Add working video example

CMakeLists.txt

@@ -377,7 +377,11 @@ add_subdirectory(components/calibration)
 #add_subdirectory(applications/recorder)
 #add_subdirectory(applications/merger)
 add_subdirectory(applications/tools)
+
+# SDK only compiles on linux currently
+if (NOT WIN32)
 	add_subdirectory(SDK/C)
+endif()
 
 if (HAVE_AVFORMAT)
 	add_subdirectory(applications/ftl2mkv)

SDK/C/CMakeLists.txt

@@ -19,3 +19,4 @@ install(TARGETS ftl-dev
 	PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 	
 add_subdirectory(examples/image_write)
+add_subdirectory(examples/video_write)

SDK/C/examples/video_write/CMakeLists.txt

+add_executable(video_write main.cpp)
+target_link_libraries(video_write ftl-dev)

SDK/C/examples/video_write/main.cpp

+#include <ftl/ftl.h>
+#include <opencv2/core/mat.hpp>
+#define LOGURU_REPLACE_GLOG 1
+#include <loguru.hpp>
+
+#include <Eigen/Eigen>
+
+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) ftlCheck(ftlGetLastStreamError(s));
+
+	ftlCheck(ftlSetFrameRate(s, 20.0f));
+
+	// Two test frames, 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));
+
+	ftlCheck(ftlIntrinsicsWriteLeft(s, 0, 1280, 720, 300.0f, -1280.0f/2.0f, -720.0f/2.0f, 0.1f, 0.1f, 8.0f));
+
+	// Write a number of frames, alternating images
+	for (int i=0; i<100; ++i) {
+		if (i&1) {
+			ftlCheck(ftlImageWrite(s, 0, FTLCHANNEL_Colour, FTLIMAGE_BGRA, test_image2.step, test_image2.data));
+		} else {
+			ftlCheck(ftlImageWrite(s, 0, FTLCHANNEL_Colour, FTLIMAGE_BGRA, test_image1.step, test_image1.data));
+		}
+
+		ftlCheck(ftlNextFrame(s));
+	}
+	
+
+	ftlCheck(ftlDestroyStream(s));
+
+	return 0;
+}

SDK/C/src/streams.cpp

@@ -241,9 +241,12 @@ ftlError_t ftlNextFrame(ftlStream_t stream) {
 		f.reset();
 		f.setOrigin(&stream->video_states[i]);
 	}
-	stream->video_fs.count = 0;
-	stream->video_fs.mask = 0;
+
+	// FIXME: These should be reset each time
+	//stream->video_fs.count = 0;
+	//stream->video_fs.mask = 0;
 	stream->video_fs.timestamp += stream->interval;
+	stream->has_fresh_data = false;
 	return FTLERROR_OK;
 }