diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 8530915bfa14181d682fb1cad42f5e939d29184d..f35b4e539e8216b32106762b69ea7e2b028706eb 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -246,11 +246,29 @@ bool ftl::gui::Camera::setVR(bool on) {
if (on) {
setChannel(Channel::Right);
+ src_->set("baseline", baseline_);
+
+ Eigen::Matrix3d intrinsic;
+
+ intrinsic = getCameraMatrix(screen_->getVR(), vr::Eye_Left);
+ CHECK(intrinsic(0, 2) < 0 && intrinsic(1, 2) < 0);
+ src_->set("focal", intrinsic(0, 0));
+ src_->set("centre_x", intrinsic(0, 2));
+ src_->set("centre_y", intrinsic(1, 2));
+ LOG(INFO) << intrinsic;
+
+ intrinsic = getCameraMatrix(screen_->getVR(), vr::Eye_Right);
+ CHECK(intrinsic(0, 2) < 0 && intrinsic(1, 2) < 0);
+ src_->set("focal_right", intrinsic(0, 0));
+ src_->set("centre_x_right", intrinsic(0, 2));
+ src_->set("centre_y_right", intrinsic(1, 2));
+
vr_mode_ = true;
}
else {
vr_mode_ = false;
setChannel(Channel::Left); // reset to left channel
+ // todo restore camera params
}
return vr_mode_;
@@ -335,7 +353,7 @@ bool ftl::gui::Camera::thumbnail(cv::Mat &thumb) {
cv::flip(thumb, thumb, 0);
return true;
}
-#include <math.h>
+
const GLTexture &ftl::gui::Camera::captureFrame() {
float now = (float)glfwGetTime();
delta_ = now - ftime_;
@@ -343,7 +361,7 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
if (src_ && src_->isReady()) {
UNIQUE_LOCK(mutex_, lk);
-
+
if (isVR()) {
#ifdef HAVE_OPENVR
vr::VRCompositor()->WaitGetPoses(rTrackedDevicePose_, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
@@ -353,54 +371,46 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
Eigen::Matrix4d eye_l = ConvertSteamVRMatrixToMatrix4(
vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left));
- // assumes eye_l(3, 0) = -eye_r(3, 0)
- // => baseline = abs(2*eye_l(3, 0))
- float baseline_in = 2.0 * -eye_l(0, 3);
+ Eigen::Matrix4d eye_r = ConvertSteamVRMatrixToMatrix4(
+ vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left));
+
+ float baseline_in = 2.0 * eye_l(0, 3);
+
if (baseline_in != baseline_) {
baseline_ = baseline_in;
- // TODO: update baseline on ftl-reconstruct
+ src_->set("baseline", baseline_);
}
-
Eigen::Matrix4d pose = ConvertSteamVRMatrixToMatrix4(rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking);
+ Eigen::Vector3d ea = pose.block<3, 3>(0, 0).eulerAngles(0, 1, 2);
- // translate to L eye
- Eigen::Translation3d trans(eye_);
- Eigen::Affine3d t(trans);
- Eigen::Matrix4d viewPose = t.matrix() * pose;
-
- // flip rotation (different coordinate axis on OpenGL/ftl)
- // NOTE: image also flipped!
-
- Eigen::Vector3d ea = viewPose.block<3, 3>(0, 0).eulerAngles(0, 1, 2);
- //double rd = 180.0 / M_PI;
- //LOG(INFO) << "Camera X: " << ea[0] *rd << ", Y: " << ea[1] * rd << ", Z: " << ea[2] * rd;
-
// NOTE: If modified, should be verified with VR headset!
Eigen::Matrix3d R;
- R = Eigen::AngleAxisd(-ea[0], Eigen::Vector3d::UnitX()) *
- Eigen::AngleAxisd(ea[1], Eigen::Vector3d::UnitY()) *
- Eigen::AngleAxisd(ea[2], Eigen::Vector3d::UnitZ());
- viewPose.block<3, 3>(0, 0) = R;
-
- if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
+ R = Eigen::AngleAxisd(ea[0], Eigen::Vector3d::UnitX()) *
+ Eigen::AngleAxisd(-ea[1], Eigen::Vector3d::UnitY()) *
+ Eigen::AngleAxisd(-ea[2], Eigen::Vector3d::UnitZ());
+ //double rd = 180.0 / 3.141592;
+ //LOG(INFO) << "rotation x: " << ea[0] *rd << ", y: " << ea[1] * rd << ", z: " << ea[2] * rd;
+ // pose.block<3, 3>(0, 0) = R;
+
+ rotmat_.block(0, 0, 3, 3) = R;
+
} else {
//LOG(ERROR) << "No VR Pose";
}
#endif
- } else {
- // Lerp the Eye
- eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
- eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
- eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
+ }
- Eigen::Translation3d trans(eye_);
- Eigen::Affine3d t(trans);
- Eigen::Matrix4d viewPose = t.matrix() * rotmat_;
+ eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
+ eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
+ eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
- if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
- }
+ Eigen::Translation3d trans(eye_);
+ Eigen::Affine3d t(trans);
+ Eigen::Matrix4d viewPose = t.matrix() * rotmat_;
+ if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
+
src_->grab();
// When switching from right to depth, client may still receive
diff --git a/applications/gui/src/vr.hpp b/applications/gui/src/vr.hpp
index 2a66dfd054c954cdb40b4b8f0159ea1286ff3cfd..7e8f6314fb85765d438ae5f46915a8c215160127 100644
--- a/applications/gui/src/vr.hpp
+++ b/applications/gui/src/vr.hpp
@@ -38,11 +38,11 @@ static inline Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix
{
Eigen::Matrix4d matrixObj;
matrixObj <<
- matPose.m[0][0], matPose.m[0][1], matPose.m[0][2], 0.0,
- matPose.m[1][0], matPose.m[1][1], matPose.m[1][2], 0.0,
- matPose.m[2][0], matPose.m[2][1], matPose.m[2][2], 0.0,
- matPose.m[3][0], matPose.m[3][1], matPose.m[3][2], 1.0f;
- return matrixObj.transpose();
+ matPose.m[0][0], matPose.m[0][1], matPose.m[0][2], matPose.m[0][3],
+ matPose.m[1][0], matPose.m[1][1], matPose.m[1][2], matPose.m[1][3],
+ matPose.m[2][0], matPose.m[2][1], matPose.m[2][2], matPose.m[2][3],
+ 0.0, 0.0, 0.0, 1.0;
+ return matrixObj;
}
static inline Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix44_t &matPose )
@@ -53,5 +53,5 @@ static inline Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix
matPose.m[1][0], matPose.m[1][1], matPose.m[1][2], matPose.m[1][3],
matPose.m[2][0], matPose.m[2][1], matPose.m[2][2], matPose.m[2][3],
matPose.m[3][0], matPose.m[3][1], matPose.m[3][2], matPose.m[3][3];
- return matrixObj.transpose();
+ return matrixObj;
}
\ No newline at end of file
diff --git a/components/codecs/include/ftl/codecs/bitrates.hpp b/components/codecs/include/ftl/codecs/bitrates.hpp
index 8e41b13f7e4d9b77ad38cf23fdb2622d2107a537..976e039fc07b3dd15e7f4ede219ed06c27cff0fe 100644
--- a/components/codecs/include/ftl/codecs/bitrates.hpp
+++ b/components/codecs/include/ftl/codecs/bitrates.hpp
@@ -36,7 +36,9 @@ enum struct definition_t : uint8_t {
SD576 = 4,
SD480 = 5,
LD360 = 6,
- Any = 7
+ Any = 7,
+
+ HTC_VIVE = 8
// TODO: Add audio definitions
};
@@ -66,7 +68,7 @@ enum struct bitrate_t {
* the best quality and kPreset9 is the worst. The use of presets is useful for
* adaptive bitrate scenarios where the numbers are increased or decreased.
*/
-typedef uint8_t preset_t;
+typedef int8_t preset_t;
static const preset_t kPreset0 = 0;
static const preset_t kPreset1 = 1;
static const preset_t kPreset2 = 2;
@@ -81,6 +83,8 @@ static const preset_t kPresetBest = 0;
static const preset_t kPresetWorst = 9;
static const preset_t kPresetLQThreshold = 4;
+static const preset_t kPresetHTCVive = -1;
+
/**
* Represents the details of each preset codec configuration.
*/
diff --git a/components/codecs/src/bitrates.cpp b/components/codecs/src/bitrates.cpp
index 519c86712487a8be9285f28392342e6ca6c16713..035e850d1ff20f5e113db2f7004b85c8bbea3040 100644
--- a/components/codecs/src/bitrates.cpp
+++ b/components/codecs/src/bitrates.cpp
@@ -8,6 +8,10 @@ using ftl::codecs::preset_t;
using ftl::codecs::definition_t;
using ftl::codecs::codec_t;
+static const CodecPreset special_presets[] = {
+ definition_t::HTC_VIVE, definition_t::HTC_VIVE, bitrate_t::High, bitrate_t::High
+};
+
static const CodecPreset presets[] = {
definition_t::HD1080, definition_t::HD1080, bitrate_t::High, bitrate_t::High,
definition_t::HD1080, definition_t::HD720, bitrate_t::Standard, bitrate_t::Standard,
@@ -35,7 +39,9 @@ static const Resolution resolutions[] = {
1280, 720, // HD720
1024, 576, // SD576
854, 480, // SD480
- 640, 360 // LD360
+ 640, 360, // LD360
+ 0, 0, // ANY
+ 1852, 2056 // HTC_VIVE
};
int ftl::codecs::getWidth(definition_t d) {
@@ -47,6 +53,7 @@ int ftl::codecs::getHeight(definition_t d) {
}
const CodecPreset &ftl::codecs::getPreset(preset_t p) {
+ if (p < 0 && p >= -1) return special_presets[std::abs(p+1)];
if (p > kPresetWorst) return presets[kPresetWorst];
if (p < kPresetBest) return presets[kPresetBest];
return presets[p];
diff --git a/components/codecs/src/encoder.cpp b/components/codecs/src/encoder.cpp
index 3ebe40cf91ad75cec92937b013d3215de4104004..fdacc89596668937f8f465995f52f0955bbded01 100644
--- a/components/codecs/src/encoder.cpp
+++ b/components/codecs/src/encoder.cpp
@@ -73,5 +73,6 @@ bool Encoder::encode(const cv::Mat &in, preset_t preset,
const auto &settings = ftl::codecs::getPreset(preset);
const definition_t definition = (in.type() == CV_32F) ? settings.depth_res : settings.colour_res;
const bitrate_t bitrate = (in.type() == CV_32F) ? settings.depth_qual : settings.colour_qual;
+ LOG(INFO) << "Encode definition: " << (int)definition;
return encode(in, definition, bitrate, cb);
}
diff --git a/components/codecs/src/nvpipe_decoder.cpp b/components/codecs/src/nvpipe_decoder.cpp
index bd0273a2747ecd4501a8c755c4cccf1423ba7440..74519a8f2f3b1b5c8e4eb13ea23ff89778402825 100644
--- a/components/codecs/src/nvpipe_decoder.cpp
+++ b/components/codecs/src/nvpipe_decoder.cpp
@@ -62,6 +62,8 @@ bool NvPipeDecoder::decode(const ftl::codecs::Packet &pkt, cv::Mat &out) {
is_float_channel_ = is_float_frame;
last_definition_ = pkt.definition;
+ //LOG(INFO) << "DECODE RESOLUTION: (" << (int)pkt.definition << ") " << ftl::codecs::getWidth(pkt.definition) << "x" << ftl::codecs::getHeight(pkt.definition);
+
// Build a decoder instance of the correct kind
if (nv_decoder_ == nullptr) {
nv_decoder_ = NvPipe_CreateDecoder(
diff --git a/components/codecs/src/nvpipe_encoder.cpp b/components/codecs/src/nvpipe_encoder.cpp
index 1b91c13d083c2bb48a14805d480793a2b3215580..80bde1f9fac0dc63fc68db845b7e53084f6c59ec 100644
--- a/components/codecs/src/nvpipe_encoder.cpp
+++ b/components/codecs/src/nvpipe_encoder.cpp
@@ -72,7 +72,22 @@ void scaleDownAndPad(cv::Mat &in, cv::Mat &out) {
bool NvPipeEncoder::encode(const cv::Mat &in, definition_t odefinition, bitrate_t bitrate, const std::function<void(const ftl::codecs::Packet&)> &cb) {
cudaSetDevice(0);
- auto definition = _verifiedDefinition(odefinition, in);
+ auto definition = odefinition; //_verifiedDefinition(odefinition, in);
+
+ auto width = ftl::codecs::getWidth(definition);
+ auto height = ftl::codecs::getHeight(definition);
+
+ cv::Mat tmp;
+ if (width != in.cols || height != in.rows) {
+ LOG(WARNING) << "Mismatch resolution with encoding resolution";
+ if (in.type() == CV_32F) {
+ cv::resize(in, tmp, cv::Size(width,height), 0.0, 0.0, cv::INTER_NEAREST);
+ } else {
+ cv::resize(in, tmp, cv::Size(width,height));
+ }
+ } else {
+ tmp = in;
+ }
//LOG(INFO) << "Definition: " << ftl::codecs::getWidth(definition) << "x" << ftl::codecs::getHeight(definition);
@@ -80,17 +95,17 @@ bool NvPipeEncoder::encode(const cv::Mat &in, definition_t odefinition, bitrate_
LOG(ERROR) << "Missing data for Nvidia encoder";
return false;
}
- if (!_createEncoder(in, definition, bitrate)) return false;
+ if (!_createEncoder(tmp, definition, bitrate)) return false;
//LOG(INFO) << "NvPipe Encode: " << int(definition) << " " << in.cols;
- cv::Mat tmp;
- if (in.type() == CV_32F) {
- in.convertTo(tmp, CV_16UC1, 1000);
- } else if (in.type() == CV_8UC3) {
- cv::cvtColor(in, tmp, cv::COLOR_BGR2BGRA);
+ //cv::Mat tmp;
+ if (tmp.type() == CV_32F) {
+ tmp.convertTo(tmp, CV_16UC1, 1000);
+ } else if (tmp.type() == CV_8UC3) {
+ cv::cvtColor(tmp, tmp, cv::COLOR_BGR2BGRA);
} else {
- in.copyTo(tmp);
+ //in.copyTo(tmp);
}
// scale/pad to fit output format
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index a7e796dc97d86d65c8f4082beadbd801f3cf9ca0..30c47dc1179018a552d8b083245eac71ba56dae2 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -459,32 +459,25 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
{
float baseline = camera.baseline;
- Eigen::Translation3f translation(baseline, 0.0f, 0.0f);
- LOG(INFO) << translation.vector();
- Eigen::Affine3f transform(translation);
- LOG(INFO) << "\n" << transform.matrix();
- LOG(INFO) << "baseline " << baseline;
- Eigen::Matrix4f matrix = transform.matrix() * src->getPose().cast<float>();
+ //Eigen::Translation3f translation(baseline, 0.0f, 0.0f);
+ //Eigen::Affine3f transform(translation);
+ //Eigen::Matrix4f matrix = transform.matrix() * src->getPose().cast<float>();
+
+ Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
+ transform(0, 3) = baseline;
+ Eigen::Matrix4f matrix = transform.inverse() * src->getPose().cast<float>();
+
params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
+
+ params.camera = src->parameters(Channel::Right);
out.create<GpuMat>(Channel::Right, Format<uchar4>(camera.width, camera.height));
out.get<GpuMat>(Channel::Right).setTo(background_, cvstream);
_dibr(stream_); // Need to re-dibr due to pose change
_renderChannel(out, Channel::Left, Channel::Right, stream_);
-
- // renderFrame() expects to render right frame from left as well; Should
- // possibly add channel_in and channel_out parameters to renderFrame()?
- // (l/r swap as temporary fix)
- /*
- auto &tmp = out.get<GpuMat>(Channel::Left);
- swap(out.get<GpuMat>(Channel::Right), tmp);
- _renderChannel(params, out, Channel::Left, stream_);
- swap(tmp, out.get<GpuMat>(Channel::Right));
- */
- _renderChannel(out, Channel::Left, Channel::Right, stream_);
} else if (chan != Channel::None) {
if (ftl::codecs::isFloatChannel(chan)) {
out.create<GpuMat>(chan, Format<float>(camera.width, camera.height));
diff --git a/components/rgbd-sources/src/sources/net/net.cpp b/components/rgbd-sources/src/sources/net/net.cpp
index dd97e961812d186572052ccd44ac5af13678e661..5956114d57bc2b9bc0a0b10bee48fd7a29d6b470 100644
--- a/components/rgbd-sources/src/sources/net/net.cpp
+++ b/components/rgbd-sources/src/sources/net/net.cpp
@@ -107,12 +107,20 @@ bool NetSource::_getCalibration(Universe &net, const UUID &peer, const string &s
LOG(INFO) << "Calibration received: " << p.cx << ", " << p.cy << ", " << p.fx << ", " << p.fy;
- // Put calibration into config manually
- host_->getConfig()["focal"] = p.fx;
- host_->getConfig()["centre_x"] = p.cx;
- host_->getConfig()["centre_y"] = p.cy;
- host_->getConfig()["baseline"] = p.baseline;
- host_->getConfig()["doffs"] = p.doffs;
+ if (chan == Channel::Left) {
+ // Put calibration into config manually
+ host_->getConfig()["focal"] = p.fx;
+ host_->getConfig()["centre_x"] = p.cx;
+ host_->getConfig()["centre_y"] = p.cy;
+ host_->getConfig()["baseline"] = p.baseline;
+ host_->getConfig()["doffs"] = p.doffs;
+ } else {
+ host_->getConfig()["focal_right"] = p.fx;
+ host_->getConfig()["centre_x_right"] = p.cx;
+ host_->getConfig()["centre_y_right"] = p.cy;
+ host_->getConfig()["baseline_right"] = p.baseline;
+ host_->getConfig()["doffs_right"] = p.doffs;
+ }
return true;
} else {
@@ -138,6 +146,7 @@ NetSource::NetSource(ftl::rgbd::Source *host)
temperature_ = host->value("temperature", 6500);
default_quality_ = host->value("quality", 0);
last_bitrate_ = 0;
+ params_right_.width = 0;
decoder_c1_ = nullptr;
decoder_c2_ = nullptr;
@@ -156,6 +165,16 @@ NetSource::NetSource(ftl::rgbd::Source *host)
host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/focal", host_->getConfig()["focal"].dump());
});
+ host->on("centre_x", [this,host](const ftl::config::Event&) {
+ params_.cx = host_->value("centre_x", 0.0);
+ host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/centre_x", host_->getConfig()["centre_x"].dump());
+ });
+
+ host->on("centre_y", [this,host](const ftl::config::Event&) {
+ params_.cy = host_->value("centre_y", 0.0);
+ host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/centre_y", host_->getConfig()["centre_y"].dump());
+ });
+
host->on("doffs", [this,host](const ftl::config::Event&) {
params_.doffs = host_->value("doffs", params_.doffs);
host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/doffs", host_->getConfig()["doffs"].dump());
@@ -166,11 +185,25 @@ NetSource::NetSource(ftl::rgbd::Source *host)
host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/baseline", host_->getConfig()["baseline"].dump());
});
- host->on("doffs", [this,host](const ftl::config::Event&) {
- params_.doffs = host_->value("doffs", params_.doffs);
- host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/doffs", host_->getConfig()["doffs"].dump());
+ // Right parameters
+
+ host->on("focal_right", [this,host](const ftl::config::Event&) {
+ params_right_.fx = host_->value("focal_right", 0.0);
+ params_right_.fy = params_right_.fx;
+ host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/focal_right", host_->getConfig()["focal_right"].dump());
+ });
+
+ host->on("centre_x_right", [this,host](const ftl::config::Event&) {
+ params_right_.cx = host_->value("centre_x_right", 0.0);
+ host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/centre_x_right", host_->getConfig()["centre_x_right"].dump());
});
+ host->on("centre_y_right", [this,host](const ftl::config::Event&) {
+ params_right_.cy = host_->value("centre_y_right", 0.0);
+ host_->getNet()->send(peer_, "update_cfg", host_->getURI() + "/centre_y_right", host_->getConfig()["centre_y_right"].dump());
+ });
+
+
host->on("quality", [this,host](const ftl::config::Event&) {
default_quality_ = host->value("quality", 0);
});
@@ -356,12 +389,13 @@ void NetSource::setPose(const Eigen::Matrix4d &pose) {
ftl::rgbd::Camera NetSource::parameters(ftl::codecs::Channel chan) {
if (chan == ftl::codecs::Channel::Right) {
- auto uri = host_->get<string>("uri");
- if (!uri) return params_;
+ if (params_right_.width == 0) {
+ auto uri = host_->get<string>("uri");
+ if (!uri) return params_;
- ftl::rgbd::Camera params;
- _getCalibration(*host_->getNet(), peer_, *uri, params, chan);
- return params;
+ _getCalibration(*host_->getNet(), peer_, *uri, params_right_, chan);
+ }
+ return params_right_;
} else {
return params_;
}
@@ -386,6 +420,7 @@ void NetSource::_updateURI() {
peer_ = *p;
has_calibration_ = _getCalibration(*host_->getNet(), peer_, *uri, params_, ftl::codecs::Channel::Left);
+ _getCalibration(*host_->getNet(), peer_, *uri, params_right_, ftl::codecs::Channel::Right);
host_->getNet()->bind(*uri, [this](short ttimeoff, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
//if (chunk == -1) {
diff --git a/components/rgbd-sources/src/sources/net/net.hpp b/components/rgbd-sources/src/sources/net/net.hpp
index 0f867a9ab08fee843ba229ba47636938ef04abfa..469902a5709f1ce9674d4fcafb0b36b957b5f7a4 100644
--- a/components/rgbd-sources/src/sources/net/net.hpp
+++ b/components/rgbd-sources/src/sources/net/net.hpp
@@ -58,6 +58,7 @@ class NetSource : public detail::Source {
int maxN_;
int default_quality_;
ftl::codecs::Channel prev_chan_;
+ ftl::rgbd::Camera params_right_;
ftl::rgbd::detail::ABRController abr_;
int last_bitrate_;
diff --git a/components/rgbd-sources/src/sources/virtual/virtual.cpp b/components/rgbd-sources/src/sources/virtual/virtual.cpp
index afea7e17c485b7a1a6ae050c02e61372bb5d4604..17ce33638fbc1cfc934beb93243399cf93151118 100644
--- a/components/rgbd-sources/src/sources/virtual/virtual.cpp
+++ b/components/rgbd-sources/src/sources/virtual/virtual.cpp
@@ -3,12 +3,26 @@
using ftl::rgbd::VirtualSource;
using ftl::rgbd::Source;
using ftl::codecs::Channel;
+using ftl::rgbd::Camera;
class VirtualImpl : public ftl::rgbd::detail::Source {
public:
explicit VirtualImpl(ftl::rgbd::Source *host, const ftl::rgbd::Camera ¶ms) : ftl::rgbd::detail::Source(host) {
params_ = params;
+
+ params_right_.width = host->value("width", 1280);
+ params_right_.height = host->value("height", 720);
+ params_right_.fx = host->value("focal_right", 700.0f);
+ params_right_.fy = params_right_.fx;
+ params_right_.cx = host->value("centre_x_right", -(double)params_.width / 2.0);
+ params_right_.cy = host->value("centre_y_right", -(double)params_.height / 2.0);
+ params_right_.minDepth = host->value("minDepth", 0.1f);
+ params_right_.maxDepth = host->value("maxDepth", 20.0f);
+ params_right_.doffs = 0;
+ params_right_.baseline = host->value("baseline", 0.0f);
+
capabilities_ = ftl::rgbd::kCapVideo | ftl::rgbd::kCapStereo;
+
if (!host->value("locked", false)) capabilities_ |= ftl::rgbd::kCapMovable;
host->on("baseline", [this](const ftl::config::Event&) {
params_.baseline = host_->value("baseline", 0.0f);
@@ -19,6 +33,27 @@ class VirtualImpl : public ftl::rgbd::detail::Source {
params_.fy = params_.fx;
});
+ host->on("centre_x", [this](const ftl::config::Event&) {
+ params_.cx = host_->value("centre_x", 0.0f);
+ });
+
+ host->on("centre_y", [this](const ftl::config::Event&) {
+ params_.cy = host_->value("centre_y", 0.0f);
+ });
+
+ host->on("focal_right", [this](const ftl::config::Event&) {
+ params_right_.fx = host_->value("focal_right", 700.0f);
+ params_right_.fy = params_right_.fx;
+ });
+
+ host->on("centre_x_right", [this](const ftl::config::Event&) {
+ params_right_.cx = host_->value("centre_x_right", 0.0f);
+ });
+
+ host->on("centre_y_right", [this](const ftl::config::Event&) {
+ params_right_.cy = host_->value("centre_y_right", 0.0f);
+ });
+
}
~VirtualImpl() {
@@ -65,14 +100,32 @@ class VirtualImpl : public ftl::rgbd::detail::Source {
return true;
}
+ Camera parameters(ftl::codecs::Channel c) {
+ return (c == Channel::Left) ? params_ : params_right_;
+ }
+
bool isReady() override { return true; }
std::function<void(ftl::rgbd::Frame &)> callback;
ftl::rgbd::Frame frame;
+
+ ftl::rgbd::Camera params_right_;
};
VirtualSource::VirtualSource(ftl::config::json_t &cfg) : Source(cfg) {
auto params = params_;
+
+ params_.width = value("width", 1280);
+ params_.height = value("height", 720);
+ params_.fx = value("focal", 700.0f);
+ params_.fy = params_.fx;
+ params_.cx = value("centre_x", -(double)params_.width / 2.0);
+ params_.cy = value("centre_y", -(double)params_.height / 2.0);
+ params_.minDepth = value("minDepth", 0.1f);
+ params_.maxDepth = value("maxDepth", 20.0f);
+ params_.doffs = 0;
+ params_.baseline = value("baseline", 0.0f);
+
impl_ = new VirtualImpl(this, params);
}
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index c446445c9566f8b3560fc9b8f0b4123eaa427fa2..939252d77a6704bf7c9c5a2202ec72a6c45562a8 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -127,6 +127,20 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
//net->bind("ping_streamer", [this](unsigned long long time) -> unsigned long long {
// return time;
//});
+
+ on("hq_bitrate", [this](const ftl::config::Event &e) {
+ UNIQUE_LOCK(mutex_,ulk);
+ for (auto &s : sources_) {
+ s.second->hq_bitrate = value("hq_bitrate", ftl::codecs::kPresetBest);
+ }
+ });
+
+ on("lq_bitrate", [this](const ftl::config::Event &e) {
+ UNIQUE_LOCK(mutex_,ulk);
+ for (auto &s : sources_) {
+ s.second->lq_bitrate = value("lq_bitrate", ftl::codecs::kPresetWorst);
+ }
+ });
}
Streamer::~Streamer() {
@@ -166,6 +180,10 @@ void Streamer::add(Source *src) {
s->clientCount = 0;
s->hq_count = 0;
s->lq_count = 0;
+
+ s->hq_bitrate = value("hq_bitrate", ftl::codecs::kPresetBest);
+ s->lq_bitrate = value("lq_bitrate", ftl::codecs::kPresetWorst);
+
sources_[src->getID()] = s;
group_.addSource(src);