From 03d31033554a1c29f21f69232d373ac3bc130e5e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 14 Mar 2020 14:57:49 +0200
Subject: [PATCH] Update example to write depth map
---
SDK/C/examples/image_write/main.cpp | 47 +++++++++++++++--------------
SDK/C/src/streams.cpp | 1 +
2 files changed, 26 insertions(+), 22 deletions(-)
diff --git a/SDK/C/examples/image_write/main.cpp b/SDK/C/examples/image_write/main.cpp
index da340f4d7..882feb48e 100644
--- a/SDK/C/examples/image_write/main.cpp
+++ b/SDK/C/examples/image_write/main.cpp
@@ -3,35 +3,38 @@
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
+static void ftlCheck(ftlError_t err) {
+ if (err != FTLERROR_OK) {
+ LOG(ERROR) << "FTL Stream Error: " << err;
+ exit(-1);
+ }
+}
+
int main(int argc, char **argv) {
ftlStream_t s = ftlCreateWriteStream("./out.ftl");
- if (!s) {
- LOG(ERROR) << "Create stream error: " << ftlGetLastStreamError(s);
- return -1;
- }
+ if (!s) ftlCheck(ftlGetLastStreamError(s));
- // Single red test image
- cv::Mat test_image(720, 1280, CV_8UC4, cv::Scalar(0,0,255,255));
+ // Two test images, red and green
+ cv::Mat test_image1(720, 1280, CV_8UC4, cv::Scalar(0,0,255,255));
+ cv::Mat test_image2(720, 1280, CV_8UC4, cv::Scalar(0,255,0,255));
- ftlError_t err;
+ // Two test depth maps
+ cv::Mat test_depth1(720, 1280, CV_32F, cv::Scalar(3.0f));
+ cv::Mat test_depth2(720, 1280, CV_32F, cv::Scalar(2.0f));
- err = ftlIntrinsicsWriteLeft(s, 0, 1280, 720, 300.0f, -1280.0f/2.0f, -720.0f/2.0f, 0.1f, 0.1f, 8.0f);
- if (err != FTLERROR_OK) {
- LOG(ERROR) << "Intrinsics write error: " << err;
- return -1;
- }
+ // Write red image
+ ftlCheck(ftlIntrinsicsWriteLeft(s, 0, 1280, 720, 300.0f, -1280.0f/2.0f, -720.0f/2.0f, 0.1f, 0.1f, 8.0f));
+ ftlCheck(ftlImageWrite(s, 0, FTLCHANNEL_Colour, FTLIMAGE_BGRA, test_image1.step, test_image1.data));
- err = ftlImageWrite(s, 0, FTLCHANNEL_Colour, FTLIMAGE_BGRA, test_image.step, test_image.data);
- if (err != FTLERROR_OK) {
- LOG(ERROR) << "Image write error: " << err;
- return -1;
- }
+ // Write green image
+ ftlCheck(ftlIntrinsicsWriteLeft(s, 1, 1280, 720, 300.0f, -1280.0f/2.0f, -720.0f/2.0f, 0.1f, 0.1f, 8.0f));
+ ftlCheck(ftlImageWrite(s, 1, FTLCHANNEL_Colour, FTLIMAGE_BGRA, test_image2.step, test_image2.data));
- err = ftlDestroyStream(s);
- if (err != FTLERROR_OK) {
- LOG(ERROR) << "Destroy stream error: " << err;
- return -1;
- }
+ // Write depth images
+ ftlCheck(ftlImageWrite(s, 0, FTLCHANNEL_Depth, FTLIMAGE_FLOAT, test_depth1.step, test_depth1.data));
+ ftlCheck(ftlImageWrite(s, 1, FTLCHANNEL_Depth, FTLIMAGE_FLOAT, test_depth2.step, test_depth2.data));
+
+ ftlCheck(ftlDestroyStream(s));
return 0;
}
diff --git a/SDK/C/src/streams.cpp b/SDK/C/src/streams.cpp
index 256bbc9f4..41bf3b668 100644
--- a/SDK/C/src/streams.cpp
+++ b/SDK/C/src/streams.cpp
@@ -122,6 +122,7 @@ ftlError_t ftlImageWrite(
if (img.empty()) return FTLERROR_STREAM_NO_DATA;
ftl::codecs::Channels<0> channels;
+ if (stream->stream->size() > static_cast<unsigned int>(stream->video_fs.id)) channels = stream->stream->selected(stream->video_fs.id);
channels += static_cast<ftl::codecs::Channel>(channel);
stream->stream->select(stream->video_fs.id, channels, true);
--
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