diff --git a/python/.gitignore b/python/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..7e99e367f8443d86e5e8825b9fda39dfbb39630d
--- /dev/null
+++ b/python/.gitignore
@@ -0,0 +1 @@
+*.pyc
\ No newline at end of file
diff --git a/python/ftl/ftlstream.py b/python/ftl/ftlstream.py
index 7ab436e0063b9e30e505398f359efd688aad1f68..2d6674e80d421f46e5768e72ea6adfc87384c8f0 100644
--- a/python/ftl/ftlstream.py
+++ b/python/ftl/ftlstream.py
@@ -2,6 +2,8 @@ import msgpack
import numpy as np
+import struct
+
from enum import IntEnum
from collections import namedtuple
from . libde265 import Decoder
@@ -16,7 +18,8 @@ except ImportError:
def _ycrcb2rgb(img):
''' YCrCb to RGB, based on OpenCV documentation definition.
- Note: It seems this implementation is not perfectly equivalent to OpenCV's
+ Note: It seems this implementation is not perfectly equivalent to
+ OpenCV's
'''
rgb = np.zeros(img.shape, np.float)
@@ -34,22 +37,43 @@ except ImportError:
# FTL definitions
-_packet = namedtuple("Packet", ["codec", "definition", "block_total", "block_number", "flags", "data"])
-_stream_packet = namedtuple("StreamPacket", ["timestamp", "streamID", "chanel_count", "channel"])
+# components/rgbd-sources/include/ftl/rgbd/camera.hpp
+_Camera = namedtuple("Camera", ["fx", "fy", "cx", "cy", "width", "height",
+ "min_depth", "max_depth", "baseline", "doffs"])
+
+# components/codecs/include/ftl/codecs/packet.hpp
+_packet = namedtuple("Packet", ["codec", "definition", "block_total",
+ "block_number", "flags", "data"])
+
+_stream_packet = namedtuple("StreamPacket", ["timestamp", "streamID",
+ "chanel_count", "channel"])
+
+# components/codecs/include/ftl/codecs/bitrates.hpp
+class _codec_t(IntEnum):
+ JPG = 0
+ PNG = 1
+ H264 = 2
+ HEVC = 3
+ WAV = 4
+ JSON = 100
+ CALIBRATION = 101
+ POSE = 102
+ RAW = 103
_definition_t = {
- 0 : (),
- 1 : (),
+ 0 : (7680, 4320),
+ 1 : (2160, 3840),
2 : (1080, 1920),
3 : (720, 1280),
- 4 : (),
- 5 : (),
- 6 : (),
- 7 : (),
- 8 : ()
+ 4 : (576, 1024),
+ 5 : (480, 854),
+ 6 : (360, 640),
+ 7 : (0, 0),
+ 8 : (2056, 1852)
}
-class NALType(IntEnum):
+# components/codecs/include/ftl/codecs/hevc.hpp
+class _NALType(IntEnum):
CODED_SLICE_TRAIL_N = 0
CODED_SLICE_TRAIL_R = 1
@@ -129,14 +153,19 @@ def get_NAL_type(data):
if not isinstance(data, bytes):
raise ValueError("expected bytes")
- return NALType((data[4] >> 1) & 0x3f)
+ return _NALType((data[4] >> 1) & 0x3f)
class FTLStream:
+ ''' FTL file reader '''
+
def __init__(self, file):
self._file = open(file, "br")
self._decoders = {}
self._frames = {}
-
+ self._calibration = {}
+ self._pose = {}
+ self._ts = -1
+
try:
magic = self._file.read(5)
if magic[:4] != bytearray(ord(c) for c in "FTLF"):
@@ -158,14 +187,30 @@ class FTLStream:
return _stream_packet._make(v1), _packet._make(v2)
def _update_calib(self, sp, p):
- ''' Update calibration '''
- pass
-
+ ''' Update calibration.
+
+ todo: fix endianess
+ '''
+
+ calibration = struct.unpack("@ddddIIdddd", p.data[:(4*8+2*4+4*8)])
+ self._calibration[sp.streamID] = _Camera._make(calibration)
+
def _update_pose(self, sp, p):
- ''' Update pose '''
- pass
+ ''' Update pose
+
+ todo: fix endianess
+ '''
+
+ pose = np.asarray(struct.unpack("@16d", p.data[:(16*8)]),
+ dtype=np.float64)
+ pose = pose.reshape((4, 4), order='F') # Eigen
+
+ self._pose[sp.streamID] = pose
- def _decode_frame_hevc(self, sp, p):
+ def _process_json(self, sp, p):
+ raise NotImplementedError("json decoding not implemented")
+
+ def _push_data_hevc(self, sp, p):
''' Decode HEVC frame '''
k = (sp.streamID, sp.channel)
@@ -174,19 +219,29 @@ class FTLStream:
self._decoders[k] = Decoder(_definition_t[p.definition])
decoder = self._decoders[k]
-
decoder.push_data(p.data)
- decoder.decode()
-
- img = decoder.get_next_picture()
-
- if img is not None:
- self._frames[k] = _ycrcb2rgb(img)
+ def _decode_hevc(self):
+ for stream, decoder in self._decoders.items():
+ decoder.decode()
+ img = decoder.get_next_picture()
+
+ if img is not None:
+ self._frames[stream] = _ycrcb2rgb(img)
+
def _flush_decoders(self):
for decoder in self._decoders.values():
decoder.flush_data()
-
+
+ def seek(self, ts):
+ ''' Read until timestamp reached '''
+ if self._ts >= ts:
+ raise Exception("trying to seek to earlier timestamp")
+
+ while self.read():
+ if self._ts >= ts:
+ break
+
def read(self):
'''
Reads data for until the next timestamp. Returns False if there is no
@@ -198,29 +253,30 @@ class FTLStream:
self._frames = {}
- ts = self._sp.timestamp
- ex = None
+ self._ts = self._sp.timestamp
+ ex = []
- while self._sp.timestamp == ts:
+ while self._sp.timestamp == self._ts:
+ # TODO: Can source be removed?
+
try:
- if self._p.codec == 100: # JSON
- NotImplementedError("json decoding not implemented")
+ if self._p.codec == _codec_t.JSON:
+ self._process_json(self._sp, self._p)
- elif self._p.codec == 101: # CALIBRATION
+ elif self._p.codec == _codec_t.CALIBRATION:
self._update_calib(self._sp, self._p)
- elif self._p.codec == 102: # POSE
+ elif self._p.codec == _codec_t.POSE:
self._update_pose(self._sp, self._p)
- elif self._p.codec == 3: # HEVC
- self._decode_frame_hevc(self._sp, self._p)
+ elif self._p.codec == _codec_t.HEVC:
+ self._push_data_hevc(self._sp, self._p)
else:
- raise ValueError("unkowno codec %i" % p.codec)
+ raise ValueError("unkowno codec %i" % self._p.codec)
except Exception as e:
- # TODO: Multiple exceptions possible. Re-design read()?
- ex = e
+ ex.append(e)
try:
self._sp, self._p = self._read_next()
@@ -229,11 +285,37 @@ class FTLStream:
except msgpack.OutOfData:
return False
- if ex is not None:
- raise ex
-
+ if len(ex) > 0:
+ raise Exception(ex)
+
+ self._decode_hevc()
+
return True
+ def get_timestamp(self):
+ return self._ts
+
+ def get_pose(self, source):
+ try:
+ return self._pose[source]
+ except KeyError:
+ raise ValueError("source id %i not found" % source)
+
+ def get_camera_matrix(self, source):
+ calib = self.get_calibration(source)
+ K = np.identity(3, dtype=np.float64)
+ K[0,0] = calib.fx
+ K[1,1] = calib.fy
+ K[0,2] = calib.cx
+ K[1,2] = calib.cy
+ return K
+
+ def get_calibration(self, source):
+ try:
+ return self._calibration[source]
+ except KeyError:
+ raise ValueError("source id %i not found" % source)
+
def get_frames(self):
''' Returns all frames '''
return self._frames
@@ -243,4 +325,12 @@ class FTLStream:
if k in self._frames:
return self._frames[k]
else:
+ # raise an exception instead?
return None
+
+ def get_sources(self):
+ ''' Get list of sources
+
+ todo: Is there a better way?
+ '''
+ return list(self._calibration.keys())
\ No newline at end of file