From 3c8f3cf33303a71226d1437a6d5ac8c9e0a8ec01 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 10 Jan 2020 15:57:25 +0200
Subject: [PATCH] support for new depth channel x265 format
---
python/ftl/ftlstream.py | 40 +++++++++++++++++++++++++++---------
python/ftl/ftltypes.py | 4 ++++
python/ftl/libde265.py | 45 +++++++++++++++++++++++++----------------
3 files changed, 63 insertions(+), 26 deletions(-)
diff --git a/python/ftl/ftlstream.py b/python/ftl/ftlstream.py
index 65514f0ba..2af8e7164 100644
--- a/python/ftl/ftlstream.py
+++ b/python/ftl/ftlstream.py
@@ -246,21 +246,43 @@ class FTLStreamReader:
warn("frame expected, no image received from decoder")
if ftl.is_float_channel(self._sp.channel):
- # TODO: only supports 8 bits per pixel format and 16 bits
- # ()"old format")
- #
- # NVPipe: (2 * width), high bits in left, low in right
-
- high = img[:,(img.shape[1]//2):,0].astype(np.uint32) << 8
- low = img[:,:(img.shape[1]//2),0].astype(np.uint32)
- img = (high|low).astype(np.float)/1000.0
+ if (p.flags & ftl.PacketFlags.MappedDepth):
+ # New format
+
+ # hardcoded constants maxdepth and P
+ maxdepth = 16
+ P = (2.0 * 256.0) / 16384.0
+
+ # use only 8 bits of 10
+ img = (img >> 2).astype(np.float) / 255
+
+ L = img[:,:,0]
+ Ha = img[:,:,1]
+ Hb = img[:,:,2]
+
+ m = np.floor(4.0 * (L/P) - 0.5).astype(np.int) % 4
+ L0 = L - ((L-(P / 8.0)) % P) + (P / 4.0) * m.astype(np.float) - (P/8.0)
+
+ s = np.zeros(img.shape[:2], dtype=np.float)
+ np.copyto(s, (P/2.0) * Ha, where=m == 0)
+ np.copyto(s, (P/2.0) * Hb, where=m == 1)
+ np.copyto(s, (P/2.0) * (1.0 - Ha), where=m == 2)
+ np.copyto(s, (P/2.0) * (1.0 - Hb), where=m == 3)
+
+ img = (L0+s) * maxdepth
+ else:
+ # NvPipe format
+ high = img[:,(img.shape[1]//2):,0].astype(np.uint32) << 8
+ low = img[:,:(img.shape[1]//2),0].astype(np.uint32)
+ img = (high|low).astype(np.float)/1000.0
+ '''
try:
img[img < self._calibration[sp.streamID].min_depth] = 0.0
img[img > self._calibration[sp.streamID].max_depth] = 0.0
except KeyError:
warn("no calibration for received frame")
-
+ '''
self._frame = img
else:
diff --git a/python/ftl/ftltypes.py b/python/ftl/ftltypes.py
index 69eb87248..6c2200414 100644
--- a/python/ftl/ftltypes.py
+++ b/python/ftl/ftltypes.py
@@ -13,6 +13,10 @@ Packet = namedtuple("Packet", ["codec", "definition", "block_total",
StreamPacket = namedtuple("StreamPacket", ["timestamp", "streamID",
"channel_count", "channel"])
+class PacketFlags:
+ RGB = 0x00000001
+ MappedDepth = 0x00000002
+
# components/codecs/include/ftl/codecs/channels.hpp
class Channel(IntEnum):
None_ = -1
diff --git a/python/ftl/libde265.py b/python/ftl/libde265.py
index c57404eaa..20ef8ca38 100644
--- a/python/ftl/libde265.py
+++ b/python/ftl/libde265.py
@@ -1,24 +1,28 @@
-'''
-Python wrapper for libde265. Only decoding is (partly) implemented.
+'''!
+Python wrapper for libde265. Only decoding is implemented.
Requirements:
* libde265 library (libde265.so.0)
* numpy
- * opencv or skimage
+ * opencv (recommended) or skimage
'''
try:
import cv2 as cv
def _resize(img, size):
- return cv.resize(img, dsize=tuple(reversed(size)), interpolation=cv.INTER_CUBIC)
+ dst = np.zeros(size, dtype=img.dtype)
+ cv.resize(img, tuple(reversed(size)), dst, interpolation=cv.INTER_LINEAR)
+ return dst
except ImportError:
+ # seems to be much slower than OpenCV resize()
+
from skimage.transform import resize as resize_skimage
def _resize(img, size):
- # skimage resize() return dtype float64, convert back to uint8
+ # skimage resize() return dtype float64, convert back to original type
# order: 0 nn, 1 bilinear, 3 bicubic
- return (resize_skimage(img, size, order=3, mode="constant", cval=0) * 255).astype(np.uint8)
+ return (resize_skimage(img, size, order=2, mode="constant", cval=0) * np.iinfo(img.dtype).max).astype(img.dtype)
from warnings import warn
@@ -39,6 +43,10 @@ if _threads is None:
_threads = 1
+################################################################################
+# interface and definitions from libde256 api
+################################################################################
+
# error codes copied from header (de265.h)
class _libde265error(IntEnum):
@@ -155,6 +163,8 @@ libde265.de265_get_image_plane.restype = ctypes.POINTER(ctypes.c_char)
libde265.de265_get_number_of_input_bytes_pending.argtypes = [ctypes.c_void_p]
libde265.de265_get_number_of_input_bytes_pending.restype = ctypes.c_int
+################################################################################
+
class libde265Error(Exception):
def __init__(self, code):
super(libde265Error, self).__init__(
@@ -168,7 +178,7 @@ class Decoder:
self._more = ctypes.c_int()
self._out_stride = ctypes.c_int()
self._ctx = libde265.de265_new_decoder()
- self._supress_warnings = False
+ self._disable_warnings = False
err = libde265.de265_start_worker_threads(self._ctx, threads)
@@ -182,28 +192,29 @@ class Decoder:
size = (libde265.de265_get_image_height(de265_image, 0),
libde265.de265_get_image_width(de265_image, 0))
- res = np.zeros((*size, 3), dtype=np.uint8)
+ res = np.zeros((*size, 3), dtype=np.uint16)
# libde265: always 420 (???)
- # chroma_format = libde265.de265_get_chroma_format(de265_image)
-
+ chroma_format = libde265.de265_get_chroma_format(de265_image)
+ if chroma_format != de265_chroma.de265_chroma_420:
+ raise NotImplementedError("Unsupported chroma format %s" % str(chroma_format))
+
for c in range(0, 3):
size_channel = (libde265.de265_get_image_height(de265_image, c),
libde265.de265_get_image_width(de265_image, c))
if size_channel[0] > size[0] or size_channel[1] > size[1]:
- # Is this possible?
- print(size, size_channel)
raise Exception("Channel larger than first channel")
bpp = libde265.de265_get_bits_per_pixel(de265_image, c)
- if bpp != 8:
- raise NotImplementedError("%i-bit format not implemented (TODO)" % bpp)
+ if bpp == 8:
+ dtype = np.uint8
+ else:
+ dtype = np.uint16
img_ptr = libde265.de265_get_image_plane(de265_image, c, self._out_stride)
- # libde: how is 10 bits per pixel returned
- ch = np.frombuffer(img_ptr[:size_channel[0] * size_channel[1]], dtype=np.uint8)
+ ch = np.frombuffer(img_ptr[:size_channel[0] * self._out_stride.value], dtype=dtype)
ch.shape = size_channel
res[:,:,c] = _resize(ch, size)
@@ -211,7 +222,7 @@ class Decoder:
return res
def _warning(self):
- if self._supress_warnings:
+ if self._disable_warnings:
return
code = libde265.de265_get_warning(self._ctx)
--
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