Mode  mode);
-	void getMode(Mode& mode);
-
 	void prepareAcq();
 
 	void clearAllBuffers();
@@ -133,11 +108,9 @@ private:
 
 	Camera *m_cam;
 	Cond& m_cond;
-	Mode m_mode;
 	CPUAffinity m_buffer_affinity;
 	BufferCtrlObj *m_lima_buffer_ctrl_obj;
 	BufferSync *m_lima_buffer_sync;
-	AutoPtr<BufferCtrlObj> m_acq_buffer_ctrl_obj;
 	int m_max_memory;
 };
 

include/SlsDetectorJungfrau.h

@@ -228,6 +228,7 @@ class Jungfrau : public Model
 		virtual void updateImageSize(Size size, bool raw);
 		virtual void prepareAcq();
 		virtual void clear();
+		virtual bool consumesRawData() = 0;
 		virtual void processFrame(Data& data) = 0;
 
 	protected:
@@ -347,6 +348,7 @@ class Jungfrau : public Model
 
 		virtual void updateImageSize(Size size, bool raw);
 		virtual void clear();
+		virtual bool consumesRawData() { return true; }
 		virtual void processFrame(Data& data);
 
 		void readGainADCMaps(Data& gain_map, Data& adc_map,
@@ -387,6 +389,7 @@ class Jungfrau : public Model
 
 		virtual void updateImageSize(Size size, bool raw);
 		virtual void clear();
+		virtual bool consumesRawData() { return true; }
 		virtual void processFrame(Data& data);
 
 		void readProcMap(Data& proc_map, FrameType& frame);
@@ -421,6 +424,7 @@ class Jungfrau : public Model
 
 		virtual void updateImageSize(Size size, bool raw);
 		virtual void clear();
+		virtual bool consumesRawData() { return false; }
 		virtual void processFrame(Data& data);
 
 		void readAveMap(Data& ave_map, FrameType& nb_frames,
@@ -523,13 +527,7 @@ class Jungfrau : public Model
 	void doSetImgProcConfig(std::string config, bool force);
 
 	Data getRawData(Data& data)
-	{
-		if (m_img_src == Raw)
-			return data;
-		BufferMgr *buffer_mgr = getBuffer();
-		BufferCtrlObj *buffer = buffer_mgr->getBufferCtrlObj(AcqBuffer);
-		return buffer->getFrameData(data.frameNumber);
-	}
+	{ return m_reconstruction->getRawData(data); }
 
 	int getNbJungfrauModules()
 	{ return getNbDetModules(); }

include/SlsDetectorModel.h

@@ -96,8 +96,6 @@ class Model
 	void putCmd(const std::string& s, int idx = -1);
 	std::string getCmd(const std::string& s, int idx = -1);
 
-	char *getAcqFrameBufferPtr(FrameType frame_nb);
-
 	virtual bool checkSettings(Settings settings) = 0;
 
 	virtual void prepareAcq() = 0;

include/SlsDetectorReconstruction.h

@@ -60,26 +60,42 @@ public:
 		Reconstruction *m_r;
 	};
 
+	enum LimaBufferMode { RawData, CorrData };
+			     
 	Reconstruction(Camera *cam);
 	virtual ~Reconstruction();
 
 	void setActive(bool  active);
 	void getActive(bool& active);
 
+	void setLimaBufferMode(LimaBufferMode  lima_buffer_mode);
+	void getLimaBufferMode(LimaBufferMode& lima_buffer_mode);
+	
 	virtual void prepare();
 
 	void addFramePackets(DetFrameImagePackets&& det_frame_packets);
 
+	Data getRawData(Data& data);
+
 	virtual Data process(Data& data);
 	virtual Data processModel(Data& data) = 0;
 
 	virtual void cleanUp();
 
 private:
+	struct ThreadData {
+		void *ptr;
+		long size;
+	};
+	
+	static void releaseThreadData(void *thread_data);
+
 	friend class CtrlObjProxy;
 	Camera *m_cam;
 	CtrlObjProxy *m_proxy;
 	bool m_active;
+	LimaBufferMode m_lima_buffer_mode;
+	FrameDim m_raw_frame_dim;
 	Mutex m_mutex;
 	FramePacketMap m_frame_packet_map;
 };

sip/SlsDetectorBuffer.sip

@@ -30,11 +30,6 @@ namespace SlsDetector
 class BufferMgr
 {
 public:
-	enum Mode { Single, Dual };
-
-	void setMode(SlsDetector::BufferMgr::Mode  mode);
-	void getMode(SlsDetector::BufferMgr::Mode& mode /Out/);
-
 	void setMaxMemory(short  max_memory);
 	void getMaxMemory(short& max_memory /Out/);
 

sip/SlsDetectorModel.sip

@@ -79,8 +79,6 @@ protected:
 	void putCmd(const std::string& s, int idx = -1);
 	std::string getCmd(const std::string& s, int idx = -1);
 
-	char *getAcqFrameBufferPtr(unsigned long frame_nb);
-
 	virtual 
 	bool checkSettings(SlsDetector::Defs::Settings settings) = 0;
 

src/SlsDetectorBuffer.cpp

@@ -28,56 +28,12 @@ using namespace lima::SlsDetector;
 
 
 BufferMgr::BufferMgr(Camera *cam)
-	: m_cam(cam), m_cond(m_cam->m_cond), m_mode(Single),
-	  m_lima_buffer_ctrl_obj(NULL),
+	: m_cam(cam), m_cond(m_cam->m_cond), m_lima_buffer_ctrl_obj(NULL),
 	  m_max_memory(70)
 {
 	DEB_CONSTRUCTOR();
 }
 
-void BufferMgr::setMode(Mode mode)
-{
-	DEB_MEMBER_FUNCT();
-	DEB_PARAM() << DEB_VAR2(mode, m_mode);
-	if (mode == m_mode)
-		return;
-
-	m_mode = mode;
-	m_acq_buffer_ctrl_obj = (m_mode == Dual) ? new BufferCtrlObj() : NULL;
-	DEB_TRACE() << DEB_VAR2(m_lima_buffer_ctrl_obj, m_acq_buffer_ctrl_obj);
-
-	BufferCtrlObj *buffer;
-	buffer = getBufferCtrlObj(AcqBuffer);
-	if (buffer) {
-		buffer->setType(AcqBuffer);
-		buffer->setCPUAffinityMask(m_buffer_affinity);
-	}
-	buffer = getBufferCtrlObj(LimaBuffer);
-	if (buffer && (m_mode == Dual)) {
-		buffer->setType(LimaBuffer);
-		buffer->setCPUAffinityMask(CPUAffinity());
-	}
-
-	Model *model = m_cam->m_model;
-	if (!model)
-		return;
-
-	if (m_acq_buffer_ctrl_obj) {
-		FrameDim frame_dim;
-		model->getAcqFrameDim(frame_dim, m_cam->m_raw_mode);
-		m_acq_buffer_ctrl_obj->setFrameDim(frame_dim);
-	}
-	m_cam->updateImageSize();
-		
-}
-
-void BufferMgr::getMode(Mode& mode)
-{
-	DEB_MEMBER_FUNCT();
-	mode = m_mode;
-	DEB_RETURN() << DEB_VAR1(mode);
-}
-
 void BufferMgr::setLimaBufferCtrlObj(BufferCtrlObj *buffer_ctrl_obj)
 {
 	DEB_MEMBER_FUNCT();
@@ -110,7 +66,7 @@ char *BufferMgr::getAcqFrameBufferPtr(FrameType frame_nb)
 {
 	DEB_MEMBER_FUNCT();
 
-	StdBufferCbMgr *cb_mgr = getBufferCbMgr(AcqBuffer);
+	StdBufferCbMgr *cb_mgr = getBufferCbMgr();
 	if (!cb_mgr)
 		THROW_HW_ERROR(InvalidValue) << "No BufferCbMgr defined";
 	void *ptr = cb_mgr->getFrameBufferPtr(frame_nb);
@@ -121,7 +77,7 @@ void BufferMgr::setAcqBufferCPUAffinity(CPUAffinity buffer_affinity)
 {
 	DEB_MEMBER_FUNCT();
 	DEB_ALWAYS() << DEB_VAR1(buffer_affinity);
-	BufferCtrlObj *buffer = getBufferCtrlObj(AcqBuffer);
+	BufferCtrlObj *buffer = getBufferCtrlObj();
 	if (buffer)
 		buffer->setCPUAffinityMask(buffer_affinity);
 	m_buffer_affinity = buffer_affinity;
@@ -146,14 +102,14 @@ void BufferMgr::getMaxMemory(short& max_memory)
 void BufferMgr::getMaxNbBuffers(long& nb_buffers)
 {
 	DEB_MEMBER_FUNCT();
-	if (m_acq_buffer_ctrl_obj) {
-		int max_nb_buffers;
-		m_acq_buffer_ctrl_obj->getMaxNbBuffers(max_nb_buffers);
-		nb_buffers = int(max_nb_buffers * m_max_memory / 100.0);
-		DEB_TRACE() << DEB_VAR2(max_nb_buffers, nb_buffers);
-	} else {
-		nb_buffers = 0;
-	}
+	bool raw_mode;
+	m_cam->getRawMode(raw_mode);
+	FrameDim frame_dim;
+	Model *model = m_cam->getModel();
+	model->getAcqFrameDim(frame_dim, raw_mode);
+	int max_nb_buffers = GetDefMaxNbBuffers(frame_dim);
+	nb_buffers = int(max_nb_buffers * m_max_memory / 100.0);
+	DEB_TRACE() << DEB_VAR2(max_nb_buffers, nb_buffers);
 	DEB_RETURN() << DEB_VAR1(nb_buffers);
 }
 
@@ -161,16 +117,16 @@ void BufferMgr::prepareAcq()
 {
 	DEB_MEMBER_FUNCT();
 
-	if (m_acq_buffer_ctrl_obj) {
-		FrameType nb_frames;
-		m_cam->getNbFrames(nb_frames);
-		long max_nb_buffers;
-		getMaxNbBuffers(max_nb_buffers);
-		int nb_buffers = (nb_frames < max_nb_buffers) ? nb_frames :
-								max_nb_buffers;
-		m_acq_buffer_ctrl_obj->setNbBuffers(nb_buffers);
-	}
-
+	FrameType nb_frames;
+	m_cam->getNbFrames(nb_frames);
+	long max_nb_buffers;
+	getMaxNbBuffers(max_nb_buffers);
+	int nb_buffers = (nb_frames < max_nb_buffers) ? nb_frames :
+							max_nb_buffers;
+	const int min_nb_buffers = 128;
+	if (nb_buffers < min_nb_buffers)
+		nb_buffers = min_nb_buffers;
+	m_cam->setReceiverFifoDepth(nb_buffers);
 }
 
 void BufferMgr::releaseBuffers()
@@ -179,8 +135,6 @@ void BufferMgr::releaseBuffers()
 	bool prev_release_unused;
 //	BufferCtrlObj::getBufferMgrResizePolicy(prev_release_unused);
 //	BufferCtrlObj::setBufferMgrResizePolicy(true);
-	if (m_acq_buffer_ctrl_obj)
-		m_acq_buffer_ctrl_obj->releaseBuffers();
 	if (m_lima_buffer_ctrl_obj)
 		m_lima_buffer_ctrl_obj->releaseBuffers();
 //	BufferCtrlObj::setBufferMgrResizePolicy(prev_release_unused);
@@ -189,13 +143,9 @@ void BufferMgr::releaseBuffers()
 void BufferMgr::clearAllBuffers()
 {
 	DEB_MEMBER_FUNCT();
-	StdBufferCbMgr *buffer;
-	buffer = getBufferCbMgr(AcqBuffer);
+	StdBufferCbMgr *buffer = getBufferCbMgr();
 	if (buffer)
 		buffer->clearAllBuffers();
-	buffer = getBufferCbMgr(LimaBuffer);
-	if (buffer && (m_mode == Dual))
-		buffer->clearAllBuffers();
 
 	Camera::RecvList::iterator it, end = m_cam->m_recv_list.end();
 	for (it = m_cam->m_recv_list.begin(); it != end; ++it)

src/SlsDetectorCamera.cpp

@@ -153,7 +153,7 @@ Camera::AcqThread::Status Camera::AcqThread::newFrameReady(FrameType frame)
 	DEB_MEMBER_FUNCT();
 	HwFrameInfoType frame_info;
 	frame_info.acq_frame_nb = frame;
-	StdBufferCbMgr *cb_mgr = m_cam->m_buffer.getBufferCbMgr(LimaBuffer);
+	StdBufferCbMgr *cb_mgr = m_cam->m_buffer.getBufferCbMgr();
 	bool cont_acq = cb_mgr->newFrameReady(frame_info);
 	bool acq_end = (frame == m_cam->m_lima_nb_frames - 1);
 	cont_acq &= !acq_end;
@@ -409,7 +409,7 @@ Camera::Camera(string config_fname, int det_id)
 	EXC_CHECK(m_det->setRxSilentMode(1));
 	EXC_CHECK(m_det->setRxFrameDiscardPolicy(
 				  slsDetectorDefs::DISCARD_PARTIAL_FRAMES));
-	setReceiverFifoDepth(16);
+	setReceiverFifoDepth(128);
 
 	sls::Result<int> dr_res;
 	EXC_CHECK(dr_res = m_det->getDynamicRange());
@@ -880,11 +880,9 @@ void Camera::prepareAcq()
 {
 	DEB_MEMBER_FUNCT();
 
-	StdBufferCbMgr *cb_mgr = m_buffer.getBufferCbMgr(AcqBuffer);
+	StdBufferCbMgr *cb_mgr = m_buffer.getBufferCbMgr();
 	if (!cb_mgr)
 		THROW_HW_ERROR(Error) << "No Acq BufferCbMgr defined";
-	else if (!m_buffer.getBufferCbMgr(LimaBuffer))
-		THROW_HW_ERROR(Error) << "No Lima BufferCbMgr defined";
 	if (!m_model)
 		THROW_HW_ERROR(Error) << "No Model defined";
 
@@ -941,7 +939,7 @@ void Camera::startAcq()
 	if (m_acq_thread)
 		THROW_HW_ERROR(Error) << "Must call prepareAcq first";
 
-	StdBufferCbMgr *cb_mgr = m_buffer.getBufferCbMgr(LimaBuffer);
+	StdBufferCbMgr *cb_mgr = m_buffer.getBufferCbMgr();
 	cb_mgr->setStartTimestamp(Timestamp::now());
 
 	m_acq_thread = new AcqThread(this);
@@ -1004,8 +1002,11 @@ void Camera::assemblePackets(DetFrameImagePackets&& det_frame_packets)
 
 	const FrameType& frame = det_frame_packets.first;
 	DetImagePackets& det_packets = det_frame_packets.second;
-		
-	char *bptr = m_buffer.getAcqFrameBufferPtr(frame);
+
+	Data frame_data = m_buffer.getBufferCtrlObj()->getFrameData(frame);
+	Reconstruction *reconstruct = m_model->getReconstruction();
+	Data raw_data = reconstruct->getRawData(frame_data);
+	char *bptr = (char *) raw_data.data();
 
 	int nb_recvs = getNbRecvs();
 	for (int i = 0; i < nb_recvs; ++i) {

src/SlsDetectorJungfrau.cpp

@@ -242,10 +242,13 @@ void Jungfrau::ImgProcTask::process(Data& data)
 
 	DEB_PARAM() << DEB_VAR2(data.frameNumber, data.data());
 
+	bool img_is_raw = (m_jungfrau->m_img_src == Raw);
+
 	ImgProcList& img_proc_list = m_jungfrau->m_img_proc_list;
 	ImgProcList::iterator it, end = img_proc_list.end();
 	for (it = img_proc_list.begin(); it != end; ++it)
-		(*it)->processFrame(data);
+		if ((*it)->consumesRawData() == img_is_raw)
+			(*it)->processFrame(data);
 }
 
 
@@ -534,10 +537,13 @@ Data Jungfrau::ModelReconstruction::processModel(Data& data)
 
 	Data ret = _processingInPlaceFlag ? data : data.copy();
 
-	FrameType frame = ret.frameNumber;
-	BufferMgr *buffer_mgr = m_jungfrau->getBuffer();
-	BufferCtrlObj *buffer = buffer_mgr->getBufferCtrlObj(AcqBuffer);
-	Data raw = buffer->getFrameData(frame);
+	ImgProcList& img_proc_list = m_jungfrau->m_img_proc_list;
+	ImgProcList::iterator it, end = img_proc_list.end();
+	for (it = img_proc_list.begin(); it != end; ++it)
+		if ((*it)->consumesRawData())
+			(*it)->processFrame(data);
+
+	Data raw = m_jungfrau->getRawData(data);
 	DEB_TRACE() << DEB_VAR1(raw);
 	GainPed& gain_ped = m_jungfrau->m_gain_ped_img_proc->m_gain_ped;
 	gain_ped.processFrame(raw, ret);
@@ -588,15 +594,19 @@ void Jungfrau::setImgSrc(ImgSrc img_src)
 		return;
 
 	m_img_src = img_src;
-	bool do_proc = (m_img_src == GainPedCorr);
+	bool do_corr = (m_img_src == GainPedCorr);
 
 	doSetImgProcConfig(m_img_proc_config, true);
 
-	m_reconstruction->setActive(do_proc);
+	Reconstruction::LimaBufferMode lbm;
+	lbm = do_corr ? Reconstruction::CorrData : Reconstruction::RawData;
+	m_reconstruction->setLimaBufferMode(lbm);
+	m_reconstruction->setActive(do_corr);
 
-	BufferMgr *buffer = getCamera()->getBuffer();
+	Camera *cam = getCamera();
+	BufferMgr *buffer = cam->getBuffer();
 	buffer->releaseBuffers();
-	buffer->setMode(do_proc ? BufferMgr::Dual : BufferMgr::Single);
+	updateCameraImageSize();
 }
 
 void Jungfrau::getImgSrc(ImgSrc& img_src)

src/SlsDetectorModel.cpp

@@ -101,11 +101,6 @@ BufferMgr *Model::getBuffer()
 	return m_cam->getBuffer();
 }
 
-char *Model::getAcqFrameBufferPtr(FrameType frame_nb)
-{
-	return getBuffer()->getAcqFrameBufferPtr(frame_nb);
-}
-
 void Model::getAcqFrameDim(FrameDim& frame_dim, bool raw)
 {
 	DEB_MEMBER_FUNCT();

src/SlsDetectorReconstruction.cpp

@@ -59,7 +59,8 @@ LinkTask *Reconstruction::CtrlObjProxy::getReconstructionTask()
 }
 
 Reconstruction::Reconstruction(Camera *cam)
-	: m_cam(cam), m_proxy(NULL), m_active(false)
+	: m_cam(cam), m_proxy(NULL), m_active(false),
+	  m_lima_buffer_mode(RawData)
 {
 	DEB_CONSTRUCTOR();
 }
@@ -76,8 +77,6 @@ void Reconstruction::setActive(bool active)
 	DEB_MEMBER_FUNCT();
 	DEB_PARAM() << DEB_VAR2(active, m_active);
 	m_active = active;
-	if (m_proxy)
-		m_proxy->reconstructionChange(this);
 }
 
 void Reconstruction::getActive(bool& active)
@@ -87,13 +86,70 @@ void Reconstruction::getActive(bool& active)
 	DEB_RETURN() << DEB_VAR1(active);
 }
 
+void Reconstruction::setLimaBufferMode(LimaBufferMode lima_buffer_mode)
+{
+	DEB_MEMBER_FUNCT();
+	DEB_PARAM() << DEB_VAR2(lima_buffer_mode, m_lima_buffer_mode);
+	m_lima_buffer_mode = lima_buffer_mode;
+}
+
+void Reconstruction::getLimaBufferMode(LimaBufferMode& lima_buffer_mode)
+{
+	DEB_MEMBER_FUNCT();
+	lima_buffer_mode = m_lima_buffer_mode;
+	DEB_RETURN() << DEB_VAR1(lima_buffer_mode);
+}
+
 void Reconstruction::prepare()
 {
 	DEB_MEMBER_FUNCT();
+
+	Model *model = m_cam->getModel();
+	if (!model)
+		THROW_HW_ERROR(Error) << "Camera has no model";
+	model->getAcqFrameDim(m_raw_frame_dim, m_cam->m_raw_mode);
+	
 	AutoMutex l(m_mutex);
 	m_frame_packet_map.clear();
 }
 
+Data Reconstruction::getRawData(Data& data)
+{
+	DEB_MEMBER_FUNCT();
+
+	if (m_lima_buffer_mode == RawData)
+		return data;
+
+	static pthread_key_t thread_data_key;
+	EXEC_ONCE(pthread_key_create(&thread_data_key, &releaseThreadData));
+
+	ThreadData *d = (ThreadData *) pthread_getspecific(thread_data_key);
+	if (d == NULL) {
+		d = new ThreadData();
+		pthread_setspecific(thread_data_key, d);
+		d->ptr = NULL;
+		d->size = 0;
+	}
+	long size = m_raw_frame_dim.getMemSize();
+	if (d->size != size) {
+		void *p = realloc(d->ptr, size);
+		if (!p)
+			THROW_HW_ERROR(Error) << "Cannot re-allocate "
+					      << size << " bytes";
+		d->ptr = p;
+		d->size = size;
+	}
+
+	return GetMappedData(d->ptr, m_raw_frame_dim);
+}
+
+void Reconstruction::releaseThreadData(void *thread_data)
+{
+	ThreadData *d = (ThreadData *) thread_data;
+	free(d->ptr);
+	delete d;
+}
+
 void Reconstruction::cleanUp()