From 2efc60fde8ef12c126ff6fada59ac0fedbee92f0 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 28 Jun 2019 13:31:08 +0300
Subject: [PATCH] Working snapshot stream record
---
applications/gui/src/media_panel.cpp | 27 ++++++++++++++++++------
applications/gui/src/media_panel.hpp | 6 ++++++
applications/gui/src/src_window.cpp | 2 +-
components/rgbd-sources/src/snapshot.cpp | 13 ++++++++----
4 files changed, 37 insertions(+), 11 deletions(-)
diff --git a/applications/gui/src/media_panel.cpp b/applications/gui/src/media_panel.cpp
index 83bad8511..2e0f5fae2 100644
--- a/applications/gui/src/media_panel.cpp
+++ b/applications/gui/src/media_panel.cpp
@@ -17,6 +17,7 @@ MediaPanel::MediaPanel(ftl::gui::Screen *screen) : nanogui::Window(screen, ""),
using namespace nanogui;
paused_ = false;
+ writer_ = nullptr;
setLayout(new BoxLayout(Orientation::Horizontal,
Alignment::Middle, 5, 10));
@@ -54,8 +55,24 @@ MediaPanel::MediaPanel(ftl::gui::Screen *screen) : nanogui::Window(screen, ""),
button = new Button(this, "", ENTYPO_ICON_CONTROLLER_RECORD);
button->setFlags(Button::ToggleButton);
button->setChangeCallback([this,button](bool state) {
- if (state) button->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
- else button->setTextColor(nanogui::Color(1.0f,1.0f,1.0f,1.0f));
+ if (state){
+ auto *cam = screen_->activeCamera();
+
+ button->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
+ char timestamp[18];
+ std::time_t t=std::time(NULL);
+ std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
+ writer_ = new ftl::rgbd::SnapshotStreamWriter(std::string(timestamp) + ".tar.gz", 1000 / 25);
+ writer_->addSource(cam->source());
+ writer_->start();
+ } else {
+ button->setTextColor(nanogui::Color(1.0f,1.0f,1.0f,1.0f));
+ if (writer_) {
+ writer_->stop();
+ delete writer_;
+ writer_ = nullptr;
+ }
+ }
//if (state) ... start
//else ... stop
});
@@ -92,12 +109,10 @@ MediaPanel::MediaPanel(ftl::gui::Screen *screen) : nanogui::Window(screen, ""),
auto writer = ftl::rgbd::SnapshotWriter(std::string(timestamp) + ".tar.gz");
cv::Mat rgb, depth;
cam->source()->getFrames(rgb, depth);
- if (!writer.addCameraRGBD(
+ if (!writer.addCameraParams("0", cam->source()->getPose(), cam->source()->parameters()) || !writer.addCameraRGBD(
"0", // TODO
rgb,
- depth,
- cam->source()->getPose(),
- cam->source()->parameters()
+ depth
)) {
LOG(ERROR) << "Snapshot failed";
}
diff --git a/applications/gui/src/media_panel.hpp b/applications/gui/src/media_panel.hpp
index 0f17bd340..c65c48770 100644
--- a/applications/gui/src/media_panel.hpp
+++ b/applications/gui/src/media_panel.hpp
@@ -4,6 +4,11 @@
#include <nanogui/window.h>
namespace ftl {
+
+namespace rgbd {
+class SnapshotStreamWriter;
+}
+
namespace gui {
class Screen;
@@ -16,6 +21,7 @@ class MediaPanel : public nanogui::Window {
private:
ftl::gui::Screen *screen_;
bool paused_;
+ ftl::rgbd::SnapshotStreamWriter *writer_;
};
}
diff --git a/applications/gui/src/src_window.cpp b/applications/gui/src/src_window.cpp
index 010ef2392..124285573 100644
--- a/applications/gui/src/src_window.cpp
+++ b/applications/gui/src/src_window.cpp
@@ -102,7 +102,7 @@ SourceWindow::SourceWindow(ftl::gui::Screen *screen)
this->src_->parameters()
)) {
LOG(ERROR) << "Snapshot failed";
- }*/
+ }
}
catch(std::runtime_error) {
LOG(ERROR) << "Snapshot failed (file error)";
diff --git a/components/rgbd-sources/src/snapshot.cpp b/components/rgbd-sources/src/snapshot.cpp
index b45ea4f93..b4ea2aac4 100644
--- a/components/rgbd-sources/src/snapshot.cpp
+++ b/components/rgbd-sources/src/snapshot.cpp
@@ -143,7 +143,11 @@ bool SnapshotWriter::addCameraRGBD(const string &name, const Mat &rgb, const Mat
}
SnapshotStreamWriter::SnapshotStreamWriter(const string &filename, int delay) :
- writer_(filename), delay_(delay) {}
+ run_(false), finished_(false), writer_(filename), delay_(delay) {}
+
+SnapshotStreamWriter::~SnapshotStreamWriter() {
+
+}
void SnapshotStreamWriter::addSource(ftl::rgbd::Source *src) {
writer_.addCameraParams(std::to_string(sources_.size()), src->getPose(), src->parameters());
@@ -151,7 +155,7 @@ void SnapshotStreamWriter::addSource(ftl::rgbd::Source *src) {
}
void SnapshotStreamWriter::run() {
- vector<Mat> rgb;(sources_.size());
+ vector<Mat> rgb(sources_.size());
vector<Mat> depth(sources_.size());
while(run_) {
@@ -164,7 +168,7 @@ void SnapshotStreamWriter::run() {
}
for(size_t i = 0; i < sources_.size(); ++i) {
- writer_.addCameraRGBD(ms + "-" + std::to_string(i), rgb[i], depth[i]);
+ writer_.addCameraRGBD(std::to_string(ms) + "-" + std::to_string(i), rgb[i], depth[i]);
}
std::this_thread::sleep_for(std::chrono::microseconds(delay_));
@@ -182,8 +186,9 @@ void SnapshotStreamWriter::start() {
void SnapshotStreamWriter::stop() {
+ bool wasrunning = run_;
run_ = false;
- thread_.join();
+ if (wasrunning) thread_.join();
}
--
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