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Commit e0de0566 authored by Nicolas Pope's avatar Nicolas Pope
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Merge branch 'feature/update-channels' into 'main' 

Add new channels and names

See merge request beyondaka/beyond-protocol!38
parents 02e8f497 05ada08d
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include/ftl/protocol/channels.hpp
+ 150
− 90
View file @ e0de0566
...@@ -15,124 +15,184 @@ namespace protocol { ...@@ -15,124 +15,184 @@ namespace protocol {
enum struct Channel : int { enum struct Channel : int {
/* Video Channels */ /* Video Channels */
kNone = -1, kNone = -1,
kColour = 0, // 8UC3 or 8UC4 kColour = 0, /// Left-eye colour video
kLeft = 0, kLeft = 0,
kDepth = 1, // 32S or 32F kDepth = 1, /// Left-eye depth
kRight = 2, // 8UC3 or 8UC4 kRight = 2, /// Right-eye colour video
kColour2 = 2, kColour2 = 2,
kDepth2 = 3, kDepth2 = 3, /// Right-eye depth
kDeviation = 4, kDeviation = 4,
kScreen = 4, // 16SC2 kScreen = 4,
kNormals = 5, // 16FC4 kNormals = 5, /// Normals for left-eye
kWeights = 6, // short kWeights = 6, /// Per pixel weighting
kConfidence = 7, // 32F kConfidence = 7, /// Depth or disparity confidence
kContribution = 7, // 32F kContribution = 7,
kEnergyVector = 8, // 32FC4 kEnergyVector = 8,
kFlow = 9, // 16SC2 kFlow = 9, /// Optical flow
kFlow2 = 10, // 16SC2 kFlow2 = 10, /// Right optical flow
kEnergy = 10, // 32F kEnergy = 10, /// Some energy measure
kMask = 11, // 32U kMask = 11, /// Pixel masking
kDensity = 12, // 32F kDensity = 12, /// Point density
kSupport1 = 13, // 8UC4 (currently) kSupport1 = 13, /// Cross support coordinates
kSupport2 = 14, // 8UC4 (currently) kSupport2 = 14,
kSegmentation = 15, // 32S? kSegmentation = 15, /// Segment identifiers
kNormals2 = 16, // 16FC4 kNormals2 = 16, /// Right-eye normals
kUNUSED1 = 17, kUNUSED1 = 17,
kDisparity = 18, kDisparity = 18, /// Original disparity
kSmoothing = 19, // 32F kSmoothing = 19, /// Smoothing magnitude
kUNUSED2 = 20, kUNUSED2 = 20,
kOverlay = 21, // 8UC4 kOverlay = 21, /// Colour overlay image
kGroundTruth = 22, // 32F kGroundTruth = 22, /// Ground truth
/* Audio Channels */ /* Audio Channels */
kAudioMono = 32, // Deprecated, will always be stereo kAudioMono = 32,
kAudioStereo = 33, kAudioStereo = 33,
kAudio = 33, kAudio = 33, /// Stereo audio data
/* Special data channels */ /* Special data channels */
kConfiguration = 64, // JSON Data kConfiguration = 64, /// Device URI list
kSettings1 = 65, kSettings1 = 65,
kCalibration = 65, // Camera Parameters Object kCalibration = 65, /// Camera Parameters Object
kPose = 66, // Eigen::Matrix4d, camera transform kPose = 66, /// Eigen::Matrix4d, camera transform
kSettings2 = 67, kSettings2 = 67,
kCalibration2 = 67, // Right camera parameters kCalibration2 = 67, /// Right camera parameters
kIndex = 68, kIndex = 68,
kControl = 69, // For stream and encoder control kControl = 69, /// For stream and encoder control
kSettings3 = 70, kSettings3 = 70,
kMetaData = 71, // Map of string pairs (key, value) kMetaData = 71, /// Map of string pairs (key, value)
kCapabilities = 72, // Unordered set of int capabilities kCapabilities = 72, /// Unordered set of int capabilities
kCalibrationData = 73, // Just for stereo intrinsics/extrinsics etc kCalibrationData = 73, /// Just for stereo intrinsics/extrinsics etc
kThumbnail = 74, // Small JPG thumbnail, sometimes updated kThumbnail = 74, /// Small JPG thumbnail, sometimes updated
kOverlaySelect = 75, // Choose what to have in the overlay channel kOverlaySelect = 75, /// Choose what to have in the overlay channel
kStartTime = 76, // Stream start timestamp kStartTime = 76, /// Stream start timestamp
kUser = 77, // User currently controlling the stream kUser = 77, /// User currently controlling the stream
kName = 78, /// Alternative to meta data channel
kAccelerometer = 90, // Eigen::Vector3f kTags = 79, /// Array of string tag names
kGyroscope = 91, // Eigen::Vector3f KDescription = 80,
kSelectPoint = 81, /// A selected X,Y screen point
kAccelerometer = 90, /// Eigen::Vector3f
kGyroscope = 91, /// Eigen::Vector3f
/* Camera Options */ /* Camera Options */
kBrightness = 100, kBrightness = 100, /// Camera brightness setting
kContrast = 101, kContrast = 101, /// Camera contrast setting
kExposure = 102, kExposure = 102, /// Camera exposure setting
kGain = 103, kGain = 103, /// Camera gain setting
kWhiteBalance = 104, kWhiteBalance = 104, /// Camera white balance setting
kAutoExposure = 105, kAutoExposure = 105, /// Camera auto exposure enabled
kAutoWhiteBalance = 106, kAutoWhiteBalance = 106, /// Camera auto white balance enabled
kCameraTemperature = 107, kCameraTemperature = 107, /// Current camera temperature reading
/* Realsense Options */ /* Realsense Options */
kRS2_LaserPower = 150, kRS2_LaserPower = 150, /// RealSense laser power
kRS2_MinDistance = 151, kRS2_MinDistance = 151, /// RealSense minimum depth
kRS2_MaxDistance = 152, kRS2_MaxDistance = 152, /// RealSense maximum depth
kRS2_InterCamSync = 153, kRS2_InterCamSync = 153, /// RealSense inter-camera sync mode
kRS2_PostSharpening = 154, kRS2_PostSharpening = 154, /// RealSense post sharpening filter
/* Pylon Options 200 */ /* Pylon Options 200 */
/* Audio Settings 300 */ /* Audio Settings 300 */
/* Renderer Settings 400 */ /* Renderer Settings 400 */
kRenderer_CameraType = 400, // stereo, normal, tile kRenderer_CameraType = 400, // stereo, normal, tile
kRenderer_Visualisation = 401, // Pointcloud, mesh, other kRenderer_Visualisation = 401, // Pointcloud, mesh, other
kRenderer_Engine = 402, // OpenGL, CUDA, other kRenderer_Engine = 402, // OpenGL, CUDA, other
kRenderer_FPS = 403, // Frames per second kRenderer_FPS = 403, // Frames per second
kRenderer_View = 404, // Fixed viewpoint to one source kRenderer_View = 404, // Fixed viewpoint to one source
kRenderer_Channel = 405, // Select overlay channel, kRenderer_Channel = 405, // Select overlay channel,
kRenderer_Opacity = 406, // Opacity of overlay channel kRenderer_Opacity = 406, // Opacity of overlay channel
kRenderer_Sources = 407, // Which source devices to use kRenderer_Sources = 407, // Which source devices to use
kRenderer_Projection = 408, // 0 = normal, 1 = ortho, 2 = equirect kRenderer_Projection = 408, // 0 = normal, 1 = ortho, 2 = equirect
kRenderer_Background = 409, // Background colour kRenderer_Background = 409, // Background colour
kRenderer_ShowBadColour = 420, kRenderer_ShowBadColour = 420,
kRenderer_CoolEffect = 421, kRenderer_CoolEffect = 421,
kRenderer_EffectColour = 422, kRenderer_EffectColour = 422,
kRenderer_ShowColourWeights = 423, kRenderer_ShowColourWeights = 423,
kRenderer_TriangleLimit = 424, kRenderer_TriangleLimit = 424,
kRenderer_DisconDisparities = 425, kRenderer_DisconDisparities = 425,
kRenderer_NormalWeightColour = 426, kRenderer_NormalWeightColour = 426,
kRenderer_ChannelWeights = 427, kRenderer_ChannelWeights = 427,
kRenderer_AccumFunc = 428, kRenderer_AccumFunc = 428,
kRenderer_Lights = 429,
kRenderer_Debug = 430, // Depends on the renderer engine
/* Pipeline Settings */ /* Pipeline Settings */
kPipeline_Enable = 500, kOperators = 500,
kPipeline_EnableMVMLS = 501,
kPipeline_EnableAruco = 502, /* 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 */ /* Stereo video settings */
kSGMResolution = 600, kSGMResolution = 600,
kStereoRectify = 601, kStereoRectify = 601,
kStereoRightPose = 602, kStereoRightPose = 602,
kStereoRectifyCubic = 603, kStereoRectifyCubic = 603,
kVideoOffsetZ = 604, kVideoOffsetZ = 604,
kVideoSize = 605, kVideoSize = 605,
/* Sender settings */ /* Pixel weights operator */
kSenderLosslessFloat = 700, kWeights_DisconPixels = 610,
kSenderLosslessColour = 701, kWeights_DisconThreshold = 611,
kSenderIFrames = 702, kWeights_NoiseThreshold = 612,
kSenderCodecFloat = 703, kWeights_AreaMax = 613,
kSenderCodecColour = 704, kWeights_UseDepth = 614,
kSenderMaxBitrate = 705, kWeights_UseColour = 615,
kSenderFloatBitrateScale = 706, 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 */ /* Custom / user data channels */
......
src/channelUtils.cpp
+ 71
− 14
View file @ e0de0566
...@@ -124,6 +124,10 @@ static const std::unordered_map<Channel,ChannelInfo> info = { ...@@ -124,6 +124,10 @@ static const std::unordered_map<Channel,ChannelInfo> info = {
{Channel::kOverlaySelect, {"OverlaySelect", -1}}, {Channel::kOverlaySelect, {"OverlaySelect", -1}},
{Channel::kStartTime, {"StartTime", -1}}, {Channel::kStartTime, {"StartTime", -1}},
{Channel::kUser, {"User", -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::kBrightness, {"Brightness", -1}},
{Channel::kContrast, {"Contrast", -1}}, {Channel::kContrast, {"Contrast", -1}},
...@@ -159,21 +163,74 @@ static const std::unordered_map<Channel,ChannelInfo> info = { ...@@ -159,21 +163,74 @@ static const std::unordered_map<Channel,ChannelInfo> info = {
{Channel::kRenderer_NormalWeightColour, {"RenderNormalWeightColour", -1}}, {Channel::kRenderer_NormalWeightColour, {"RenderNormalWeightColour", -1}},
{Channel::kRenderer_ChannelWeights, {"RenderChannelWeights", -1}}, {Channel::kRenderer_ChannelWeights, {"RenderChannelWeights", -1}},
{Channel::kRenderer_AccumFunc, {"RenderAccumFunc", -1}}, {Channel::kRenderer_AccumFunc, {"RenderAccumFunc", -1}},
{Channel::kRenderer_Lights, {"RenderLights", -1}},
{Channel::kRenderer_Debug, {"RenderDebug", -1}},
{Channel::kSGMResolution, {"SGMResolution", -1}}, {Channel::kOperators, {"Operators", -1}},
{Channel::kStereoRectify, {"StereoRectify", -1}},
{Channel::kStereoRightPose, {"StereoRightPose", -1}}, {Channel::kClip_Box, {"ClipBox", -1}},
{Channel::kStereoRectifyCubic, {"StereoRectifyCubic", -1}}, {Channel::kClip_Enabled, {"ClipEnabled", -1}},
{Channel::kVideoOffsetZ, {"VideoOffsetZ", -1}}, {Channel::kClip_Colour, {"ClipColour", -1}},
{Channel::kVideoSize, {"VideoSize", -1}},
{Channel::kFusion_Smoothing, {"FusionSmoothing", -1}},
{Channel::kSenderLosslessFloat, {"SenderLosslessFloat", -1}}, {Channel::kFusion_Iterations, {"FusionIterations", -1}},
{Channel::kSenderLosslessColour, {"SenderLosslessColour", -1}}, {Channel::kFusion_Carving, {"FusionCarving", -1}},
{Channel::kSenderIFrames, {"SenderIFrames", -1}}, {Channel::kFusion_ShowChanges, {"FusionShowChanges", -1}},
{Channel::kSenderCodecFloat, {"SenderCodecFloat", -1}},
{Channel::kSenderCodecColour, {"SenderCodecColour", -1}}, {Channel::kMLS_DisconPixels, {"MLSDisconPixels", -1}},
{Channel::kSenderMaxBitrate, {"SenderMaxBitrate", -1}}, {Channel::kMLS_ColourSmoothing, {"MLSColourSmoothing", -1}},
{Channel::kSenderFloatBitrateScale, {"SenderFloatBitrateScale", -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::kData, {"Generic Data", -1}},
{Channel::kFaces, {"Faces", -1}}, {Channel::kFaces, {"Faces", -1}},
......
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