From 4acc76ec511a5fb13b669fc9f991ad4911d456fe Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Sun, 30 Jun 2019 11:28:32 +0300
Subject: [PATCH] Resolves #111 with source capabilities
---
applications/gui/src/camera.cpp | 4 ++-
.../reconstruct/src/virtual_source.cpp | 2 ++
.../include/ftl/rgbd/detail/source.hpp | 10 +++++++-
.../rgbd-sources/include/ftl/rgbd/source.hpp | 25 +++++++------------
.../rgbd-sources/src/middlebury_source.cpp | 2 ++
components/rgbd-sources/src/net.cpp | 6 ++++-
.../rgbd-sources/src/realsense_source.cpp | 2 ++
components/rgbd-sources/src/source.cpp | 9 +++++--
components/rgbd-sources/src/stereovideo.cpp | 3 ++-
components/rgbd-sources/src/streamer.cpp | 9 +++++--
10 files changed, 48 insertions(+), 24 deletions(-)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index bb715383b..b223e6f9c 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -189,6 +189,7 @@ void ftl::gui::Camera::setPose(const Eigen::Matrix4d &p) {
}
void ftl::gui::Camera::mouseMovement(int rx, int ry, int button) {
+ if (!src_->hasCapabilities(ftl::rgbd::kCapMovable)) return;
if (button == 1) {
float rrx = ((float)ry * 0.2f * delta_);
//orientation_[2] += std::cos(orientation_[1])*((float)rel[1] * 0.2f * delta_);
@@ -202,6 +203,7 @@ void ftl::gui::Camera::mouseMovement(int rx, int ry, int button) {
}
void ftl::gui::Camera::keyMovement(int key, int modifiers) {
+ if (!src_->hasCapabilities(ftl::rgbd::kCapMovable)) return;
if (key == 263 || key == 262) {
float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
float scalar = (key == 263) ? -mag : mag;
@@ -249,7 +251,7 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
Eigen::Affine3d t(trans);
Eigen::Matrix4d viewPose = t.matrix() * rotmat_;
- src_->setPose(viewPose);
+ if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
src_->grab();
src_->getFrames(rgb, depth);
diff --git a/applications/reconstruct/src/virtual_source.cpp b/applications/reconstruct/src/virtual_source.cpp
index 245339376..46eca475e 100644
--- a/applications/reconstruct/src/virtual_source.cpp
+++ b/applications/reconstruct/src/virtual_source.cpp
@@ -24,6 +24,8 @@ VirtualSource::VirtualSource(ftl::rgbd::Source *host)
params_.maxDepth = rays_->value("max_depth", 10.0f);
params_.minDepth = rays_->value("min_depth", 0.1f);
+ capabilities_ = kCapMovable | kCapVideo | kCapStereo;
+
rgb_ = cv::Mat(cv::Size(params_.width,params_.height), CV_8UC3);
idepth_ = cv::Mat(cv::Size(params_.width,params_.height), CV_32SC1);
depth_ = cv::Mat(cv::Size(params_.width,params_.height), CV_32FC1);
diff --git a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
index cee6e6179..a047174de 100644
--- a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
@@ -10,6 +10,13 @@ namespace rgbd {
class Source;
+typedef unsigned int capability_t;
+
+static const capability_t kCapMovable = 0x0001; // A movable virtual cam
+static const capability_t kCapVideo = 0x0002; // Is a video feed
+static const capability_t kCapActive = 0x0004; // An active depth sensor
+static const capability_t kCapStereo = 0x0005; // Has right RGB
+
namespace detail {
class Source {
@@ -17,7 +24,7 @@ class Source {
friend class ftl::rgbd::Source;
public:
- explicit Source(ftl::rgbd::Source *host) : host_(host), params_({0}) { }
+ explicit Source(ftl::rgbd::Source *host) : capabilities_(0), host_(host), params_({0}) { }
virtual ~Source() {}
virtual bool grab()=0;
@@ -25,6 +32,7 @@ class Source {
virtual void setPose(const Eigen::Matrix4d &pose) { };
protected:
+ capability_t capabilities_;
ftl::rgbd::Source *host_;
ftl::rgbd::Camera params_;
cv::Mat rgb_;
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index c43525ae4..3b5e53f18 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -23,24 +23,15 @@ static inline bool isValidDepth(float d) { return (d > 0.01f) && (d < 39.99f); }
class SnapshotReader;
-enum capability_t {
- kCapColour, // Has a colour feed
- kCapDepth, // Has a depth feed
- kCapRight, // It is possible to get a right image
- kCapMovable, // Camera is software movable
- kCapVideo, // It is a video feed, not static
- kCapDisparity // Raw disparity is available
-};
-
typedef unsigned int channel_t;
-static const unsigned int kChanLeft = 1;
-static const unsigned int kChanDepth = 2;
-static const unsigned int kChanRight = 3;
-static const unsigned int kChanDisparity = 4;
-static const unsigned int kChanDeviation = 5;
+static const channel_t kChanLeft = 1;
+static const channel_t kChanDepth = 2;
+static const channel_t kChanRight = 3;
+static const channel_t kChanDisparity = 4;
+static const channel_t kChanDeviation = 5;
-static const unsigned int kChanOverlay1 = 100;
+static const channel_t kChanOverlay1 = 100;
/**
* RGBD Generic data source configurable entity. This class hides the
@@ -140,7 +131,9 @@ class Source : public ftl::Configurable {
/**
* Check what features this source has available.
*/
- virtual bool hasCapability(capability_t);
+ bool hasCapabilities(capability_t);
+
+ capability_t getCapabilities() const;
/**
* Get a point in camera coordinates at specified pixel location.
diff --git a/components/rgbd-sources/src/middlebury_source.cpp b/components/rgbd-sources/src/middlebury_source.cpp
index c539acf0c..a1f490e1d 100644
--- a/components/rgbd-sources/src/middlebury_source.cpp
+++ b/components/rgbd-sources/src/middlebury_source.cpp
@@ -63,6 +63,8 @@ MiddleburySource::MiddleburySource(ftl::rgbd::Source *host, const string &dir)
double scaling = host->value("scaling", 0.5);
+ capabilities_ = kCapStereo;
+
// Load params from txt file..
/*params_.fx = 3000.0 * scaling;
params_.width = 3000.0 * scaling;
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index 8667be5fc..62682d712 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -3,6 +3,7 @@
#include <thread>
#include <chrono>
#include <shared_mutex>
+#include <tuple>
#include "colour.hpp"
@@ -18,11 +19,14 @@ using std::unique_lock;
using std::vector;
using std::this_thread::sleep_for;
using std::chrono::milliseconds;
+using std::tuple;
bool NetSource::_getCalibration(Universe &net, const UUID &peer, const string &src, ftl::rgbd::Camera &p) {
try {
while(true) {
- auto buf = net.call<vector<unsigned char>>(peer_, "source_calibration", src);
+ auto [cap,buf] = net.call<tuple<unsigned int,vector<unsigned char>>>(peer_, "source_details", src);
+
+ capabilities_ = cap;
if (buf.size() > 0) {
memcpy((char*)&p, buf.data(), buf.size());
diff --git a/components/rgbd-sources/src/realsense_source.cpp b/components/rgbd-sources/src/realsense_source.cpp
index 54fd1888d..e1b66afb1 100644
--- a/components/rgbd-sources/src/realsense_source.cpp
+++ b/components/rgbd-sources/src/realsense_source.cpp
@@ -6,6 +6,8 @@ using std::string;
RealsenseSource::RealsenseSource(ftl::rgbd::Source *host)
: ftl::rgbd::detail::Source(host), align_to_depth_(RS2_STREAM_DEPTH) {
+ capabilities_ = kCapVideo;
+
rs2::config cfg;
cfg.enable_stream(RS2_STREAM_DEPTH, 1280, 720, RS2_FORMAT_Z16, 30);
cfg.enable_stream(RS2_STREAM_COLOR, 1280, 720, RS2_FORMAT_BGRA8, 30);
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index a22c3e630..b5741520c 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -195,8 +195,13 @@ const Eigen::Matrix4d &Source::getPose() const {
return pose_;
}
-bool Source::hasCapability(capability_t) {
- return false;
+bool Source::hasCapabilities(capability_t c) {
+ return getCapabilities() & c == c;
+}
+
+capability_t Source::getCapabilities() const {
+ if (impl_) return impl_->capabilities_;
+ else return 0;
}
void Source::reset() {
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index 0fb5fd864..c0471643a 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -31,7 +31,8 @@ StereoVideoSource::~StereoVideoSource() {
}
void StereoVideoSource::init(const string &file) {
- LOG(INFO) << "STEREOSOURCE = " << file;
+ capabilities_ = kCapVideo | kCapStereo;
+
if (ftl::is_video(file)) {
// Load video file
LOG(INFO) << "Using video file...";
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index 10ada28fc..e2daa0f0f 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -3,6 +3,7 @@
#include <optional>
#include <thread>
#include <chrono>
+#include <tuple>
using ftl::rgbd::Streamer;
using ftl::rgbd::Source;
@@ -20,6 +21,8 @@ using std::unique_lock;
using std::shared_lock;
using std::this_thread::sleep_for;
using std::chrono::milliseconds;
+using std::tuple;
+using std::make_tuple;
Streamer::Streamer(nlohmann::json &config, Universe *net)
@@ -71,7 +74,7 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
});
// Allow remote users to access camera calibration matrix
- net->bind("source_calibration", [this](const std::string &uri) -> vector<unsigned char> {
+ net->bind("source_details", [this](const std::string &uri) -> tuple<unsigned int,vector<unsigned char>> {
vector<unsigned char> buf;
SHARED_LOCK(mutex_,slk);
@@ -79,8 +82,10 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
buf.resize(sizeof(Camera));
LOG(INFO) << "Calib buf size = " << buf.size();
memcpy(buf.data(), &sources_[uri]->src->parameters(), buf.size());
+ return make_tuple(sources_[uri]->src->getCapabilities(), buf);
+ } else {
+ return make_tuple(0u,buf);
}
- return buf;
});
net->bind("get_stream", [this](const string &source, int N, int rate, const UUID &peer, const string &dest) {
--
GitLab