diff --git a/include/ftl/protocol/channels.hpp b/include/ftl/protocol/channels.hpp
index e4bf601bdbc248c4f80d335f29b9e9ac9e041f3d..1ab1bee713ea939cde2c8bb9ca78f829f3cc24d1 100644
--- a/include/ftl/protocol/channels.hpp
+++ b/include/ftl/protocol/channels.hpp
@@ -15,124 +15,184 @@ namespace protocol {
enum struct Channel : int {
/* Video Channels */
kNone = -1,
- kColour = 0, // 8UC3 or 8UC4
+ kColour = 0, /// Left-eye colour video
kLeft = 0,
- kDepth = 1, // 32S or 32F
- kRight = 2, // 8UC3 or 8UC4
+ kDepth = 1, /// Left-eye depth
+ kRight = 2, /// Right-eye colour video
kColour2 = 2,
- kDepth2 = 3,
+ kDepth2 = 3, /// Right-eye depth
kDeviation = 4,
- kScreen = 4, // 16SC2
- kNormals = 5, // 16FC4
- kWeights = 6, // short
- kConfidence = 7, // 32F
- kContribution = 7, // 32F
- kEnergyVector = 8, // 32FC4
- kFlow = 9, // 16SC2
- kFlow2 = 10, // 16SC2
- kEnergy = 10, // 32F
- kMask = 11, // 32U
- kDensity = 12, // 32F
- kSupport1 = 13, // 8UC4 (currently)
- kSupport2 = 14, // 8UC4 (currently)
- kSegmentation = 15, // 32S?
- kNormals2 = 16, // 16FC4
+ kScreen = 4,
+ kNormals = 5, /// Normals for left-eye
+ kWeights = 6, /// Per pixel weighting
+ kConfidence = 7, /// Depth or disparity confidence
+ kContribution = 7,
+ kEnergyVector = 8,
+ kFlow = 9, /// Optical flow
+ kFlow2 = 10, /// Right optical flow
+ kEnergy = 10, /// Some energy measure
+ kMask = 11, /// Pixel masking
+ kDensity = 12, /// Point density
+ kSupport1 = 13, /// Cross support coordinates
+ kSupport2 = 14,
+ kSegmentation = 15, /// Segment identifiers
+ kNormals2 = 16, /// Right-eye normals
kUNUSED1 = 17,
- kDisparity = 18,
- kSmoothing = 19, // 32F
+ kDisparity = 18, /// Original disparity
+ kSmoothing = 19, /// Smoothing magnitude
kUNUSED2 = 20,
- kOverlay = 21, // 8UC4
- kGroundTruth = 22, // 32F
+ kOverlay = 21, /// Colour overlay image
+ kGroundTruth = 22, /// Ground truth
/* Audio Channels */
- kAudioMono = 32, // Deprecated, will always be stereo
+ kAudioMono = 32,
kAudioStereo = 33,
- kAudio = 33,
+ kAudio = 33, /// Stereo audio data
/* Special data channels */
- kConfiguration = 64, // JSON Data
+ kConfiguration = 64, /// Device URI list
kSettings1 = 65,
- kCalibration = 65, // Camera Parameters Object
- kPose = 66, // Eigen::Matrix4d, camera transform
+ kCalibration = 65, /// Camera Parameters Object
+ kPose = 66, /// Eigen::Matrix4d, camera transform
kSettings2 = 67,
- kCalibration2 = 67, // Right camera parameters
+ kCalibration2 = 67, /// Right camera parameters
kIndex = 68,
- kControl = 69, // For stream and encoder control
+ kControl = 69, /// For stream and encoder control
kSettings3 = 70,
- kMetaData = 71, // Map of string pairs (key, value)
- kCapabilities = 72, // Unordered set of int capabilities
- kCalibrationData = 73, // Just for stereo intrinsics/extrinsics etc
- kThumbnail = 74, // Small JPG thumbnail, sometimes updated
- kOverlaySelect = 75, // Choose what to have in the overlay channel
- kStartTime = 76, // Stream start timestamp
- kUser = 77, // User currently controlling the stream
-
- kAccelerometer = 90, // Eigen::Vector3f
- kGyroscope = 91, // Eigen::Vector3f
+ kMetaData = 71, /// Map of string pairs (key, value)
+ kCapabilities = 72, /// Unordered set of int capabilities
+ kCalibrationData = 73, /// Just for stereo intrinsics/extrinsics etc
+ kThumbnail = 74, /// Small JPG thumbnail, sometimes updated
+ kOverlaySelect = 75, /// Choose what to have in the overlay channel
+ kStartTime = 76, /// Stream start timestamp
+ kUser = 77, /// User currently controlling the stream
+ kName = 78, /// Alternative to meta data channel
+ kTags = 79, /// Array of string tag names
+ KDescription = 80,
+ kSelectPoint = 81, /// A selected X,Y screen point
+
+ kAccelerometer = 90, /// Eigen::Vector3f
+ kGyroscope = 91, /// Eigen::Vector3f
/* Camera Options */
- kBrightness = 100,
- kContrast = 101,
- kExposure = 102,
- kGain = 103,
- kWhiteBalance = 104,
- kAutoExposure = 105,
- kAutoWhiteBalance = 106,
- kCameraTemperature = 107,
+ kBrightness = 100, /// Camera brightness setting
+ kContrast = 101, /// Camera contrast setting
+ kExposure = 102, /// Camera exposure setting
+ kGain = 103, /// Camera gain setting
+ kWhiteBalance = 104, /// Camera white balance setting
+ kAutoExposure = 105, /// Camera auto exposure enabled
+ kAutoWhiteBalance = 106, /// Camera auto white balance enabled
+ kCameraTemperature = 107, /// Current camera temperature reading
/* Realsense Options */
- kRS2_LaserPower = 150,
- kRS2_MinDistance = 151,
- kRS2_MaxDistance = 152,
- kRS2_InterCamSync = 153,
- kRS2_PostSharpening = 154,
+ kRS2_LaserPower = 150, /// RealSense laser power
+ kRS2_MinDistance = 151, /// RealSense minimum depth
+ kRS2_MaxDistance = 152, /// RealSense maximum depth
+ kRS2_InterCamSync = 153, /// RealSense inter-camera sync mode
+ kRS2_PostSharpening = 154, /// RealSense post sharpening filter
/* Pylon Options 200 */
/* Audio Settings 300 */
/* Renderer Settings 400 */
- kRenderer_CameraType = 400, // stereo, normal, tile
- kRenderer_Visualisation = 401, // Pointcloud, mesh, other
- kRenderer_Engine = 402, // OpenGL, CUDA, other
- kRenderer_FPS = 403, // Frames per second
- kRenderer_View = 404, // Fixed viewpoint to one source
- kRenderer_Channel = 405, // Select overlay channel,
- kRenderer_Opacity = 406, // Opacity of overlay channel
- kRenderer_Sources = 407, // Which source devices to use
- kRenderer_Projection = 408, // 0 = normal, 1 = ortho, 2 = equirect
- kRenderer_Background = 409, // Background colour
- kRenderer_ShowBadColour = 420,
- kRenderer_CoolEffect = 421,
- kRenderer_EffectColour = 422,
- kRenderer_ShowColourWeights = 423,
- kRenderer_TriangleLimit = 424,
- kRenderer_DisconDisparities = 425,
- kRenderer_NormalWeightColour = 426,
- kRenderer_ChannelWeights = 427,
- kRenderer_AccumFunc = 428,
+ kRenderer_CameraType = 400, // stereo, normal, tile
+ kRenderer_Visualisation = 401, // Pointcloud, mesh, other
+ kRenderer_Engine = 402, // OpenGL, CUDA, other
+ kRenderer_FPS = 403, // Frames per second
+ kRenderer_View = 404, // Fixed viewpoint to one source
+ kRenderer_Channel = 405, // Select overlay channel,
+ kRenderer_Opacity = 406, // Opacity of overlay channel
+ kRenderer_Sources = 407, // Which source devices to use
+ kRenderer_Projection = 408, // 0 = normal, 1 = ortho, 2 = equirect
+ kRenderer_Background = 409, // Background colour
+ kRenderer_ShowBadColour = 420,
+ kRenderer_CoolEffect = 421,
+ kRenderer_EffectColour = 422,
+ kRenderer_ShowColourWeights = 423,
+ kRenderer_TriangleLimit = 424,
+ kRenderer_DisconDisparities = 425,
+ kRenderer_NormalWeightColour = 426,
+ kRenderer_ChannelWeights = 427,
+ kRenderer_AccumFunc = 428,
+ kRenderer_Lights = 429,
+ kRenderer_Debug = 430, // Depends on the renderer engine
/* Pipeline Settings */
- kPipeline_Enable = 500,
- kPipeline_EnableMVMLS = 501,
- kPipeline_EnableAruco = 502,
+ kOperators = 500,
+
+ /* Clipping */
+ kClip_Box = 510,
+ kClip_Enabled = 511,
+ kClip_Colour = 512,
+
+ /* Fusion operator */
+ kFusion_Smoothing = 520,
+ kFusion_Iterations = 521,
+ kFusion_Carving = 522,
+ kFusion_ShowChanges = 523,
+
+ /* MVMLS Operator */
+ kMLS_DisconPixels = 540,
+ kMLS_ColourSmoothing = 541,
+ kMLS_Iterations = 542,
+ kMLS_Radius = 543,
+ kMLS_WindowSize = 544,
+ kMLS_MergeCorresponding = 545,
+ kMLS_Merge = 546,
+ kMLS_ConfidenceCull = 547,
+ kMLS_ColourSmooth2 = 548,
+ kMLS_SpatialSmooth = 549,
+ kMLS_SubPixel = 550,
+ kMLS_P1 = 551,
+ kMLS_P2 = 552,
+ kMLS_ShowConsistency = 553,
+ kMLS_ShowAdjustment = 554,
+
+ /* Masking operator */
+ kMask_DisconPixels = 560,
+ kMask_DisconThreshold = 561,
+ kMask_NoiseThreshold = 562,
+ kMask_AreaMax = 563,
+ kMask_BorderRect = 564,
+ kMask_MaskID = 565,
+ kMask_Radius = 566,
+ kMask_Invert = 570,
+
+ /* Aruco Operator */
+ kAruco_Dictionary = 580,
+ kAruco_EstimatePose = 581,
+ kAruco_MarkerSize = 582,
+
+ /* Poser operator */
+ kPoser_Identity = 590,
+ kPoser_Locked = 591,
+ kPoser_Inverse = 592,
/* Stereo video settings */
- kSGMResolution = 600,
- kStereoRectify = 601,
- kStereoRightPose = 602,
- kStereoRectifyCubic = 603,
- kVideoOffsetZ = 604,
- kVideoSize = 605,
-
- /* Sender settings */
- kSenderLosslessFloat = 700,
- kSenderLosslessColour = 701,
- kSenderIFrames = 702,
- kSenderCodecFloat = 703,
- kSenderCodecColour = 704,
- kSenderMaxBitrate = 705,
- kSenderFloatBitrateScale = 706,
+ kSGMResolution = 600,
+ kStereoRectify = 601,
+ kStereoRightPose = 602,
+ kStereoRectifyCubic = 603,
+ kVideoOffsetZ = 604,
+ kVideoSize = 605,
+
+ /* Pixel weights operator */
+ kWeights_DisconPixels = 610,
+ kWeights_DisconThreshold = 611,
+ kWeights_NoiseThreshold = 612,
+ kWeights_AreaMax = 613,
+ kWeights_UseDepth = 614,
+ kWeights_UseColour = 615,
+ kWeights_UseNoise = 616,
+ kWeights_UseNormals = 617,
+
+ /* Cross support operator */
+ kCross_UseDiscontinuity = 620,
+ kCross_VMax = 621,
+ kCross_HMax = 622,
+ kCross_Symmetric = 623,
+ kCross_Tau = 624,
/* Custom / user data channels */
diff --git a/src/channelUtils.cpp b/src/channelUtils.cpp
index 50dabb76826a38485a6934dabf0ecb7e43a18095..d0e343cecfc8681a6d0a99393885d0cf811826fe 100644
--- a/src/channelUtils.cpp
+++ b/src/channelUtils.cpp
@@ -124,6 +124,10 @@ static const std::unordered_map<Channel,ChannelInfo> info = {
{Channel::kOverlaySelect, {"OverlaySelect", -1}},
{Channel::kStartTime, {"StartTime", -1}},
{Channel::kUser, {"User", -1}},
+ {Channel::kName, {"Name", -1}},
+ {Channel::kTags, {"Tags", -1}},
+ {Channel::KDescription, {"Decription", -1}},
+ {Channel::kSelectPoint, {"SelectPoint", -1}},
{Channel::kBrightness, {"Brightness", -1}},
{Channel::kContrast, {"Contrast", -1}},
@@ -159,21 +163,74 @@ static const std::unordered_map<Channel,ChannelInfo> info = {
{Channel::kRenderer_NormalWeightColour, {"RenderNormalWeightColour", -1}},
{Channel::kRenderer_ChannelWeights, {"RenderChannelWeights", -1}},
{Channel::kRenderer_AccumFunc, {"RenderAccumFunc", -1}},
+ {Channel::kRenderer_Lights, {"RenderLights", -1}},
+ {Channel::kRenderer_Debug, {"RenderDebug", -1}},
- {Channel::kSGMResolution, {"SGMResolution", -1}},
- {Channel::kStereoRectify, {"StereoRectify", -1}},
- {Channel::kStereoRightPose, {"StereoRightPose", -1}},
- {Channel::kStereoRectifyCubic, {"StereoRectifyCubic", -1}},
- {Channel::kVideoOffsetZ, {"VideoOffsetZ", -1}},
- {Channel::kVideoSize, {"VideoSize", -1}},
-
- {Channel::kSenderLosslessFloat, {"SenderLosslessFloat", -1}},
- {Channel::kSenderLosslessColour, {"SenderLosslessColour", -1}},
- {Channel::kSenderIFrames, {"SenderIFrames", -1}},
- {Channel::kSenderCodecFloat, {"SenderCodecFloat", -1}},
- {Channel::kSenderCodecColour, {"SenderCodecColour", -1}},
- {Channel::kSenderMaxBitrate, {"SenderMaxBitrate", -1}},
- {Channel::kSenderFloatBitrateScale, {"SenderFloatBitrateScale", -1}},
+ {Channel::kOperators, {"Operators", -1}},
+
+ {Channel::kClip_Box, {"ClipBox", -1}},
+ {Channel::kClip_Enabled, {"ClipEnabled", -1}},
+ {Channel::kClip_Colour, {"ClipColour", -1}},
+
+ {Channel::kFusion_Smoothing, {"FusionSmoothing", -1}},
+ {Channel::kFusion_Iterations, {"FusionIterations", -1}},
+ {Channel::kFusion_Carving, {"FusionCarving", -1}},
+ {Channel::kFusion_ShowChanges, {"FusionShowChanges", -1}},
+
+ {Channel::kMLS_DisconPixels, {"MLSDisconPixels", -1}},
+ {Channel::kMLS_ColourSmoothing, {"MLSColourSmoothing", -1}},
+ {Channel::kMLS_Iterations, {"MLSIterations", -1}},
+ {Channel::kMLS_Radius, {"MLSRadius", -1}},
+ {Channel::kMLS_WindowSize, {"MLSWindowSize", -1}},
+ {Channel::kMLS_MergeCorresponding, {"MLSMergeCorresponding", -1}},
+ {Channel::kMLS_Merge, {"MLSMerge", -1}},
+ {Channel::kMLS_ConfidenceCull, {"MLSConfidenceCull", -1}},
+ {Channel::kMLS_ColourSmooth2, {"MLSColourSmooth2", -1}},
+ {Channel::kMLS_SpatialSmooth, {"MLSSpatialSmooth", -1}},
+ {Channel::kMLS_SubPixel, {"MLSSubPixel", -1}},
+ {Channel::kMLS_P1, {"MLSP1", -1}},
+ {Channel::kMLS_P2, {"MLSP2", -1}},
+ {Channel::kMLS_ShowConsistency, {"MLSShowConsistency", -1}},
+ {Channel::kMLS_ShowAdjustment, {"MLSShowAdjustment", -1}},
+
+ {Channel::kMask_DisconPixels, {"MaskDisconPixels", -1}},
+ {Channel::kMask_DisconThreshold, {"MaskDisconThreshold", -1}},
+ {Channel::kMask_NoiseThreshold, {"MaskNoiseThreshold", -1}},
+ {Channel::kMask_AreaMax, {"MaskAreaMax", -1}},
+ {Channel::kMask_BorderRect, {"MaskBorderRectangle", -1}},
+ {Channel::kMask_MaskID, {"MaskID", -1}},
+ {Channel::kMask_Radius, {"MaskRadius", -1}},
+ {Channel::kMask_Invert, {"MaskInvert", -1}},
+
+ {Channel::kAruco_Dictionary, {"ArucoDictionary", -1}},
+ {Channel::kAruco_EstimatePose, {"ArucoEstimatePose", -1}},
+ {Channel::kAruco_MarkerSize, {"ArucoMarkerSize", -1}},
+
+ {Channel::kPoser_Identity, {"PoserIdentity", -1}},
+ {Channel::kPoser_Locked, {"PoserLocked", -1}},
+ {Channel::kPoser_Inverse, {"PoserInverse", -1}},
+
+ {Channel::kSGMResolution, {"SGMResolution", -1}},
+ {Channel::kStereoRectify, {"StereoRectify", -1}},
+ {Channel::kStereoRightPose, {"StereoRightPose", -1}},
+ {Channel::kStereoRectifyCubic, {"StereoRectifyCubic", -1}},
+ {Channel::kVideoOffsetZ, {"VideoOffsetZ", -1}},
+ {Channel::kVideoSize, {"VideoSize", -1}},
+
+ {Channel::kWeights_DisconPixels, {"WeightsDisconPixels", -1}},
+ {Channel::kWeights_DisconThreshold, {"WeightsDisconThreshold", -1}},
+ {Channel::kWeights_NoiseThreshold, {"WeightsNoiseThreshold", -1}},
+ {Channel::kWeights_AreaMax, {"WeightsAreaMax", -1}},
+ {Channel::kWeights_UseDepth, {"WeightsUseDepth", -1}},
+ {Channel::kWeights_UseColour, {"WeightsUseColour", -1}},
+ {Channel::kWeights_UseNoise, {"WeightsUseNoise", -1}},
+ {Channel::kWeights_UseNormals, {"WeightsUseNormals", -1}},
+
+ {Channel::kCross_UseDiscontinuity, {"CrossUseDiscontinuity", -1}},
+ {Channel::kCross_VMax, {"CrossVMax", -1}},
+ {Channel::kCross_HMax, {"CrossHMax", -1}},
+ {Channel::kCross_Symmetric, {"CrossSymmetric", -1}},
+ {Channel::kCross_Tau, {"CrossTau", -1}},
{Channel::kData, {"Generic Data", -1}},
{Channel::kFaces, {"Faces", -1}},