From 22eee8170afc21b93037cc3a88dceb05e89efa53 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 7 Jun 2020 10:30:40 +0300
Subject: [PATCH] Remove old files
---
applications/reconstruct/src/main.cpp | 1 -
.../include/ftl/rgbd/detail/abr.hpp | 121 ------------
.../include/ftl/rgbd/detail/netframe.hpp | 50 -----
.../include/ftl/rgbd/snapshot.hpp | 116 -----------
.../include/ftl/rgbd/streamer.hpp | 187 ------------------
.../rgbd-sources/include/ftl/rgbd/virtual.hpp | 28 ---
.../rgbd-sources/include/ftl/rgbd_source.hpp | 94 ---------
components/rgbd-sources/src/abr.cpp | 120 -----------
.../rgbd-sources/src/bitrate_settings.hpp | 12 --
components/rgbd-sources/src/disparity.cpp | 76 -------
components/rgbd-sources/src/disparity.hpp | 95 ---------
.../src/sources/stereovideo/stereovideo.cpp | 1 -
12 files changed, 901 deletions(-)
delete mode 100644 components/rgbd-sources/include/ftl/rgbd/detail/abr.hpp
delete mode 100644 components/rgbd-sources/include/ftl/rgbd/detail/netframe.hpp
delete mode 100644 components/rgbd-sources/include/ftl/rgbd/snapshot.hpp
delete mode 100644 components/rgbd-sources/include/ftl/rgbd/streamer.hpp
delete mode 100644 components/rgbd-sources/include/ftl/rgbd/virtual.hpp
delete mode 100644 components/rgbd-sources/include/ftl/rgbd_source.hpp
delete mode 100644 components/rgbd-sources/src/abr.cpp
delete mode 100644 components/rgbd-sources/src/bitrate_settings.hpp
delete mode 100644 components/rgbd-sources/src/disparity.cpp
delete mode 100644 components/rgbd-sources/src/disparity.hpp
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index fea482a24..5f37c0961 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -10,7 +10,6 @@
#include <ftl/configuration.hpp>
#include <ftl/depth_camera.hpp>
#include <ftl/rgbd.hpp>
-#include <ftl/rgbd/virtual.hpp>
#include <ftl/master.hpp>
#include <ftl/rgbd/group.hpp>
#include <ftl/threads.hpp>
diff --git a/components/rgbd-sources/include/ftl/rgbd/detail/abr.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/abr.hpp
deleted file mode 100644
index b3d809784..000000000
--- a/components/rgbd-sources/include/ftl/rgbd/detail/abr.hpp
+++ /dev/null
@@ -1,121 +0,0 @@
-#ifndef _FTL_RGBD_ABR_HPP_
-#define _FTL_RGBD_ABR_HPP_
-
-#include <ftl/rgbd/detail/netframe.hpp>
-#include <cstdint>
-
-namespace ftl {
-namespace rgbd {
-namespace detail {
-
-static const float kAspectRatio = 1.777778f;
-
-enum codec_t {
- kCodecJPG = 0,
- kCodecPNG
-};
-
-struct BitrateSetting {
- int colour_res;
- int depth_res;
- int colour_qual;
- int depth_qual;
- codec_t colour_codec;
- codec_t depth_codec;
- int block_count_x;
-
- /*int width;
- int height;
- int jpg_quality;
- int png_compression;
- codec_t colour_codec;
- codec_t depth_codec;
- int chunking;*/
-};
-
-static const BitrateSetting bitrate_settings[] = {
- 1080, 1080, 95, 1, kCodecJPG, kCodecPNG, 4,
- 1080, 720, 95, 1, kCodecJPG, kCodecPNG, 4,
- 720, 720, 95, 1, kCodecJPG, kCodecPNG, 4,
- 720, 576, 95, 5, kCodecJPG, kCodecPNG, 4,
- 576, 576, 95, 5, kCodecJPG, kCodecPNG, 4,
- 576, 480, 95, 5, kCodecJPG, kCodecPNG, 2,
- 480, 480, 95, 5, kCodecJPG, kCodecPNG, 2,
- 480, 360, 95, 9, kCodecJPG, kCodecPNG, 2,
- 360, 360, 95, 9, kCodecJPG, kCodecPNG, 2,
- 360, 360, 50, 9, kCodecJPG, kCodecPNG, 2
-};
-
-/*static const BitrateSetting bitrate_settings[] = {
- 1920, 1080, 95, 1, kCodecJPG, kCodecPNG, 4, // ?
- 1280, 720, 95, 1, kCodecJPG, kCodecPNG, 4, // ~96Mbps
- 1024, 576, 95, 5, kCodecJPG, kCodecPNG, 3, // ~62Mbps
- 854, 480, 95, 5, kCodecJPG, kCodecPNG, 3, // ~48Mbps
- 640, 360, 95, 9, kCodecJPG, kCodecPNG, 2, // ~31Mbps
- 640, 360, 75, 9, kCodecJPG, kCodecPNG, 2, // ~25Mbps
- 640, 360, 65, 9, kCodecJPG, kCodecPNG, 2, // ~24Mbps
- 640, 360, 50, 9, kCodecJPG, kCodecPNG, 2, // ~23Mbps
- 320, 160, 95, 9, kCodecJPG, kCodecPNG, 2, // ~10Mbps
- 320, 160, 75, 9, kCodecJPG, kCodecPNG, 2 // ~8Mbps
-};*/
-
-typedef unsigned int bitrate_t;
-
-static const bitrate_t kBitrateBest = 0;
-static const bitrate_t kBitrateWorst = 9;
-
-/**
- * Adaptive Bitrate Controller to monitor and decide on a client streams
- * bitrate. The basics of our approach are that if transmission latency exceeds
- * some proportion of the frame time then mark it as a slow frame. Similarly if
- * transmission latency falls below a proportion of frame time then mark it as
- * a fast frame. If the net frame status is slow (thresholded) then reduce
- * bitrate, if the net status is fast then increase bitrate.
- */
-class ABRController {
- public:
- ABRController();
- ~ABRController();
-
- /**
- * From a received frame, select a bitrate based upon actual and required
- * bitrate as well as past frames.
- */
- bitrate_t selectBitrate(const ftl::rgbd::detail::NetFrame &);
-
- /**
- * Called to tell the controller the new bitrate is now in use by the stream
- */
- void notifyChanged();
-
- void setMaximumBitrate(bitrate_t);
- void setMinimumBitrate(bitrate_t);
-
- static const ftl::rgbd::detail::BitrateSetting &getBitrateInfo(bitrate_t b);
- static int getColourWidth(bitrate_t b);
- static int getDepthWidth(bitrate_t b);
- static int getColourHeight(bitrate_t b);
- static int getDepthHeight(bitrate_t b);
- static int getBlockCountX(bitrate_t b);
- static int getBlockCountY(bitrate_t b);
- static int getBlockCount(bitrate_t b);
- static int getColourQuality(bitrate_t b);
- static int getDepthQuality(bitrate_t b);
-
- private:
- unsigned int down_log_; // Bit log of delayed frames
- unsigned int up_log_; // Bit log of fast frames
- int64_t last_br_change_; // Time of last adaptive change
- float down_threshold_; // Proportion of min bitrate before reduction
- float up_threshold_; // Proportion of min bitrate before increase
- bitrate_t bitrate_;
- bool enabled_;
- bitrate_t max_;
- bitrate_t min_;
-};
-
-}
-}
-}
-
-#endif // _FTL_RGBD_ABR_HPP_
diff --git a/components/rgbd-sources/include/ftl/rgbd/detail/netframe.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/netframe.hpp
deleted file mode 100644
index 995848ff0..000000000
--- a/components/rgbd-sources/include/ftl/rgbd/detail/netframe.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifndef _FTL_RGBD_NETFRAME_HPP_
-#define _FTL_RGBD_NETFRAME_HPP_
-
-#include <cstdint>
-#include <vector>
-#include <ftl/rgbd/source.hpp>
-
-namespace ftl {
-namespace rgbd {
-namespace detail {
-
-/**
- * Buffers for a single frame as it is being received over the network.
- * Also maintains statistics about the frame transmission for later analysis.
- */
-struct NetFrame {
- cv::cuda::GpuMat channel[2];
- volatile int64_t timestamp;
- std::atomic<int> chunk_count[2];
- std::atomic<int> channel_count;
- int chunk_total[2];
- std::atomic<int> tx_size;
- int64_t tx_latency;
- MUTEX mtx;
-};
-
-/**
- * Manage multiple frames with their timestamp as an identifier. Once a frame
- * is completed it should be freed immediately from the queue for reuse. It
- * is not the job of this queue to buffer frames for longer periods, see Group
- * for this functionality. This queue is only to manage chunk ordering problems.
- */
-class NetFrameQueue {
- public:
- explicit NetFrameQueue(int size=2);
- ~NetFrameQueue();
-
- NetFrame &getFrame(int64_t ts, const cv::Size &, int c1type, int c2type);
- void freeFrame(NetFrame &);
-
- private:
- std::vector<NetFrame> frames_;
- MUTEX mtx_;
-};
-
-}
-}
-}
-
-#endif // _FTL_RGBD_NETFRAME_HPP_
diff --git a/components/rgbd-sources/include/ftl/rgbd/snapshot.hpp b/components/rgbd-sources/include/ftl/rgbd/snapshot.hpp
deleted file mode 100644
index 8e1fa5960..000000000
--- a/components/rgbd-sources/include/ftl/rgbd/snapshot.hpp
+++ /dev/null
@@ -1,116 +0,0 @@
-#pragma once
-#ifndef _FTL_RGBD_SNAPSHOT_HPP_
-#define _FTL_RGBD_SNAPSHOT_HPP_
-
-#include <loguru.hpp>
-#include <thread>
-
-#include <opencv2/core/mat.hpp>
-
-#include <Eigen/Eigen>
-#include <opencv2/core/eigen.hpp>
-
-#include <ftl/rgbd/source.hpp>
-#include <ftl/rgbd/camera.hpp>
-
-#include <atomic>
-#include <archive.h>
-#include <archive_entry.h>
-
-namespace ftl {
-namespace rgbd {
-
-// FIXME: NOT thread safe
-
-class SnapshotWriter {
-public:
- explicit SnapshotWriter(const std::string &filename);
- ~SnapshotWriter();
-
- void addSource(const std::string &id, const ftl::rgbd::Camera ¶ms, const Eigen::Matrix4d &extrinsic);
- void addSource(const std::string &id, const std::vector<double> ¶ms, const cv::Mat &extrinsic);
- bool addRGBD(size_t source, const cv::Mat &rgb, const cv::Mat &depth, uint64_t time=0);
-
- bool addMat(const std::string &name, const cv::Mat &mat, const std::string &format, const std::vector<int> ¶ms);
- bool addFile(const std::string &name, const std::vector<uchar> &buf);
- bool addFile(const std::string &name, const uchar *buf, const size_t len);
-
- void writeIndex();
-
-private:
- std::vector<std::string> sources_;
- std::vector<std::vector<double>> params_;
- std::vector<cv::Mat> extrinsic_;
- std::vector<size_t> frame_idx_;
- std::vector<std::vector<std::string>> fname_rgb_;
- std::vector<std::vector<std::string>> fname_depth_;
-
- struct archive *archive_ = nullptr;
- struct archive_entry *entry_ = nullptr;
-};
-
-class SnapshotStreamWriter {
-public:
- SnapshotStreamWriter(const std::string &filename, int delay);
- ~SnapshotStreamWriter();
- void addSource(ftl::rgbd::Source* src);
- void start();
- void stop();
-
-private:
- std::atomic<bool> run_;
- bool finished_;
- int delay_;
-
- std::vector<ftl::rgbd::Source*> sources_;
- SnapshotWriter writer_;
- std::thread thread_;
-
- void run();
-};
-
-class Snapshot {
-public:
- size_t getSourcesCount();
- size_t getFramesCount();
-
- std::string getSourceURI(size_t camera);
- ftl::rgbd::Camera getParameters(size_t camera);
- void getPose(size_t camera, cv::Mat &out);
- void getPose(size_t camera, Eigen::Matrix4d &out);
-
- void getLeftRGB(size_t camera, size_t frame, cv::Mat &data);
- void getLeftDepth(size_t camera, size_t frame, cv::Mat &data);
-
- size_t n_frames;
- size_t n_cameras;
-
- std::vector<std::string> sources;
- std::vector<ftl::rgbd::Camera> parameters;
- std::vector<cv::Mat> extrinsic;
- std::vector<std::vector<cv::Mat>> rgb_left;
- std::vector<std::vector<cv::Mat>> depth_left;
-};
-
-class SnapshotReader {
-public:
- explicit SnapshotReader(const std::string &filename);
- ~SnapshotReader();
-
- Snapshot readArchive();
-
-private:
- bool readEntry(std::vector<uchar> &data);
-
- bool getDepth(const std::string &name, cv::Mat &data);
- bool getRGB(const std::string &name, cv::Mat &data);
-
- std::map<std::string, std::vector<uchar>> files_;
- struct archive *archive_;
- struct archive_entry *entry_;
-};
-
-};
-};
-
-#endif // _FTL_RGBD_SNAPSHOT_HPP_
diff --git a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
deleted file mode 100644
index f6fc1a044..000000000
--- a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
+++ /dev/null
@@ -1,187 +0,0 @@
-#ifndef _FTL_RGBD_STREAMER_HPP_
-#define _FTL_RGBD_STREAMER_HPP_
-
-#include <loguru.hpp>
-#include <ftl/configuration.hpp>
-#include <ftl/configurable.hpp>
-#include <ftl/rgbd/source.hpp>
-#include <ftl/rgbd/group.hpp>
-#include <ftl/net/universe.hpp>
-#include <ftl/codecs/encoder.hpp>
-#include <ftl/threads.hpp>
-#include <string>
-#include <vector>
-#include <map>
-#include <atomic>
-
-namespace ftl {
-namespace rgbd {
-
-//static const int kChunkDim = 4;
-//static constexpr int kChunkCount = kChunkDim * kChunkDim;
-
-namespace detail {
-
-struct StreamClient {
- std::string uri;
- ftl::UUID peerid;
- std::atomic<int> txcount; // Frames sent since last request
- int txmax; // Frames to send in request
- ftl::codecs::preset_t preset;
-};
-
-static const unsigned int kGrabbed = 0x1;
-static const unsigned int kRGB = 0x2;
-static const unsigned int kDepth = 0x4;
-
-static const unsigned int kFrameDropLimit = 5;
-static const unsigned int kMaxBitrateLevels = 10;
-
-struct StreamSource {
- ftl::rgbd::Source *src;
- std::atomic<int> jobs; // Busy or ready to swap?
- std::atomic<unsigned int> clientCount;
-
- int hq_count; // Number of high quality requests
- int lq_count; // Number of low quality requests
- ftl::codecs::preset_t hq_bitrate=ftl::codecs::kPresetBest; // Max bitrate
- ftl::codecs::preset_t lq_bitrate=ftl::codecs::kPresetWorst; // Min bitrate
-
- cv::Mat rgb; // Tx buffer
- cv::Mat depth; // Tx buffer
- cv::Mat prev_rgb;
- cv::Mat prev_depth;
- std::list<detail::StreamClient> clients;
- SHARED_MUTEX mutex;
- unsigned long long frame;
- int id;
-
- ftl::codecs::Encoder *hq_encoder_c1 = nullptr;
- ftl::codecs::Encoder *hq_encoder_c2 = nullptr;
- ftl::codecs::Encoder *lq_encoder_c1 = nullptr;
- ftl::codecs::Encoder *lq_encoder_c2 = nullptr;
-};
-
-}
-
-/**
- * The maximum number of frames a client can request in a single request.
- */
-static const int kMaxFrames = 100;
-
-enum encoder_t {
- kEncodeVideo,
- kEncodeImages
-};
-
-/**
- * Allows network streaming of a number of RGB-Depth sources. Remote machines
- * can discover available streams from an instance of Streamer. It also allows
- * for adaptive bitrate streams where bandwidth can be monitored and different
- * data rates can be requested, it is up to the remote machine to decide on
- * desired bitrate.
- *
- * The capture and compression steps operate in different threads and each
- * source and bitrate also operate on different threads. For a specific source
- * and specific bitrate there is a single thread that sends data to all
- * requesting clients.
- *
- * Use ftl::create<Streamer>(parent, name) to construct, don't construct
- * directly.
- *
- * Note that the streamer attempts to maintain a fixed frame rate by
- * monitoring job processing times and sleeping if there is spare time.
- */
-class Streamer : public ftl::Configurable {
- public:
- [[deprecated]] Streamer(nlohmann::json &config, ftl::net::Universe *net);
- ~Streamer();
-
- /**
- * Add an RGB-Depth source to be made available for streaming.
- */
- void add(Source *);
-
- /**
- * Allow all sources in another group to be proxy streamed by this streamer.
- */
- void add(ftl::rgbd::Group *grp);
-
- ftl::rgbd::Group *group() { return &group_; }
-
- void remove(Source *);
- void remove(const std::string &);
-
- /**
- * Enable the streaming. This creates the threads, and if block is false
- * then another thread will manage the stream process.
- */
- void run(bool block=false);
-
- /**
- * Terminate all streaming and join the threads.
- */
- void stop();
-
- void wait();
-
- /**
- * Alternative to calling run(), it will operate a single frame capture,
- * compress and stream cycle.
- */
- void poll();
-
- Source *get(const std::string &uri);
-
- private:
- ftl::rgbd::Group group_;
- std::map<std::string, detail::StreamSource*> sources_;
- std::vector<detail::StreamSource*> sourcesByNum_;
- std::list<ftl::rgbd::Group*> proxy_grps_;
- //ctpl::thread_pool pool_;
- SHARED_MUTEX mutex_;
- bool active_;
- ftl::net::Universe *net_;
- bool late_;
- int compress_level_;
- int64_t clock_adjust_;
- ftl::UUID time_peer_;
- int64_t last_frame_;
- int64_t frame_no_;
- bool insert_iframes_;
-
- ftl::codecs::Channel second_channel_;
-
- int64_t mspf_;
- float actual_fps_;
- //int64_t last_dropped_;
- //int drop_count_;
-
- ftl::timer::TimerHandle timer_job_;
-
- ftl::codecs::device_t hq_devices_;
- ftl::codecs::codec_t hq_codec_;
-
- enum class Quality {
- High,
- Low,
- Any
- };
-
- void _process(ftl::rgbd::FrameSet &);
- void _cleanUp();
- void _addClient(const std::string &source, int N, int rate, const ftl::UUID &peer, const std::string &dest);
- void _transmitPacket(detail::StreamSource *src, const ftl::codecs::Packet &pkt, ftl::codecs::Channel chan, bool hasChan2, Quality q);
- void _transmitPacket(detail::StreamSource *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt, Quality q);
-
- //void _encodeHQAndTransmit(detail::StreamSource *src, const cv::Mat &, const cv::Mat &, int chunk);
- //void _encodeLQAndTransmit(detail::StreamSource *src, const cv::Mat &, const cv::Mat &, int chunk);
- //void _encodeAndTransmit(detail::StreamSource *src, ftl::codecs::Encoder *enc1, ftl::codecs::Encoder *enc2, const cv::Mat &, const cv::Mat &);
- //void _encodeImageChannel1(const cv::Mat &in, std::vector<unsigned char> &out, unsigned int b);
- //bool _encodeImageChannel2(const cv::Mat &in, std::vector<unsigned char> &out, ftl::codecs::Channel_t c, unsigned int b);
-};
-
-}
-}
-
-#endif // _FTL_RGBD_STREAMER_HPP_
diff --git a/components/rgbd-sources/include/ftl/rgbd/virtual.hpp b/components/rgbd-sources/include/ftl/rgbd/virtual.hpp
deleted file mode 100644
index f9bf5e7f5..000000000
--- a/components/rgbd-sources/include/ftl/rgbd/virtual.hpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef _FTL_RGBD_VIRTUAL_HPP_
-#define _FTL_RGBD_VIRTUAL_HPP_
-
-#include <ftl/rgbd/source.hpp>
-
-namespace ftl {
-namespace rgbd {
-
-class VirtualSource : public ftl::rgbd::Source {
- public:
- explicit VirtualSource(ftl::config::json_t &cfg);
- ~VirtualSource();
-
- void onRender(const std::function<bool(ftl::rgbd::Frame &)> &);
-
- /**
- * Write frames into source buffers from an external renderer. Virtual
- * sources do not have an internal generator of frames but instead have
- * their data provided from an external rendering class. This function only
- * works when there is no internal generator.
- */
- //void write(int64_t ts, ftl::rgbd::Frame &frame, cudaStream_t stream=0);
-};
-
-}
-}
-
-#endif // _FTL_RGBD_VIRTUAL_HPP_
diff --git a/components/rgbd-sources/include/ftl/rgbd_source.hpp b/components/rgbd-sources/include/ftl/rgbd_source.hpp
deleted file mode 100644
index c065e6e19..000000000
--- a/components/rgbd-sources/include/ftl/rgbd_source.hpp
+++ /dev/null
@@ -1,94 +0,0 @@
-#pragma once
-#ifndef _FTL_RGBD_SOURCE_HPP_
-#define _FTL_RGBD_SOURCE_HPP_
-
-#include <ftl/config.h>
-#include <ftl/configurable.hpp>
-#include <ftl/threads.hpp>
-#include <ftl/camera_params.hpp>
-#include <ftl/net/universe.hpp>
-#include <opencv2/opencv.hpp>
-#include <Eigen/Eigen>
-
-namespace ftl {
-namespace rgbd {
-
-/**
- * Abstract class for any generic RGB-Depth data source. It can also store pose
- * information, although this must be provided by an external source.
- */
-class RGBDSource : public ftl::Configurable {
- public:
- explicit RGBDSource(nlohmann::json &config);
- RGBDSource(nlohmann::json &config, ftl::net::Universe *net);
- virtual ~RGBDSource();
-
- virtual void grab()=0;
- virtual bool isReady();
-
- void getRGBD(cv::Mat &rgb, cv::Mat &depth);
-
- const CameraParameters &getParameters() { return params_; };
- std::string getURI() const { return config_["$id"].get<std::string>(); }
-
- virtual void setPose(const Eigen::Matrix4f &pose) { pose_ = pose; };
- const Eigen::Matrix4f &getPose() { return pose_; };
-
- virtual void reset() {}
-
- /**
- * Get a point in camera coordinates at specified pixel location.
- */
- Eigen::Vector4f point(uint x, uint y);
-
- /**
- * Save the current RGB and Depth images to image files (jpg and png) with
- * the specified file prefix (excluding file extension).
- */
- bool snapshot(const std::string &fileprefix);
-
- /**
- * Generate a video of this RGB-D source.
- */
- //bool record(const std::string &filename);
-
- /**
- * Factory registration class.
- */
- class Register {
- public:
- // cppcheck-suppress *
- Register(const std::string &n, std::function<RGBDSource*(nlohmann::json&,ftl::net::Universe*)> f) {
- RGBDSource::_register(n,f);
- };
- };
-
- /**
- * Factory instance creator where config contains a "type" property
- * used as the instance name to construct.
- */
- static RGBDSource *create(nlohmann::json &config, ftl::net::Universe *net);
-
- static void init();
-
- protected:
- static void _register(const std::string &n, std::function<RGBDSource*(nlohmann::json&,ftl::net::Universe*)> f);
-
- protected:
- CameraParameters params_;
- ftl::net::Universe *net_;
- MUTEX mutex_;
- cv::Mat rgb_;
- cv::Mat depth_;
-
- private:
- Eigen::Matrix4f pose_ = Eigen::Matrix4f::Identity();
-
- private:
- static std::map<std::string,std::function<RGBDSource*(nlohmann::json&,ftl::net::Universe*)>> *sources__;
-};
-
-};
-};
-
-#endif // _FTL_RGBD_SOURCE_HPP_
diff --git a/components/rgbd-sources/src/abr.cpp b/components/rgbd-sources/src/abr.cpp
deleted file mode 100644
index d387cde26..000000000
--- a/components/rgbd-sources/src/abr.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include <ftl/rgbd/detail/abr.hpp>
-#include <ftl/timer.hpp>
-
-#include <bitset>
-
-using ftl::rgbd::detail::BitrateSetting;
-using ftl::rgbd::detail::ABRController;
-using ftl::rgbd::detail::bitrate_t;
-using ftl::rgbd::detail::kBitrateWorst;
-using ftl::rgbd::detail::kBitrateBest;
-using ftl::rgbd::detail::bitrate_settings;
-using ftl::rgbd::detail::NetFrame;
-
-ABRController::ABRController() {
- bitrate_ = 0;
- enabled_ = true;
- max_ = kBitrateBest;
- min_ = kBitrateWorst;
-}
-
-ABRController::~ABRController() {
-
-}
-
-void ABRController::setMaximumBitrate(bitrate_t b) {
- max_ = (b == -1) ? kBitrateBest : b;
- if (bitrate_ < max_) bitrate_ = max_;
-}
-
-void ABRController::setMinimumBitrate(bitrate_t b) {
- min_ = (b == -1) ? kBitrateWorst : b;
- if (bitrate_ > min_) bitrate_ = min_;
-}
-
-void ABRController::notifyChanged() {
- enabled_ = true;
-}
-
-bitrate_t ABRController::selectBitrate(const NetFrame &frame) {
- if (!enabled_) return bitrate_;
-
- float actual_mbps = (float(frame.tx_size) * 8.0f * (1000.0f / float(frame.tx_latency))) / 1048576.0f;
- float min_mbps = (float(frame.tx_size) * 8.0f * (1000.0f / float(ftl::timer::getInterval()))) / 1048576.0f;
- //if (actual_mbps < min_mbps) LOG(WARNING) << "Bitrate = " << actual_mbps << "Mbps, min required = " << min_mbps << "Mbps";
- float ratio = actual_mbps / min_mbps;
- //LOG(INFO) << "Rate Ratio = " << frame.tx_latency;
-
- return bitrate_;
-
- down_log_ = down_log_ << 1;
- up_log_ = up_log_ << 1;
-
- if (ratio < 1.2f) {
- down_log_ += 1;
- } else if (ratio > 1.5f) {
- up_log_ += 1;
- }
-
- std::bitset<32> bd(down_log_);
- std::bitset<32> bu(up_log_);
-
- if (bitrate_ < min_ && int(bd.count()) - int(bu.count()) > 5) {
- enabled_ = false;
- down_log_ = 0;
- up_log_ = 0;
- bitrate_++;
- LOG(INFO) << "Bitrate down to: " << bitrate_;
- } else if (bitrate_ > max_ && int(bu.count()) - int(bd.count()) > 15) {
- enabled_ = false;
- up_log_ = 0;
- down_log_ = 0;
- bitrate_--;
- LOG(INFO) << "Bitrate up to: " << bitrate_;
- }
-
- return bitrate_;
-}
-
-const BitrateSetting &ABRController::getBitrateInfo(bitrate_t b) {
- if (b > kBitrateWorst) return bitrate_settings[kBitrateWorst];
- if (b < kBitrateBest) return bitrate_settings[kBitrateBest];
- return bitrate_settings[b];
-};
-
-int ABRController::getColourWidth(bitrate_t b) {
- return int(std::ceil(bitrate_settings[b].colour_res * kAspectRatio)) & 0x7FFFFFFFC;
-}
-
-int ABRController::getDepthWidth(bitrate_t b) {
- return std::ceil(bitrate_settings[b].depth_res * kAspectRatio);
-}
-
-int ABRController::getColourHeight(bitrate_t b) {
- return bitrate_settings[b].colour_res;
-}
-
-int ABRController::getDepthHeight(bitrate_t b) {
- return bitrate_settings[b].depth_res;
-}
-
-int ABRController::getBlockCountX(bitrate_t b) {
- return bitrate_settings[b].block_count_x;
-}
-
-int ABRController::getBlockCountY(bitrate_t b) {
- return bitrate_settings[b].block_count_x;
-}
-
-int ABRController::getBlockCount(bitrate_t b) {
- const int c = bitrate_settings[b].block_count_x;
- return c*c;
-}
-
-int ABRController::getColourQuality(bitrate_t b) {
- return bitrate_settings[b].colour_qual;
-}
-
-int ABRController::getDepthQuality(bitrate_t b) {
- return bitrate_settings[b].depth_qual;
-}
diff --git a/components/rgbd-sources/src/bitrate_settings.hpp b/components/rgbd-sources/src/bitrate_settings.hpp
deleted file mode 100644
index 3dbd23bc1..000000000
--- a/components/rgbd-sources/src/bitrate_settings.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-#ifndef _FTL_RGBD_BITRATESETTINGS_HPP_
-#define _FTL_RGBD_BITRATESETTINGS_HPP_
-
-namespace ftl {
-namespace rgbd {
-namespace detail {
-
-}
-}
-}
-
-#endif // _FTL_RGBD_BITRATESETTINGS_HPP_
diff --git a/components/rgbd-sources/src/disparity.cpp b/components/rgbd-sources/src/disparity.cpp
deleted file mode 100644
index 7d9089c1a..000000000
--- a/components/rgbd-sources/src/disparity.cpp
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- * Copyright 2019 Nicolas Pope
- */
-
-#include "disparity.hpp"
-#include <loguru.hpp>
-#include <ftl/config.h>
-#include <ftl/configuration.hpp>
-
-using ftl::rgbd::detail::Disparity;
-
-std::map<std::string, std::function<Disparity*(ftl::Configurable *, const std::string &)>>
- *Disparity::algorithms__ = nullptr;
-
-Disparity::Disparity(nlohmann::json &config)
- : ftl::Configurable(config),
- min_disp_(value("minimum",0)),
- max_disp_(value("maximum", 256)),
- size_(value("width", 1280), value("height", 720))
- {
-
- }
-
-Disparity *Disparity::create(ftl::Configurable *parent, const std::string &name) {
- nlohmann::json &config = ftl::config::resolve((!parent->getConfig()[name].is_null()) ? parent->getConfig()[name] : ftl::config::resolve(parent->getConfig())[name]); // ftl::config::resolve(parent->getConfig()[name]);
-
- //auto alg = parent->get<std::string>("algorithm");
- if (!config["algorithm"].is_string()) {
- return nullptr;
- }
- std::string alg = config["algorithm"].get<std::string>();
-
- if (algorithms__->count(alg) != 1) return nullptr;
- return (*algorithms__)[alg](parent, name);
-}
-
-void Disparity::_register(const std::string &n,
- std::function<Disparity*(ftl::Configurable *, const std::string &)> f) {
- if (!algorithms__) algorithms__ = new std::map<std::string, std::function<Disparity*(ftl::Configurable *, const std::string &)>>;
- //LOG(INFO) << "Register disparity algorithm: " << n;
- (*algorithms__)[n] = f;
-}
-
-void Disparity::scaleInput( const cv::cuda::GpuMat& left_in,
- const cv::cuda::GpuMat& right_in,
- cv::cuda::GpuMat& left_out,
- cv::cuda::GpuMat& right_out,
- cv::cuda::Stream &stream)
-{
- cv::cuda::resize(left_in, left_scaled_, size_, 0.0, 0.0, cv::INTER_CUBIC, stream);
- left_out = left_scaled_;
- cv::cuda::resize(right_in, right_scaled_, size_, 0.0, 0.0, cv::INTER_CUBIC, stream);
- right_out = right_scaled_;
-}
-
-void Disparity::scaleDisparity( const cv::Size& new_size,
- cv::cuda::GpuMat& in,
- cv::cuda::GpuMat& out,
- cv::cuda::Stream& stream)
-{
- cv::cuda::multiply(in, (double) new_size.width / (double) in.cols, in);
- cv::cuda::resize(in, dispt_scaled_, new_size, 0.0, 0.0, cv::INTER_NEAREST, stream);
- out = dispt_scaled_;
-}
-
-// TODO:(Nick) Add remaining algorithms
-/*
-#include "algorithms/rtcensus.hpp"
-static ftl::rgbd::detail::Disparity::Register rtcensus("rtcensus", ftl::algorithms::RTCensus::create);
-*/
-
-#ifdef HAVE_LIBSGM
-#include "algorithms/fixstars_sgm.hpp"
-static ftl::rgbd::detail::Disparity::Register fixstarssgm("libsgm", ftl::algorithms::FixstarsSGM::create);
-#endif // HAVE_LIBSGM
-
diff --git a/components/rgbd-sources/src/disparity.hpp b/components/rgbd-sources/src/disparity.hpp
deleted file mode 100644
index 2152378c1..000000000
--- a/components/rgbd-sources/src/disparity.hpp
+++ /dev/null
@@ -1,95 +0,0 @@
-/*
- * Copyright 2019 Nicolas Pope
- */
-
-#ifndef _FTL_DISPARITY_HPP_
-#define _FTL_DISPARITY_HPP_
-
-#include <opencv2/core.hpp>
-#include <ftl/configurable.hpp>
-#include <ftl/rgbd/frame.hpp>
-
-namespace ftl {
-namespace rgbd {
-namespace detail {
-
-/**
- * Virtual base class for disparity algorithms. An automatic factory is used
- * to construct instances of specific algorithms that implement this
- * interface, for this to work a static instance of the Register class must
- * be created in the algorithms cpp file.
- */
-class Disparity : public ftl::Configurable {
- public:
- explicit Disparity(nlohmann::json &config);
-
- virtual void setMinDisparity(size_t min) { min_disp_ = min; }
- virtual void setMaxDisparity(size_t max) { max_disp_ = max; }
-
- virtual void setMask(cv::Mat &mask) { mask_l_ = cv::cuda::GpuMat(mask); }
- virtual void setMask(cv::cuda::GpuMat &mask) { mask_l_ = mask; }
-
- void scaleInput(const cv::cuda::GpuMat& left_in,
- const cv::cuda::GpuMat& right_in,
- cv::cuda::GpuMat& left_out,
- cv::cuda::GpuMat& right_out,
- cv::cuda::Stream &stream);
-
- void scaleDisparity(const cv::Size &new_size,
- cv::cuda::GpuMat& in,
- cv::cuda::GpuMat& out,
- cv::cuda::Stream &stream);
-
- /**
- * Pure virtual function representing the actual computation of
- * disparity from left and right images to be implemented.
- */
- virtual void compute(Frame &frame, cv::cuda::Stream &stream)=0;
- virtual void compute(cv::cuda::GpuMat &l, cv::cuda::GpuMat &r, cv::cuda::GpuMat &disp, cv::cuda::Stream &stream)
- {
- // FIXME: What were these for?
- //ftl::rgbd::Frame frame;
- //frame.create<cv::cuda::GpuMat>(ftl::codecs::Channel::Left) = l;
- //frame.create<cv::cuda::GpuMat>(ftl::codecs::Channel::Right) = r;
- //frame.create<cv::cuda::GpuMat>(ftl::codecs::Channel::Disparity) = disp;
- }
-
- /**
- * Factory registration class.
- */
- class Register {
- public:
- // cppcheck-suppress *
- Register(const std::string &n, std::function<Disparity*(ftl::Configurable *, const std::string &)> f) {
- Disparity::_register(n,f);
- };
- };
-
- /**
- * Factory instance creator where config contains an "algorithm" property
- * used as the instance name to construct.
- */
- static Disparity *create(ftl::Configurable *, const std::string &);
-
- protected:
- static void _register(const std::string &n, std::function<Disparity*(ftl::Configurable *, const std::string &)> f);
-
-protected:
- int min_disp_;
- int max_disp_;
- cv::Size size_;
-
- cv::cuda::GpuMat left_scaled_;
- cv::cuda::GpuMat right_scaled_;
- cv::cuda::GpuMat dispt_scaled_;
- cv::cuda::GpuMat mask_l_;
-
- private:
- static std::map<std::string,std::function<Disparity*(ftl::Configurable *, const std::string &)>> *algorithms__;
-};
-
-}
-}
-}
-
-#endif // _FTL_DISPARITY_HPP_
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 9ccb320df..00805313c 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -25,7 +25,6 @@
#include "ftl/threads.hpp"
#include "calibrate.hpp"
#include "local.hpp"
-#include "disparity.hpp"
using ftl::rgbd::detail::Calibrate;
using ftl::rgbd::detail::OpenCVDevice;
--
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